Horn control method for vehicle

Abstract

The application provides a horn control method of a vehicle. The horn control method comprises: determining whether a target vehicle meets a preset condition when the target vehicle is in an automatic driving mode and is in a first area, the first area being an area in which the target vehicle can sound a horn, and the preset condition comprising at least one of the following: whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a preset situation exists in a second area, the target state being that the driver is in an inattentive state within a first time length, the second area being an area spaced apart from the target vehicle by a predetermined distance, and the abnormal state comprising at least one of the following: software abnormality and hardware abnormality; and controlling the target vehicle to sound the horn based on a target horn strategy corresponding to the preset condition when the target vehicle meets the preset condition, thereby solving the problem in the prior art that there is a lack of horn control of an automatic driving vehicle that is suitable for various road scenes and is relatively reasonable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a horn control method of a vehicle. BACKGROUND

[0002] For the patent document with the publication number CN111976592A, it discloses fusing the information obtained by a multi-element positioning module and a sensor to determine whether the road on which the vehicle travels allows the vehicle to emit a horn action, so as to control the vehicle to start the automatic horn control system in the scenario where the horn is allowed. However, the patent document does not consider the interaction between the ego vehicle and other traffic participants.

[0003] For the patent document with the publication number CN109624842A, it discloses the control logic of the vehicle horn in the specific curvature bend scenario. However, the patent document does not consider the horn control logic of the automatic driving vehicle in other road scenarios.

[0004] Therefore, there is an urgent need for a method that can be applied to various road scenarios and can reasonably control the horn. SUMMARY

[0005] The main purpose of the present application is to provide a horn control method of a vehicle to solve the problem that the prior art lacks a horn control method that can be applied to various road scenarios and reasonably controls the horn of an automatic driving vehicle.

[0006] According to an aspect of an embodiment of the present application, a horn control method of a vehicle is provided, comprising: determining whether a target vehicle meets a preset condition in a case that the target vehicle is in an automatic driving mode and is in a first area, the first area being an area in which the target vehicle can sound a horn, the preset condition including at least one of whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a second area has a preset situation, the target state being that the driver is in an inattentive state within a first time length, the second area being an area spaced apart from the target vehicle by a predetermined distance, the abnormal state including at least one of software abnormality and hardware abnormality; and controlling the target vehicle to sound a horn based on a target horn strategy corresponding to the preset condition in a case that the target vehicle meets the preset condition.

[0007] Optionally, in the case that the preset condition is whether the driver of the target vehicle is in the target state, determining whether the target vehicle satisfies the preset condition comprises: receiving a current state of the driver sent by a driver monitoring system in real time; in the case that the current state of the driver is a preset state, controlling the target vehicle to perform a predetermined number of predetermined reminding strategies, the preset state comprising at least one of the following: a fatigue state, the inattentive state, and an off-seat state, the predetermined reminding strategy comprising at least one of the following: a buzzer and a voice prompt; in the case that predetermined information is not received, determining that the target vehicle satisfies the preset condition, the predetermined information being information in response to the predetermined reminding strategy.

[0008] Optionally, in the case that the preset condition is whether the target vehicle is at least in an abnormal state, determining whether the target vehicle satisfies the preset condition comprises: in the case that the target vehicle is in the abnormal state and the automatic driving level of the target vehicle is not a target level, determining that the target vehicle satisfies the preset condition, the target level being at least a level at which the driver takes over the target vehicle.

[0009] Optionally, the target horn strategy comprises a first target horn strategy, and in the case that the target vehicle satisfies the preset condition, controlling the target vehicle to sound a horn based on a target horn strategy corresponding to the preset condition comprises: in the case that the target vehicle satisfies the preset condition, determining that the target horn strategy corresponding to the preset condition is the first target horn strategy, the first target horn strategy being sounding a horn a first number of times at a first volume; and controlling the target vehicle to sound a horn according to the first target horn strategy.

[0010] Optionally, in the case that the preset condition is whether the second area has the preset situation, determining whether the target vehicle satisfies the preset condition comprises: determining whether at least a dynamic obstacle exists in the second area, and determining whether the target vehicle is in a lane-changing abnormal state, the predetermined distance being a target value; in the case that the second area has the dynamic obstacle, determining that the target vehicle satisfies the preset condition; in the case that the second area has the dynamic obstacle and / or a static obstacle and the target vehicle is in the lane-changing abnormal state, determining that the target vehicle satisfies the preset condition.

[0011] Optionally, in the case that the preset condition is whether the second region has the preset situation, determining whether the target vehicle meets the preset condition comprises: in the case that the target vehicle has a visual field blind area in the second region, determining that the target vehicle meets the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length, and the visual field blind area is an area that is unreachable by a target sensor of the target vehicle; in the case that there is a construction area or a construction sign in the second region, determining that the target vehicle meets the preset condition; in the case that there is traffic congestion in the second region, determining that the target vehicle meets the preset condition; in the case that a current speed of a target obstacle in the second region is less than a first predetermined speed, determining that the target vehicle meets the preset condition.

[0012] Optionally, in the case that the preset condition is whether the target vehicle is at least in an abnormal state, determining whether the target vehicle meets the preset condition comprises: in the case that the target vehicle is in the abnormal state and an automatic driving level of the target vehicle is a target level, determining that the target vehicle meets the preset condition, wherein the target level is at least a level at which the driver takes over the target vehicle.

[0013] Optionally, the target honking strategy comprises a second target honking strategy, and in the case that the target vehicle meets the preset condition, controlling the target vehicle to honk based on the target honking strategy corresponding to the preset condition comprises: in the case that the target vehicle meets the preset condition, determining that the target honking strategy corresponding to the preset condition is the second target honking strategy, and the second target honking strategy is honking a second number of times at a first volume; and controlling the target vehicle to honk according to the second target honking strategy.

[0014] Optionally, in the case that the preset condition is whether the second region has the preset situation, determining whether the target vehicle meets the preset condition comprises: in the case that a current speed of a target obstacle in the second region is greater than a second predetermined speed, determining that the target vehicle meets the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length; and in the case that a current deceleration of the target obstacle in the second region is greater than a predetermined deceleration, determining that the target vehicle meets the preset condition.

[0015] Optionally, the target horn strategy includes a third target horn strategy, and the horn control of the target vehicle based on the target horn strategy corresponding to the preset condition when the target vehicle meets the preset condition includes: determining that the target horn strategy corresponding to the preset condition is the third target horn strategy when the target vehicle meets the preset condition, the third target horn strategy being sounding the horn for a second number of times at a second volume; and controlling the target vehicle to sound the horn according to the third target horn strategy.

[0016] Optionally, the determining whether the target vehicle meets the preset condition when the preset condition is whether the second area has the preset situation includes: determining that the target vehicle meets the preset condition when there is a stationary obstacle in the second area, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length; and the target horn strategy includes a fourth target horn strategy, and the horn control of the target vehicle based on the target horn strategy corresponding to the preset condition when the target vehicle meets the preset condition includes: determining that the target horn strategy corresponding to the preset condition is the fourth target horn strategy when the target vehicle meets the preset condition, the fourth target horn strategy being sounding the horn for a first number of times at a second volume; and controlling the target vehicle to sound the horn according to the fourth target horn strategy.

[0017] In the embodiment of the present application, in the horn control method of the vehicle, when the target vehicle is in an automatic driving mode and is in a first area in which the horn can be sounded, it is determined whether the target vehicle meets: whether the driver is in a target state, whether the target vehicle is at least in an abnormal state, or whether a second area has a preset situation; and the horn control of the target vehicle based on a target horn strategy corresponding to a preset condition when the target vehicle meets the preset condition. The horn control method of the vehicle of the present application considers various road scenes in which the target vehicle is located, and controls the vehicle to sound the horn based on the target horn strategy corresponding to different road scenes (i.e., the target vehicle meets the preset condition), which ensures that the horn control method of the present application can be applied to various road scenes. At the same time, different target horn strategies are executed for different road scenes, which ensures that the horn control in the present application is reasonable, thereby solving the problem that the prior art lacks a horn control method suitable for various road scenes and reasonable for the automatic driving vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of the present description, illustrate the present application and together with the written description serve to explain the application. In the drawings:

[0019] Figure 1 A flow chart of a horn control method of a vehicle is shown for an embodiment of the present application;

[0020] Figure 2 A flow chart of determining whether a driver is in a target state is shown for an embodiment of the present application;

[0021] Figure 3 A flow chart of a lane change scenario is shown for an embodiment of the present application;

[0022] Figure 4 A flow chart of a front scenario exception is shown for an embodiment of the present application;

[0023] Figure 5 A flow chart of a traffic participant exception is shown for an embodiment of the present application;

[0024] Figure 6 A structural schematic of a horn control device of a vehicle is shown for an embodiment of the present application;

[0025] Figure 7 A flow chart of a horn control scheme of a vehicle is shown for an embodiment of the present application. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] As mentioned in the background, the prior art lacks a horn control method suitable for various road scenes and reasonable for an autonomous vehicle. To solve the above problems, in a typical embodiment of the present application, a horn control method for a vehicle is provided.

[0030] According to the embodiments of the present application, a horn control method for a vehicle is provided.

[0031] Figure 1 is a flowchart of the horn control method for a vehicle according to the embodiments of the present application. As shown in Figure 1 the horn control method includes the following steps:

[0032] Step S101, in the case that a target vehicle is in an autonomous driving mode and is in a first area, determine whether the target vehicle satisfies a preset condition, the first area is an area in which the target vehicle can sound a horn, and the preset condition includes at least one of the following: whether the driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, whether a preset situation exists in a second area, the target state is that the driver is in an inattentive state within a first time period, the second area is an area spaced apart from the target vehicle by a predetermined distance, and the abnormal state includes at least one of the following: software abnormality, hardware abnormality;

[0033] Step S102, in the case that the target vehicle satisfies the preset condition, based on a target horn strategy corresponding to the preset condition, control the target vehicle to sound a horn.

[0034] In the horn control method for a vehicle described above, in the case that a target vehicle is in an autonomous driving mode and is in a first area in which a horn can be sounded, it is determined whether the target vehicle satisfies: whether the driver is in a target state, whether the target vehicle is in at least an abnormal state, or whether a preset situation exists in a second area; in the case that the target vehicle satisfies the preset condition, based on a target horn strategy corresponding to the preset condition, the target vehicle is controlled to sound a horn. The horn control method for a vehicle of the present application considers various road scenes in which the target vehicle is located, and controls the vehicle to sound a horn based on a target horn strategy corresponding to different road scenes (i.e., the target vehicle satisfies the preset condition). This ensures that the horn control method of the present application can be applied to various road scenes. At the same time, different target horn strategies are executed for different road scenes, which ensures that the horn control in the present application is reasonable, thereby solving the problem that the prior art lacks a horn control method suitable for various road scenes and reasonable for an autonomous vehicle.

[0035] Specifically, in actual application, the target vehicle is a self-vehicle.

[0036] Specifically, in the above-mentioned embodiments, the target vehicle is controlled to sound the horn based on the target horn strategy corresponding to the above-mentioned preset condition. That is, the target horn strategy corresponding to different preset conditions satisfied by the target vehicle is different. That is, the horn control method of the present application sets different target horn strategies based on different preset conditions.

[0037] Specifically, in the above-mentioned embodiments, the size of the above-mentioned predetermined distance can be flexibly determined according to the corresponding preset condition (i.e., the corresponding road scene). Therefore, in the present application, the size of the above-mentioned predetermined distance is not limited.

[0038] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0039] In actual application, in order to more accurately and simply determine whether the current state of the driver is in the target state, in an embodiment of the present application, when the above-mentioned preset condition is whether the driver of the target vehicle is in the target state, determining whether the target vehicle satisfies the preset condition comprises: receiving the current state of the driver sent by the driver monitoring system in real time; in the case that the current state of the driver is a preset state, controlling the target vehicle to execute a predetermined number of predetermined reminder strategies, the preset state includes at least one of the following: fatigue state, inattentive state, off-site state, and the predetermined reminder strategy includes at least one of the following: buzzer, voice prompt; in the case that no predetermined information is received, it is determined that the target vehicle satisfies the preset condition, and the predetermined information is information in response to the predetermined reminder strategy. In this embodiment, in the case that the current state of the driver is a preset state is received, the driver is reminded by the predetermined reminder strategy. After a predetermined number of reminders, if no predetermined information is received, it is determined that the driver is in the target state, which can more accurately determine whether the driver is in the target state. At the same time, if predetermined information is received after a predetermined number of reminders, the target vehicle can not be controlled to sound the horn in the future, which can reduce unnecessary horn sounding and further ensure that the horn control of the target vehicle is more reasonable.

[0040] In actual application, the process that the driver monitoring system (DMS) detects the current state of the driver is: the DMS camera collects the face information and action information of the driver in real time. And the collected face information and action information of the driver are sent to the driver monitoring system through LVDS. The driver monitoring system obtains the current state of the driver based on the deep learning algorithm model, the face information and the action information.

[0041] Specifically, the above-mentioned preset state can further include the takeover ability detection of the driver. In actual application, the above-mentioned predetermined number of times can be two. Of course, the above-mentioned predetermined number of times is not limited to two, and can be any other suitable number of times. In the present application, the size of the above-mentioned predetermined number of times is not limited.

[0042] Specifically, in the above-mentioned embodiment, the above-mentioned predetermined information can be sent by the DMS system. Of course, it is not limited to the information sent by the DMS system, and can be the information obtained by the driver when the driver touches the steering wheel or senses the change of torque. In a specific embodiment of the present application, if the current state of the driver is the fatigue state, the predetermined reminding strategy can be executed twice. If the predetermined information (such as the DMS system detecting that the eyes of the driver have opened, etc.) is received, the subsequent horn can not be sounded. If the predetermined information is not received, the first target horn strategy needs to be executed subsequently, which can timely remind the driver and can also timely remind the surrounding vehicles, so as to further reduce the occurrence of traffic accidents.

[0043] In a specific embodiment of the present application, as shown in Figure 2 the DMS camera collects the face information and action information of the driver in real time. And the collected face information and action information of the driver are sent to the driver monitoring system (i.e. the DMS system) through LVDS. The driver monitoring system obtains the current state of the driver based on the deep learning algorithm model, the face information and the action information. The DMS system sends the current state of the driver to the vehicle controller. The vehicle controller (i.e. the execution subject of the horn control method of the present application) determines whether the current state is a preset state. If the current state of the driver is the preset state, the target vehicle is controlled to execute the predetermined number of times of the predetermined reminding strategy. If the current state of the driver is not the preset state, the intelligent horn system is not started (i.e. the target horn strategy is not executed subsequently). After the target vehicle is controlled to execute the predetermined number of times of the predetermined reminding strategy, it is determined whether the predetermined information is received. If the predetermined information is received, the intelligent horn system is not started. If the predetermined information is not received, the intelligent horn system is started (i.e. the corresponding first target horn strategy is executed).

[0044] In another embodiment of the present application, in the case where the preset condition is whether the target vehicle is in an abnormal state, determining whether the target vehicle meets the preset condition comprises: in the case where the target vehicle is in the abnormal state and the automatic driving level of the target vehicle is not a target level, determining that the target vehicle meets the preset condition, the target level being at least a level at which the driver takes over the target vehicle. In this scheme, in the case where the target vehicle is in a software abnormal state or a hardware abnormal state and the automatic driving level of the target vehicle is not a target level, it is determined that the target vehicle meets the preset condition, and the target vehicle is subsequently controlled to execute the first target horn strategy, that is, the first target horn strategy is executed in the case where the fault of the target vehicle is low, which further ensures that the horn control of the target vehicle is reasonable.

[0045] In actual application, when the target vehicle is in an automatic driving mode, if the target vehicle has a hardware abnormality, a software abnormality, the target vehicle exceeds a preset vehicle running range, or the automatic driving domain controller has a software abnormality or a hardware abnormality, a function degradation logic is triggered. Generally, the function degradation for the purpose of safety protection can be classified into four levels according to the degradation reason classification of each working condition, and the degradation processing rules are as follows:

[0046] 1. First-level degradation: disable automatic lane changing function;

[0047] 2. Second-level degradation: request takeover and speed limit;

[0048] 3. Third-level degradation: request takeover and automatic parking;

[0049] 4. Fourth-level degradation: request takeover + emergency stop.

[0050] As shown in the above function degradation rule, the first-level degradation only restricts the lane changing function of the target vehicle, without speed change and other functions that directly affect surrounding vehicles. The second, third and fourth levels of degradation will request the driver to take over while restricting the speed of the target vehicle to different degrees, or even in an emergency stop state. Based on this logic, when the target vehicle is in a software abnormal state or a hardware abnormal state, and the automatic driving level of the target vehicle is not in a target level (a degradation level of three or more), it is determined that the target vehicle meets the preset condition, and the first target horn strategy is subsequently executed. The specific reason is that this can timely take over the target vehicle by the driver and give a warning to the vehicles behind and on both sides of the lane line that have a lane changing intention, so as to prevent traffic accidents caused by insufficient awareness of the speed reduction of the target vehicle, and alert the surrounding traffic participants that the vehicle is abnormal.

[0051] Specifically, the preset condition involved in the above two embodiments can be a preset condition in an active scenario.

[0052] In order to further more reasonably control the target vehicle to sound the horn and more accurately control the target vehicle to sound the horn, in another embodiment of the present application, the target horn sounding strategy includes a first target horn sounding strategy, and in the case where the target vehicle meets the preset condition, the target vehicle is controlled to sound the horn based on the target horn sounding strategy corresponding to the preset condition, including: in the case where the target vehicle meets the preset condition, determining that the target horn sounding strategy corresponding to the preset condition is the first target horn sounding strategy, and the first target horn sounding strategy is sounding the horn for a first number of times at a first volume; and controlling the target vehicle to sound the horn according to the first target horn sounding strategy.

[0053] Specifically, in the above embodiment, the first target horn sounding strategy can be high volume and single sounding.

[0054] In another embodiment of the present application, as shown in Figure 3 In the case where the preset condition is whether the second area has the preset situation, determining whether the target vehicle meets the preset condition includes: determining whether there is at least a dynamic obstacle in the second area, and determining whether the target vehicle is in an abnormal lane changing state, and the predetermined distance is a target value; in the case where the second area has the dynamic obstacle, it is determined that the target vehicle meets the preset condition; and in the case where the second area has the dynamic obstacle and / or static obstacle and the target vehicle is in the abnormal lane changing state, it is determined that the target vehicle meets the preset condition. In this embodiment, in the case where there is a dynamic obstacle in the second area, a safety accident is more likely to occur due to the fast moving speed of the dynamic obstacle. Therefore, in this scenario, it can be determined that the target vehicle meets the preset condition. In the case where there is a dynamic obstacle and / or static obstacle in the second area and the target vehicle is in an abnormal lane changing state, it is determined that the target vehicle meets the preset condition. Subsequently, the target vehicle can be controlled to execute the second target horn sounding strategy, and the second target horn sounding strategy is high volume and multiple sounding, which can timely remind surrounding pedestrians and vehicles, and can greatly avoid the occurrence of safety accidents and further ensure that the horn control of the target vehicle is more reasonable.

[0055] Specifically, in the above embodiment, the second area is an area spaced apart from the target vehicle by a predetermined distance, and the predetermined distance can be 50 meters.

[0056] In order to further make the horn control method of the present application applicable to various road scenes and further ensure that the horn control of the present application is more reasonable, in an embodiment of the present application, as shown in Figure 4 and Figure 5In the embodiment shown, in a case where the preset condition is whether the second region has the preset situation, determining whether the target vehicle satisfies the preset condition includes: in a case where the target vehicle has a visual field blind area in the second region, determining that the target vehicle satisfies the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length, and the visual field blind area is an area that is unreachable by a target sensor of the target vehicle; in a case where there is a construction area or a construction sign in the second region, determining that the target vehicle satisfies the preset condition; in a case where there is traffic congestion in the second region, determining that the target vehicle satisfies the preset condition; and in a case where a current speed of a target obstacle in the second region is less than a first predetermined speed, determining that the target vehicle satisfies the preset condition, i.e. Figure 5 In the embodiment shown, in a case where a current speed of a target obstacle in the second region is less than a first predetermined speed, the intelligent honking system is started (i.e., it is determined that the preset condition is satisfied), and subsequent high-volume honking can be performed.

[0057] Specifically, in the embodiment, the second region is a region spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0058] Specifically, in the embodiment, the first predetermined speed is a product of a minimum speed limit of the current road and 90%.

[0059] Specifically, in the embodiment, the target vehicle can obtain current path information based on a high-definition map. In a case where a visual field blind area is detected in the second region, honking can be performed at a distance of 100 m (this value can be freely set) from the visual field blind area. In a case where a road construction, road occupation, or traffic congestion is detected in the front road, the distance between the target vehicle and the abnormal scene in front of the target vehicle is S, the current speed and acceleration of the target vehicle are used to calculate a collision time. If the collision time is less than 3 seconds (this value can be freely set), the current scene can be defined as a dangerous scene, and honking is performed.

[0060] In another embodiment of the present application, when the preset condition is whether the target vehicle is in an abnormal state, determining whether the target vehicle meets the preset condition comprises: when the target vehicle is in the abnormal state and the automatic driving level of the target vehicle is a target level, determining that the target vehicle meets the preset condition, the target level being at least a level at which the driver takes over the target vehicle. In this embodiment, when the target vehicle has a software or hardware abnormality and the automatic driving level of the target vehicle is a target level (or a target level or above), it indicates that the safety level of the target vehicle is low, and it can be determined that the preset condition is met in this scenario, and the second target honking strategy is executed, i.e., high-volume honking multiple times, which further avoids the occurrence of safety accidents and further more timely alerts surrounding vehicles to pay attention to the target vehicle.

[0061] In order to further more reasonably control the honking of the target vehicle and more accurately control the honking of the target vehicle, in another embodiment of the present application, the target honking strategy comprises a second target honking strategy, and when the target vehicle meets the preset condition, the target vehicle is controlled to honk based on the target honking strategy corresponding to the preset condition, comprising: when the target vehicle meets the preset condition, determining that the target honking strategy corresponding to the preset condition is the second target honking strategy, the second target honking strategy being honking for a second number of times at a first volume; and controlling the target vehicle to honk according to the second target honking strategy.

[0062] Specifically, in the above embodiment, the second target honking strategy is high-volume and multiple honking.

[0063] In another embodiment of the present application, as shown in Figure 5 In another embodiment of the present application, as shown in Figure 5The horn is sounded according to the strategy of sounding the horn multiple times at a low volume, so that the horn control on the target vehicle is further more reasonable.

[0064] Specifically, in the above embodiment, the second predetermined speed is a product of a highest speed limit of the current road and 110%. The predetermined deceleration can be 4 m / s 2 .

[0065] Specifically, in the above embodiment, the second region is a region spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0066] In order to further more reasonably control the horn on the target vehicle and accurately control the horn on the target vehicle, in an embodiment of the present application, the target horn strategy includes a third target horn strategy, in the case that the target vehicle meets the preset condition, the target horn strategy corresponding to the preset condition is used to control the target vehicle to sound the horn, including: in the case that the target vehicle meets the preset condition, it is determined that the target horn strategy corresponding to the preset condition is the third target horn strategy, the third target horn strategy is to sound the horn multiple times at a second volume; control the target vehicle to sound the horn according to the third target horn strategy.

[0067] Specifically, in the above embodiment, the third target horn strategy is low volume and multiple times of sounding the horn.

[0068] In another embodiment of the present application, as Figure 5 shown, in the case that the preset condition is whether the second region has the preset situation, determining whether the target vehicle meets the preset condition includes: in the case that there is a stationary obstacle in the second region, it is determined that the target vehicle meets the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length; the target horn strategy includes a fourth target horn strategy, in the case that the target vehicle meets the preset condition, the target horn strategy corresponding to the preset condition is used to control the target vehicle to sound the horn, including: in the case that the target vehicle meets the preset condition, it is determined that the target horn strategy corresponding to the preset condition is the fourth target horn strategy, the fourth target horn strategy is to sound the horn a first number of times at a second volume (i.e. Figure 5 low volume single sounding of the horn shown); control the target vehicle to sound the horn according to the fourth target horn strategy. This further ensures that the horn control on the target vehicle is more reasonable.

[0069] Specifically, in the above embodiment, the second area is an area spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0070] Specifically, in the horn control method of the present application, the first target horn strategy, the second target horn strategy, the third target horn strategy, and the fourth target horn strategy can also be flexibly adjusted according to the actual situation, and are not limited to the first target horn strategy, the second target horn strategy, the third target horn strategy, and the fourth target horn strategy mentioned in the present application. That is, the horn volume and the number of horn sounds in the present application can be flexibly adjusted according to the actual situation.

[0071] Specifically, in the present application, when the target vehicle is in an automatic driving mode and is in a first area, it is determined whether the target vehicle meets a preset condition. If the target vehicle meets the preset condition, a target horn strategy corresponding to the preset condition is executed. This makes the horn control of the present application more accurate, and can be applied to various road scenes, and can reduce the situation of violating traffic rules caused by the judgment error of the driver.

[0072] The present application also provides a horn control device for a vehicle. It should be noted that the horn control device for a vehicle of the present application can be used to execute the horn control method for a vehicle provided by the present application. The horn control device for a vehicle provided by the present application is introduced as follows.

[0073] Figure 6 is a structural schematic diagram of the horn control device for a vehicle according to the present application. As Figure 6 shown, the horn control device comprises:

[0074] A determination unit 10 is configured to determine whether a target vehicle meets a preset condition when the target vehicle is in an automatic driving mode and is in a first area. The first area is an area in which the target vehicle can sound a horn. The preset condition includes at least one of the following: whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a second area has a preset situation. The target state is that the driver is in an inattentive state within a first time length. The second area is an area spaced apart from the target vehicle by a predetermined distance. The abnormal state includes at least one of the following: software abnormality and hardware abnormality.

[0075] A control unit 20 is configured to control the target vehicle to sound a horn based on a target horn strategy corresponding to the preset condition when the target vehicle meets the preset condition.

[0076] In the horn control device of the vehicle, the determining unit is configured to determine whether the target vehicle meets the following conditions: whether the driver is in the target state, whether the target vehicle is at least in the abnormal state, or whether the preset condition exists in the second region, when the target vehicle is in the automatic driving mode and in the first region in which the horn can be sounded. The control unit is configured to control the target vehicle to sound the horn based on the target horn strategy corresponding to the preset condition, when the target vehicle meets the preset condition. The horn control device of the vehicle considers various road scenes in which the target vehicle is located, and controls the vehicle to sound the horn based on the target horn strategy corresponding to different road scenes (i.e., the target vehicle meets the preset condition). This ensures that the horn control device of the present application can be applied to various road scenes. At the same time, different target horn strategies are executed for different road scenes, which ensures that the horn control in the present application is reasonable, thereby solving the problem that the prior art lacks a horn control device for an automatic driving vehicle that is suitable for various road scenes and is reasonable.

[0077] Specifically, in actual application, the target vehicle is a host vehicle.

[0078] Specifically, in the above embodiment, the target vehicle is controlled to sound the horn based on the target horn strategy corresponding to the preset condition. That is, the target horn strategy corresponding to different preset conditions met by the target vehicle is different. That is, the horn control method of the present application sets different target horn strategies based on different preset conditions.

[0079] Specifically, in the above embodiment, the size of the predetermined distance can be flexibly determined according to the corresponding preset condition (i.e., the corresponding road scene). Therefore, in the present application, the size of the predetermined distance is not limited.

[0080] In actual application, in order to more accurately and simply determine whether the current state of the driver is in the target state, in an embodiment of the present application, the determination unit comprises a receiving module, a first control module and a first determination module. The receiving module is configured to receive the current state of the driver sent by the driver monitoring system in real time when the preset condition is whether the driver of the target vehicle is in the target state. The first control module is configured to control the target vehicle to perform a predetermined number of predetermined reminding strategies when the current state of the driver is a preset state. The preset state includes at least one of the following: a fatigue state, an inattentive state, and an off-site state. The predetermined reminding strategy includes at least one of the following: a buzzer and a voice prompt. The first determination module is configured to determine that the target vehicle satisfies the preset condition when predetermined information is not received. The predetermined information is information in response to the predetermined reminding strategy. In this embodiment, when the current state of the driver is a preset state, the driver is reminded by the predetermined reminding strategy. After a predetermined number of reminders, if predetermined information is not received, it is determined that the driver is in the target state. This can more accurately determine whether the driver is in the target state. At the same time, if predetermined information is received after a predetermined number of reminders, the target vehicle can not be controlled to sound the horn in the future. This can reduce unnecessary horn sounding and further ensure that the horn control of the target vehicle is more reasonable.

[0081] In actual application, the process of detecting the current state of the driver by the driver monitoring system (DMS) is as follows: the DMS camera collects the face information and action information of the driver in real time. The collected face information and action information of the driver are sent to the driver monitoring system through LVDS. The driver monitoring system obtains the current state of the driver based on a deep learning algorithm model, face information and action information.

[0082] Specifically, the preset state can further include detection of the takeover ability of the driver. In actual application, the predetermined number can be two. Of course, the predetermined number is not limited to two, and can be any other suitable number. The size of the predetermined number is not limited in the present application.

[0083] Specifically, in the above embodiment, the predetermined information can be sent by the DMS system. Of course, it is not limited to the DMS system, and can also be information obtained by the driver when touching the steering wheel or sensing a change in torque. In a specific embodiment of the application, if the current state of the driver is a fatigue state, two predetermined reminder strategies can be executed. If predetermined information is received (for example, the DMS system detects that the driver's eyes have opened, etc.), the subsequent horn can not be sounded. If no predetermined information is received, the first target horn strategy needs to be executed subsequently, which can timely remind the driver and also timely remind surrounding vehicles, thereby further reducing the occurrence of traffic accidents.

[0084] In a specific embodiment of the application, as shown in Figure 2 The DMS camera collects real-time facial information and motion information of the driver. The collected facial information and motion information of the driver are sent to the driver monitoring system (i.e., the DMS system) through LVDS. The driver monitoring system obtains the current state of the driver based on a deep learning algorithm model, facial information, and motion information. The DMS system sends the current state of the driver to the vehicle controller. The vehicle controller (i.e., the execution subject of the horn control method of the application) determines whether the current state is a preset state. If the current state of the driver is a preset state, the target vehicle is controlled to execute a predetermined number of predetermined reminder strategies. If the current state of the driver is not a preset state, the intelligent horn system is not started (i.e., the target horn strategy is not executed subsequently). After controlling the target vehicle to execute a predetermined number of predetermined reminder strategies, it is determined whether predetermined information is received. If the predetermined information is received, the intelligent horn system is not started, and if the predetermined information is not received, the intelligent horn system is started (i.e., the corresponding first target horn strategy is executed).

[0085] In another embodiment of the application, the determination unit further includes a second determination module for determining that the target vehicle satisfies the preset condition if the target vehicle is in the abnormal state and the automatic driving level of the target vehicle is not a target level in the case where the preset condition is whether the target vehicle is at least in an abnormal state, and the target level is at least a level at which the driver takes over the target vehicle. In this scheme, if the target vehicle is in a software abnormal state or a hardware abnormal state and the automatic driving level of the target vehicle is not a target level, it is determined that the target vehicle satisfies the preset condition, and the target vehicle is controlled to execute the first target horn strategy subsequently, i.e., the first target horn strategy is executed in the case where the fault of the target vehicle is low, which further ensures that the horn control of the target vehicle is reasonable.

[0086] In the actual application process, when the target vehicle is in an automatic driving mode, if the target vehicle has hardware abnormalities, software abnormalities, the target vehicle exceeds the preset vehicle running range, or the automatic driving domain controller has software abnormalities or hardware abnormalities, the function degradation logic will be triggered. Generally, the function degradation for the purpose of safety protection can be classified into four levels according to the degradation reason classification of each working condition, and the corresponding degradation processing rules are as follows:

[0087] 1. First-level degradation: disable the automatic lane changing function;

[0088] 2. Second-level degradation: request takeover and speed limit;

[0089] 3. Third-level degradation: request takeover and automatic parking;

[0090] 4. Fourth-level degradation: request takeover + emergency stop.

[0091] As shown in the above function degradation rules, the first-level degradation only restricts the lane changing function of the target vehicle, without speed change and other functions that directly affect surrounding vehicles. The second, third and fourth levels of degradation will restrict the speed of the target vehicle to different degrees, even in an emergency stop state, while requesting the driver to take over. Based on this logic, when the target vehicle is in a software abnormality or hardware abnormality, and the automatic driving level of the target vehicle is not at the target level (degradation level of three or more), it is determined that the target vehicle meets the preset condition, and the first target horn strategy is executed subsequently. The specific reason is that this can timely enable the driver to take over the target vehicle, and warn the vehicles behind and on both sides of the lane line that have lane changing intentions, to prevent traffic accidents caused by insufficient awareness of speed reduction of other vehicles, and to warn surrounding traffic participants that the vehicle is abnormal.

[0092] Specifically, the preset condition involved in the above two embodiments can be a preset condition in an active scenario.

[0093] In order to further more reasonably control the horn of the target vehicle and more accurately control the horn of the target vehicle, in another embodiment of the present application, the above target horn strategy includes a first target horn strategy, and the control unit includes a first control module, which is configured to determine that the target horn strategy corresponding to the preset condition is the first target horn strategy when the target vehicle meets the preset condition, and the first target horn strategy is to sound the horn for a first number of times at a first volume; and control the target vehicle to sound the horn according to the first target horn strategy.

[0094] Specifically, in the above embodiment, the first target horn strategy can be a high volume and single horn.

[0095] In still another embodiment of the present application, as shown in Figure 3 The determining unit further includes a third determining module, a fourth determining module and a fifth determining module. The third determining module is configured to determine whether there is at least a dynamic obstacle in the second region and whether the target vehicle is in the lane-changing abnormal state when the preset condition is whether the second region has the preset situation, and the predetermined distance is a target value. The fourth determining module is configured to determine that the target vehicle satisfies the preset condition when the second region has the dynamic obstacle. The fifth determining module is configured to determine that the target vehicle satisfies the preset condition when the second region has the dynamic obstacle and / or static obstacle and the target vehicle is in the lane-changing abnormal state. In this embodiment, when there is a dynamic obstacle in the second region, a safety accident is more likely to occur due to the fast moving speed of the dynamic obstacle. Therefore, in this scenario, it can be determined that the target vehicle satisfies the preset condition. When there is a dynamic obstacle and / or static obstacle in the second region and the target vehicle is in the lane-changing abnormal state, it is determined that the target vehicle satisfies the preset condition. Subsequently, the target vehicle can be controlled to execute the second target honking strategy, which is high volume and multiple honking. In this way, pedestrians and vehicles around the target vehicle can be timely reminded, and safety accidents can be largely avoided and further ensure that the honking control of the target vehicle is reasonable.

[0096] Specifically, in the above embodiment, the second region is a region spaced apart from the target vehicle by a predetermined distance, and the predetermined distance can be 50 meters.

[0097] In order to further make the honking control method of the present application applicable to various road scenes, and further ensure that the honking control of the present application is reasonable, in an embodiment of the present application, as shown in Figure 4 and Figure 5As shown, the determination unit further includes a sixth determination module, a seventh determination module, an eighth determination module, and a ninth determination module. The sixth determination module determines that the target vehicle satisfies the preset condition in a case where the target vehicle has a visual field blind area in the second region when the preset condition is whether the second region has the preset situation. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. The visual field blind area is an area that is unreachable by a target sensor of the target vehicle. The seventh determination module determines that the target vehicle satisfies the preset condition in a case where there is a construction area or a construction sign in the second region. The eighth determination module determines that the target vehicle satisfies the preset condition in a case where there is traffic congestion in the second region. The ninth determination module determines that the target vehicle satisfies the preset condition in a case where the current speed of a target obstacle in the second region is less than a first predetermined speed, i.e., as shown, in a case where the current speed of the target obstacle in the second region is less than the first predetermined speed, the intelligent honking system is started (i.e., indicating that the preset condition is satisfied), and subsequent high-volume honking can be performed. Figure 5

[0098] Specifically, in the above embodiment, the second region is a region spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0099] Specifically, in the above embodiment, the first predetermined speed is the product of the minimum speed limit of the current road and 90%.

[0100] Specifically, in the above embodiment, the target vehicle can obtain current path information based on a high-definition map. In a case where a visual field blind area is detected in the second region, honking can be performed at a distance of 100 m (this value can be freely set) from the visual field blind area. In a case where it is detected that the road ahead has road construction, road occupation, and traffic congestion, etc., the distance between the target vehicle and the abnormal scene ahead is S, the current speed and acceleration of the target vehicle are used to calculate the collision time. If the collision time is less than 3 seconds (this value can be freely set), the current scene can be defined as a dangerous scene, and honking is performed.

[0101] ​In yet another embodiment of the present application, the determining unit further comprises a tenth determining module configured to, in the case that the preset condition is whether the target vehicle is in an abnormal state, determine that the target vehicle satisfies the preset condition in the case that the target vehicle is in the abnormal state and the automatic driving level of the target vehicle is a target level, the target level being at least a level at which the driver takes over the target vehicle. In this embodiment, in the case that the target vehicle has a software abnormality or a hardware abnormality and the automatic driving level of the target vehicle is the target level (or a level higher than the target level), it indicates that the safety level of the target vehicle is low, and thus it can be determined that the preset condition is satisfied in this case, and the second target honking strategy is performed, i.e., the target vehicle honks multiple times at a high volume, so as to further avoid safety accidents and further timely alert surrounding vehicles to pay attention to the target vehicle.

[0102] In order to further more reasonably control the target vehicle to honk and more accurately control the target vehicle to honk, in another embodiment of the present application, the target honking strategy comprises a second target honking strategy, and the control unit further comprises a second control module configured to, in the case that the target vehicle satisfies the preset condition, determine that the target honking strategy corresponding to the preset condition is the second target honking strategy, the second target honking strategy being honking for a second number of times at a first volume; and control the target vehicle to honk according to the second target honking strategy.

[0103] Specifically, in the above embodiment, the second target honking strategy is honking multiple times at a high volume.

[0104] In still another embodiment of the present application, as shown in Figure 5 the determining unit further comprises an eleventh determining module and a twelfth determining module, wherein the eleventh determining module is configured to, in the case that the preset condition is whether the second region has the preset situation, determine that the target vehicle satisfies the preset condition in the case that the current speed of the target obstacle in the second region is greater than a second predetermined speed, the predetermined distance being determined according to the current speed of the target vehicle and a second time length; and the twelfth determining module is configured to, in the case that the current deceleration of the target obstacle in the second region is greater than a predetermined deceleration, determine that the target vehicle satisfies the preset condition. In this embodiment, in the case that the current speed of the target obstacle in the second region is greater than the second predetermined speed or the current deceleration of the target obstacle in the second region is greater than the predetermined deceleration, it indicates that there is a dangerous obstacle around the target vehicle, and thus it can be determined that the preset condition is satisfied in this case, and the target vehicle can be honked based on the third target honking strategy, i.e., as shown in Figure 5The horn is sounded according to the strategy of sounding the horn multiple times at a low volume, so that the horn control on the target vehicle is further more reasonable.

[0105] Specifically, in the above embodiment, the second predetermined speed is a product of a highest speed limit of the current road and 110%. The predetermined deceleration can be 4 m / s 2 .

[0106] Specifically, in the above embodiment, the second region is a region spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0107] In order to further more reasonably control the horn on the target vehicle and more accurately control the horn on the target vehicle, in an embodiment of the present application, the target horn strategy includes a third target horn strategy. When the target vehicle meets the preset condition, the control unit further includes a third control module. When the target vehicle meets the preset condition, the third control module determines that the target horn strategy corresponding to the preset condition is the third target horn strategy, and the third target horn strategy is sounding the horn a second number of times at a second volume. The third control module controls the target vehicle to sound the horn according to the third target horn strategy.

[0108] Specifically, in the above embodiment, the third target horn strategy is low volume and multiple times of sounding the horn.

[0109] In another embodiment of the present application, as Figure 5 shown, the determination unit further includes a thirteenth determination module. When the preset condition is whether the second region has the preset situation, and when there is a stationary obstacle in the second region, the thirteenth determination module determines that the target vehicle meets the preset condition. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. The target horn strategy includes a fourth target horn strategy. The fourth control unit further includes a fourth control module. When the target vehicle meets the preset condition, the fourth control module determines that the target horn strategy corresponding to the preset condition is the fourth target horn strategy, and the fourth target horn strategy is sounding the horn a first number of times at a second volume (i.e. Figure 5 low volume single sounding of the horn as shown). The fourth control module controls the target vehicle to sound the horn according to the fourth target horn strategy. This further ensures that the horn control on the target vehicle is more reasonable.

[0110] Specifically, in the above-mentioned embodiment, the second area is an area spaced apart from the target vehicle by a predetermined distance. The predetermined distance is determined according to the current speed of the target vehicle and a second time length. Specifically, the second time length can be 8 seconds.

[0111] Specifically, in the horn control method of the present application, the first target horn strategy, the second target horn strategy, the third target horn strategy and the fourth target horn strategy can also be flexibly adjusted according to the actual situation, and are not limited to the first target horn strategy, the second target horn strategy, the third target horn strategy and the fourth target horn strategy mentioned in the present application. That is, the horn volume and the horn frequency of the present application can be flexibly adjusted according to the actual situation.

[0112] Specifically, in the present application, when the target vehicle is in an automatic driving mode and is in a first area, it is determined whether the target vehicle meets a preset condition. If the target vehicle meets the preset condition, a target horn strategy corresponding to the preset condition is executed. This makes the horn control of the present application more accurate, can be applied to various road scenes, and can reduce the situation of violating traffic rules caused by the judgment error of the driver.

[0113] The horn control device of the vehicle includes a processor and a memory, and the determination unit and the control unit are stored in the memory as program units. The corresponding functions are realized by the processor executing the program units stored in the memory.

[0114] The processor includes a core, and the core retrieves the corresponding program units from the memory. The core can be set to one or more, and the problem of lacking a horn control device for an automatic driving vehicle that can be applied to various road scenes and is more reasonable in the prior art can be solved by adjusting the core parameters.

[0115] The memory can include a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0116] The embodiment of the present application provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize the horn control method of the vehicle.

[0117] The embodiment of the present application provides a processor, which is used to run a program, and the program is executed to realize the horn control method of the vehicle.

[0118] The device provided by the embodiment of the application comprises a processor, a memory, and a program stored on the memory and executable on the processor, and the processor implements at least the following steps when executing the program:

[0119] In step S101, when the target vehicle is in an automatic driving mode and is in a first area, it is determined whether the target vehicle meets preset conditions, the first area is an area in which the target vehicle can sound a horn, and the preset conditions comprise at least one of the following: whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a preset situation exists in a second area, the target state is that the driver is in an inattentive state within a first time length, the second area is an area spaced apart from the target vehicle by a predetermined distance, and the abnormal state comprises at least one of the following: a software abnormality and a hardware abnormality.

[0120] In step S102, when the target vehicle meets the preset conditions, the target vehicle is controlled to sound the horn based on a target horn sounding strategy corresponding to the preset conditions.

[0121] The device herein can be a server, a PC, a PAD, a mobile phone, or the like.

[0122] The application also provides a computer program product adapted to execute the program comprising at least the following method steps when executed on a data processing device:

[0123] In step S101, when the target vehicle is in an automatic driving mode and is in a first area, it is determined whether the target vehicle meets preset conditions, the first area is an area in which the target vehicle can sound a horn, and the preset conditions comprise at least one of the following: whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a preset situation exists in a second area, the target state is that the driver is in an inattentive state within a first time length, the second area is an area spaced apart from the target vehicle by a predetermined distance, and the abnormal state comprises at least one of the following: a software abnormality and a hardware abnormality.

[0124] In step S102, when the target vehicle meets the preset conditions, the target vehicle is controlled to sound the horn based on a target horn sounding strategy corresponding to the preset conditions.

[0125] In order for those skilled in the art to more clearly understand the technical solutions of the application, the technical solutions and technical effects of the application will be described below in conjunction with specific embodiments.

[0126] Embodiment

[0127] In a typical embodiment of the present application, a horn control scheme (i.e., an intelligent horn system) of a vehicle is provided, which specifically Figure 7 is shown.

[0128] Step 1: Determine whether the target vehicle is in an automatic driving mode and whether the target vehicle is in a first area.

[0129] Step 2: If the target vehicle is not in the automatic driving mode or the target vehicle is not in the first area, disable the intelligent horn system; if the target vehicle is in the automatic driving mode and the target vehicle is in the first area, enable the intelligent horn system and determine whether the target vehicle meets a preset condition (i.e., determine an active scenario and a passive scenario).

[0130] Active scenario:

[0131] Determine whether the driver is in a target state. If the driver is in the target state, determine that the preset condition is met and execute a first target horn strategy (high volume single honk); if the driver is not in the target state, determine that the preset condition is not met and do not execute the first target horn strategy.

[0132] Determine whether the automatic driving level of the target vehicle is a target level. If the target vehicle is in an abnormal state (software abnormality or hardware abnormality) and the automatic driving level is not in the target level (three levels of degradation or above three levels of degradation), determine that the preset condition is met and execute the first target horn strategy (high volume single honk).

[0133] If the target vehicle is in an abnormal state (software abnormality or hardware abnormality) and the automatic driving level is in the target level (three levels of degradation or above three levels of degradation), determine that the preset condition is met and execute a second target horn strategy (high volume multiple honks).

[0134] Passive scenario:

[0135] Lane change scenario: If there is a dynamic obstacle within a second area (i.e., 50 meters near the target vehicle) or the target vehicle is in a lane change abnormal state and there is an obstacle (static obstacle and / or dynamic obstacle) within the second area, determine that the preset condition is met and execute the second target horn strategy (high volume multiple honks).

[0136] Abnormal front scenario: If there is a visual field blind area of the target vehicle in a second area (the distance between the target vehicle is determined based on the current speed and a second time length, wherein the second time length is 8 seconds), or there is a construction area or a construction sign in the second area, or there is a traffic jam in the second area, determine that the preset condition is met and execute the second target horn strategy (high volume multiple honks).

[0137] Traffic participant abnormal scene:

[0138] The first scenario: in the case that the current speed of the target obstacle in the second area (the distance between the target vehicle and the target obstacle is determined based on the current speed and the second time length, wherein the second time length is 8 seconds) is less than the first predetermined speed (the first predetermined speed is the product of the minimum speed limit speed of the current road section where the target vehicle is located and 90%), it is determined that the preset condition is met and the second target honking strategy (high volume multiple honking) is executed.

[0139] The second scenario: in the case that the current speed of the target obstacle in the second area (the distance between the target vehicle and the target obstacle is determined based on the current speed and the second time length, wherein the second time length is 8 seconds) is greater than the second predetermined speed (the second predetermined speed is the product of the maximum speed limit speed of the current road section where the target vehicle is located and 110%), or the current deceleration of the target obstacle in the second area is greater than the predetermined deceleration (the predetermined deceleration is 4 m / s 2 ), it is determined that the preset condition is met and the third target honking strategy (low volume multiple honking) is executed.

[0140] The third scenario: in the case that there is a stationary obstacle in the second area (the distance between the target vehicle and the target obstacle is determined based on the current speed and the second time length, wherein the second time length is 8 seconds), it is determined that the preset condition is met and the fourth target honking strategy (low volume single honking) is executed.

[0141] In the above embodiments of the present application, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0142] In the several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit embodiment described above is only illustrative, and for example, the division of the units can be a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0143] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0144] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0145] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above-mentioned method of each embodiment of the present application. The aforementioned storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0146] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0147] 1) In the horn control method of the vehicle of the present application, in the case that the target vehicle is in an automatic driving mode and is in a first area where the horn can be sounded, it is determined whether the target vehicle satisfies: whether the driver is in a target state, whether the target vehicle is at least in an abnormal state, or whether a second area has a preset condition; in the case that the target vehicle satisfies the preset condition, the target vehicle is controlled to sound the horn based on the target horn strategy corresponding to the preset condition. The horn control method of the vehicle of the present application considers various road scenes where the target vehicle is located, and controls the vehicle to sound the horn based on the target horn strategy corresponding to different road scenes (i.e., the target vehicle satisfies the preset condition). This ensures that the horn control method of the present application can be applied to various road scenes. At the same time, different target horn strategies are executed for different road scenes, which ensures that the horn control in the present application is reasonable, thereby solving the problem that the prior art lacks a horn control method for an automatic driving vehicle that is suitable for various road scenes and is relatively reasonable.

[0148] 2) In the vehicle horn control device of the application, the determination unit is configured to determine whether the target vehicle meets the following conditions: whether the driver is in a target state, whether the target vehicle is in at least an abnormal state, or whether a preset condition exists in a second region, when the target vehicle is in an automatic driving mode and in a first region in which the horn can be sounded. The control unit is configured to control the target vehicle to sound the horn based on a target horn strategy corresponding to the preset condition, when the target vehicle meets the preset condition. The vehicle horn control device of the application considers various road scenarios in which the target vehicle is located, and controls the vehicle to sound the horn based on the target horn strategy corresponding to different road scenarios (i.e., the target vehicle meets the preset condition). This ensures that the horn control device of the application can be applied to various road scenarios. At the same time, different road scenarios execute different target horn strategies, which ensures that the horn control in the application is reasonable, thereby solving the problem of lack of horn control for autonomous vehicles in the prior art that is suitable for various road scenarios and is more reasonable.

[0149] The above only describes the preferred embodiments of the application and is not intended to limit the application. Those skilled in the art can make various modifications and changes to the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A horn control method of a vehicle, characterized by, The method comprises the following steps: determining whether a target vehicle is in an automatic driving mode and whether the target vehicle is in a first area; if the target vehicle is not in the automatic driving mode or the target vehicle is not in the first area, disabling an intelligent honking system; if the target vehicle is in the automatic driving mode and in the first area, starting the intelligent honking system, and simultaneously performing active scene and passive scene judgment to determine whether the target vehicle meets preset conditions, the first area being an area in which the target vehicle can honk, and the preset conditions including at least one of the following: whether a driver of the target vehicle is in a target state, whether the target vehicle is in at least an abnormal state, and whether a second area has a preset situation, the target state being that the driver is in an inattentive state within a first time length, the second area being an area spaced apart from the target vehicle by a predetermined distance, the abnormal state including at least one of the following: software abnormality and hardware abnormality, the active scene including whether the driver is in the target state and whether an automatic driving level of the target vehicle is a target level, the passive scene including a lane changing scene, a front abnormal scene, and a traffic participant abnormal scene, the lane changing scene being that there is a dynamic obstacle in the second area or that the target vehicle is in a lane changing abnormal state and there is an obstacle in the second area, the front abnormal scene being that there is a visual field blind area of the target vehicle in the second area, or there is a construction area or a construction sign in the second area, or there is traffic congestion in the second area, the traffic participant abnormal scene being that there is a target obstacle in the second area whose current speed is less than a first predetermined speed, or there is the target obstacle in the second area whose current speed is greater than a second predetermined speed or whose current deceleration is greater than a predetermined deceleration, or there is a stationary obstacle in the second area; if the target vehicle meets the preset conditions, controlling the target vehicle to honk based on a target honking strategy corresponding to the preset conditions.

2. The horn control method according to claim 1, characterized by, if the preset conditions are whether the driver of the target vehicle is in the target state, determining whether the target vehicle meets the preset conditions comprises the following steps: receiving a current state of the driver sent by a driver monitoring system in real time; if the current state of the driver is a preset state, controlling the target vehicle to perform a predetermined number of predetermined reminder strategies, the preset state including at least one of the following: a fatigue state, the inattentive state, and an off-seat state, and the predetermined reminder strategy including at least one of the following: a buzzer and a voice prompt; if predetermined information is not received, determining that the driver is in the target state, the predetermined information being information in response to the predetermined reminder strategy.

3. The horn control method according to claim 1, characterized by, if the preset conditions are whether the target vehicle is in at least an abnormal state, determining whether the target vehicle meets the preset conditions comprises the following steps: In a case where the target vehicle is in the abnormal state and an automatic driving level of the target vehicle is not a target level, it is determined that the target vehicle satisfies the preset condition, and the target level is a level at which the driver takes over the target vehicle.

4. The horn control method according to claim 2 or 3, characterized by, The target horn strategy includes a first target horn strategy, and in a case where the target vehicle satisfies the preset condition, the target vehicle is controlled to sound a horn based on a target horn strategy corresponding to the preset condition, including: In a case where the target vehicle satisfies the preset condition, it is determined that the target horn strategy corresponding to the preset condition is the first target horn strategy, and the first target horn strategy is sounding a horn for a first number of times at a first volume. The target vehicle is controlled to sound the horn according to the first target horn strategy.

5. The horn control method according to claim 1, characterized by, In a case where the preset condition is whether the second region has the preset situation, it is determined whether the target vehicle satisfies the preset condition, including: It is determined whether there is at least a dynamic obstacle in the second region, and whether the target vehicle is in a lane changing abnormal state, and the predetermined distance is a target value; In a case where the second region has the dynamic obstacle, it is determined that the target vehicle satisfies the preset condition; In a case where the second region has the dynamic obstacle and / or static obstacle, and the target vehicle is in the lane changing abnormal state, it is determined that the target vehicle satisfies the preset condition.

6. The horn control method according to claim 1, characterized by, In a case where the preset condition is whether the second region has the preset situation, it is determined whether the target vehicle satisfies the preset condition, including: In a case where the target vehicle has a visual field blind area in the second region, it is determined that the target vehicle satisfies the preset condition, wherein the predetermined distance is determined according to a current speed of the target vehicle and a second time length, and the visual field blind area is an area that is unreachable by a target sensor of the target vehicle; In a case where there is a construction area or a construction sign in the second region, it is determined that the target vehicle satisfies the preset condition; In a case where there is traffic congestion in the second region, it is determined that the target vehicle satisfies the preset condition; In a case where a current speed of the target obstacle in the second region is less than a first predetermined speed, it is determined that the target vehicle satisfies the preset condition.

7. The horn control method according to claim 1, characterized by, In a case where the preset condition is whether the target vehicle is in at least an abnormal state, it is determined whether the target vehicle satisfies the preset condition, including: In a case where the target vehicle is in the abnormal state and an automatic driving level of the target vehicle is a target level, it is determined that the target vehicle satisfies the preset condition, and the target level is a level at which the driver takes over the target vehicle.

8. The horn control method according to any one of claims 5 to 7, characterized by, The target horn strategy includes a second target horn strategy, and in a case where the target vehicle satisfies the preset condition, the target vehicle is controlled to sound a horn based on a target horn strategy corresponding to the preset condition, including: In a case where the target vehicle meets the preset condition, the target honking strategy corresponding to the preset condition is determined as the second target honking strategy, and the second target honking strategy is honking for a second number of times at a first volume. The target vehicle is controlled to honk according to the second target honking strategy.

9. The horn control method according to claim 1, characterized by, In a case where the preset condition is whether the preset situation exists in the second region, determining whether the target vehicle meets the preset condition comprises: In a case where a current speed of the target obstacle existing in the second region is greater than a second predetermined speed, it is determined that the target vehicle meets the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length. In a case where a current deceleration of the target obstacle existing in the second region is greater than a predetermined deceleration, it is determined that the target vehicle meets the preset condition.

10. The horn control method according to claim 9, characterized by, The target honking strategy comprises a third target honking strategy, and in a case where the target vehicle meets the preset condition, the target vehicle is controlled to honk based on the target honking strategy corresponding to the preset condition, comprising: In a case where the target vehicle meets the preset condition, the target honking strategy corresponding to the preset condition is determined as the third target honking strategy, and the third target honking strategy is honking for a second number of times at a second volume. The target vehicle is controlled to honk according to the third target honking strategy.

11. The honking control method of claim 1, wherein In a case where the preset condition is whether the preset situation exists in the second region, determining whether the target vehicle meets the preset condition comprises: In a case where a stationary obstacle exists in the second region, it is determined that the target vehicle meets the preset condition, wherein the predetermined distance is determined according to the current speed of the target vehicle and a second time length. The target honking strategy comprises a fourth target honking strategy, and in a case where the target vehicle meets the preset condition, the target vehicle is controlled to honk based on the target honking strategy corresponding to the preset condition, comprising: In a case where the target vehicle meets the preset condition, the target honking strategy corresponding to the preset condition is determined as the fourth target honking strategy, and the fourth target honking strategy is honking for a first number of times at a second volume. The target vehicle is controlled to honk according to the fourth target honking strategy.

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