Control method and device of vehicle gear and storage medium

Abstract

The application discloses a control method and device of a gear of a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: collecting eyeball information of a driver; determining a first driving intention of the driver based on the eyeball information of the driver; obtaining a voice instruction detection result of the driver, the voice instruction detection result of the driver indicating whether a voice instruction of the driver is received; in response to the voice instruction detection result of the driver indicating that the voice instruction of the driver is received, determining a second driving intention of the driver based on the first driving intention and the voice instruction of the driver, the second driving intention being an actual driving intention of the driver; obtaining a driving parameter of the vehicle and an environment of a road where the vehicle is located; and controlling the gear of the vehicle based on the actual driving intention, the driving parameter of the vehicle and the environment of the road where the vehicle is located. While ensuring the safety of gear shifting of the vehicle, the manual operation of the driver is reduced, the attention of the driver during driving is improved, and the safety of driving is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device and storage medium for controlling vehicle gears. Background Technology

[0002] With the diversification of vehicle functions, there are also various ways to shift gears, such as using a gear lever, column shifter, or on-screen gear selector. All of these methods require the driver to contact the vehicle's equipment, which can distract the driver and affect driving safety. Therefore, shifting gears without the driver needing to physically touch the vehicle's equipment simplifies the operation, increases driver focus, and ultimately improves driving safety. Summary of the Invention

[0003] This application provides a method, apparatus, and storage medium for controlling vehicle gears, which can be used to shift gears without the driver needing to touch any equipment on the vehicle. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a method for controlling vehicle gears, the method comprising:

[0005] Collect driver's eye information;

[0006] The driver's first driving intention is determined based on the driver's eye information;

[0007] Obtain the driver's voice command detection result, which indicates whether the driver's voice command has been received;

[0008] In response to the driver's voice command detection result indicating that the driver's voice command has been received, the driver's second driving intention is determined based on the first driving intention and the driver's voice command, and the second driving intention is the driver's actual driving intention;

[0009] Obtain the vehicle's driving parameters and the environment of the road where the vehicle is located;

[0010] The vehicle's gears are controlled based on the actual driving intention, the vehicle's driving parameters, and the road environment where the vehicle is located.

[0011] On the other hand, a vehicle gear control device is provided, the device comprising:

[0012] The data acquisition module is used to collect information about the driver's eye movements.

[0013] The first determining module is used to determine the driver's first driving intention based on the driver's eye information;

[0014] The first acquisition module is used to acquire the driver's voice command detection result, wherein the driver's voice command detection result indicates whether the driver's voice command has been received;

[0015] The second determining module is configured to, in response to the driver's voice command detection result indicating that the driver's voice command has been received, determine the driver's second driving intention based on the first driving intention and the driver's voice command, wherein the second driving intention is the driver's actual driving intention;

[0016] The second acquisition module is used to acquire the vehicle's driving parameters and the environment of the road where the vehicle is located;

[0017] The control module is used to control the vehicle's gears based on the actual driving intention, the vehicle's driving parameters, and the environment of the road where the vehicle is located.

[0018] On the other hand, a non-transitory computer-readable storage medium is also provided, wherein at least one computer program is stored in the computer-readable storage medium, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the above-described vehicle gear control methods.

[0019] On the other hand, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the vehicle gear control methods described above.

[0020] The technical solution provided in this application brings at least the following beneficial effects:

[0021] This application determines the driver's initial driving intention by observing their eye movements. Upon receiving a voice command from the driver, it determines the driver's actual driving intention by combining the initial intention with the voice command, thereby improving the accuracy of judging the driver's actual driving intention. Then, it controls the vehicle's gear selection based on the actual driving intention, vehicle driving parameters, and the road environment. This application ensures safety during gear shifting while reducing manual operation by the driver and effectively prevents erroneous automatic gear shifting when the driver is not paying attention, thus improving driving safety. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0024] Figure 2 This is a flowchart of a vehicle gear control method provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of a vehicle gear control device provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0027] This application provides a method for controlling vehicle gears. Please refer to... Figure 1 The diagram illustrates the implementation environment of the method provided in this application embodiment. This implementation environment may include: an eye-tracking camera 11, a DMS (DriverMonitor System) 12, a transmission 13, an intelligent voice recognition device 14, a surround-view camera 15, a navigation system 16, and an ECU (Electronic Control Unit) 17.

[0028] In one possible implementation, the DMS 12 collects the driver's eye information via an eye-tracking camera 11. The DMS 12 determines the driver's first driving intention based on this eye information. The DMS 12 detects the driver's voice commands via an intelligent voice recognition device 14 installed in the vehicle. In response to a voice command detection result indicating that a driver's voice command has been received, the DMS 12 determines the driver's second driving intention based on the first driving intention and the driver's voice command. In response to a voice command detection result indicating that no driver's voice command has been received, the DMS 12 determines the driver's second driving intention based on the first driving intention.

[0029] Optionally, the DMS12 uses surround-view cameras 15 installed around the vehicle to collect the positions of other vehicles and pedestrians around the vehicle, and determines the traffic conditions of the road where the vehicle is located based on the positions of other vehicles and pedestrians around the vehicle. The DMS12 reads the slope and curvature of the road where the vehicle is located through the navigation system 16 installed on the vehicle. It also reads the vehicle's speed, current gear, and steering angle from the vehicle's ECU 17 via the bus. The driving parameters of the vehicle are determined by the vehicle's speed, current gear, and steering angle, and the environment of the road where the vehicle is located is determined by the traffic conditions, slope, and curvature of the road. The DMS12 controls the gears of the vehicle in the transmission 13 based on the actual driving intention, the vehicle's driving parameters, and the environment of the road where the vehicle is located. The eye-tracking camera 11, DMS12, transmission 13, intelligent voice recognition device 14, surround-view camera 15, navigation system 16, and ECU 17 establish a communication connection through a wired or wireless network.

[0030] Based on the above Figure 1 As shown in the implementation environment, this application embodiment provides a vehicle gear control method such as... Figure 2 As shown, taking the application of this method to DMS as an example, the method includes steps 201-206.

[0031] In step 201, the driver's eye information is collected.

[0032] In one possible implementation, the driver's eye information includes the gaze point position, eye movement velocity, and blink frequency. Acquiring the driver's eye information includes: capturing facial images using an eye-tracking camera installed in the vehicle, and determining the eye positions within the facial images using a face detection algorithm. Images of a reference number of eyes are then continuously acquired using the same method, and the eyes are tracked using a computer vision algorithm to obtain the eye movement trajectory. This trajectory is then input into a pre-established eye movement model to determine the gaze point position corresponding to the trajectory. The eye movement velocity can also be calculated based on the trajectory. The eye movement model can determine the gaze point position based on the driver's eye movement trajectory.

[0033] For example, blinking behavior can also be identified using computer vision algorithms, and the number of blinks during a first reference duration can be calculated, with the result used as the blinking frequency. Optionally, the number of references can be set based on experience; the first reference duration can be one minute, or it can be adjusted according to actual circumstances.

[0034] In one possible implementation, after acquiring the driver's eye movement speed, gaze position, and blink frequency, noise removal, filtering, and data calibration are performed on these parameters to remove invalid data. For example, filtering can be implemented using a filter, a denoising function to remove noise from the identified data, and the average data value for a second reference duration is calculated. Data calibration is achieved by removing data that significantly deviates from the average value within the second reference duration. Optionally, the second reference duration can be ten minutes, or it can be adjusted according to actual conditions.

[0035] By performing noise removal, filtering, and data calibration on the identified data, accidental driver behavior can be eliminated, and errors caused by equipment instability can be reduced, thereby improving the accuracy of the driver's eye information obtained.

[0036] In step 202, the driver's first driving intention is determined based on the driver's eye information.

[0037] For example, determining the driver's first driving intention based on the driver's eye information includes: determining the driver's level of concentration based on the speed of eye movement and the frequency of blinking; and determining the driver's first driving intention based on the position of the eye's fixation point and the driver's level of concentration.

[0038] For example, determining the driver's level of concentration based on eye movement speed and blink frequency includes: increasing the driver's level of concentration in response to an increase in eye movement speed; and decreasing the driver's level of concentration in response to an increase in blink frequency.

[0039] In one possible implementation, if the eye movement speed increases at a reference speed, the driver's level of concentration is increased by a first reference percentage; if the eye movement speed decreases at a reference speed, the driver's level of concentration is decreased by the first reference percentage. If the blinking frequency increases at a reference threshold, the driver's level of concentration is decreased by a second reference percentage; if the blinking frequency decreases at a reference threshold, the driver's level of concentration is increased by a second reference percentage. Exemplarily, the first and second reference percentages can be set empirically or adjusted according to actual circumstances.

[0040] Optionally, after determining the driver's level of concentration, the driver's first driving intention is determined based on the eye's gaze point position and the driver's level of concentration, including: in response to the driver's level of concentration being greater than a reference threshold, determining the driver's first driving intention based on the eye's gaze point position; and in response to the driver's level of concentration being less than or equal to the reference threshold, not controlling the vehicle's gear position.

[0041] For example, the driver's level of concentration is compared to a reference threshold. If the driver's level of concentration is greater than the reference threshold, the driver's primary driving intention is determined based on the eye's fixation point position. In one possible implementation, a model can be established that maps the eye's fixation point position to the driver's primary driving intention. The distance between the vehicle and the eye's fixation point position is obtained. By inputting the eye's fixation point position and the distance between the vehicle and the eye's fixation point position into this model, the driver's primary driving intention can be determined. For instance, if the eye's fixation point position is another vehicle or pedestrian, in response to the distance between the vehicle and the eye's fixation point position being greater than a reference distance, the driver's primary driving intention is to change lanes and overtake that vehicle or pedestrian; in response to the distance between the vehicle and the eye's fixation point position being less than or equal to the reference distance, the driver's primary driving intention is to slow down and avoid that vehicle or pedestrian. The reference distance is related to the vehicle speed and can be set according to the vehicle speed. If the eye's fixation point position is a traffic light or traffic sign, the driver's primary driving intention is to adjust the vehicle speed according to the traffic light or traffic sign, including accelerating or decelerating.

[0042] In step 203, the driver's voice command detection result is obtained, which indicates whether the driver's voice command has been received.

[0043] In one possible implementation, the driver's voice command detection result indicates whether a driver's voice command has been received. Obtaining the driver's voice command detection result includes: detecting the driver's voice command using an intelligent voice recognition device installed in the vehicle. If the intelligent voice recognition device detects a driver's voice command, the driver's voice command detection result indicates that the driver's voice command has been received. If the intelligent voice recognition device does not detect a driver's voice command, the driver's voice command detection result indicates that the driver's voice command has not been received.

[0044] In step 204, in response to the driver's voice command detection result indicating that the driver's voice command has been received, the driver's second driving intention is determined based on the first driving intention and the driver's voice command, and the second driving intention is the driver's actual driving intention.

[0045] Optionally, in response to the driver's voice command detection result indicating that the driver's voice command has been received, the driver's second driving intention is determined based on the first driving intention and the driver's voice command, wherein the second driving intention is the driver's actual driving intention.

[0046] In one possible implementation, if the driver's voice command detection result indicates that a driver's voice command has been received, before determining the driver's second driving intention based on the first driving intention and the driver's voice command, the driver's voice intention is identified by an intelligent voice recognition device. For example, when the driver issues a voice command to turn left, right, or change lanes, the driver's voice intention is to change lanes. When the driver issues a voice command to accelerate, the driver's voice intention is to accelerate. When the driver issues a voice command to decelerate, the driver's voice intention is to decelerate.

[0047] For example, after determining the driver's voice intention, it is then determined whether the driver's voice intention is consistent with the first driving intention. If they are consistent, the driver's voice intention or the first driving intention is taken as the driver's second driving intention. If the driver's voice intention is inconsistent with the first driving intention, the driver's voice intention is taken as the driver's second driving intention.

[0048] In one possible implementation, in response to a driver's voice command detection result indicating that no driver's voice command has been received, a second driver's driving intention is determined based on a first driving intention. For example, if the driver's voice command detection result indicates that no driver's voice command has been received, the first driving intention is taken as the driver's second driving intention.

[0049] By treating the voice intent as the driver's actual driving intent when there is a discrepancy between the voice intent and the primary driving intent, the system ensures that the driver's voice commands are executed and improves the accuracy of vehicle gear control.

[0050] In step 205, the vehicle's driving parameters and the environment of the road where the vehicle is located are obtained.

[0051] For example, the vehicle's driving parameters include the vehicle's speed, the vehicle's current gear, and the vehicle's steering angle, while the environment of the road on which the vehicle is located includes the traffic conditions, slope, and curvature of the road.

[0052] In one possible implementation, acquiring the vehicle's driving parameters and the road environment includes: acquiring the positions of other vehicles and pedestrians around the vehicle using surround-view cameras installed around the vehicle; determining the traffic conditions of the road based on the positions of these vehicles and pedestrians, where the traffic conditions include smooth traffic, level one congestion, and level two congestion; reading the slope and curvature of the road using a navigation system installed on the vehicle; and reading the vehicle's speed, current gear, and steering angle from the vehicle's ECU via a bus. Optionally, the bus can be a CAN (Controller Area Network) bus.

[0053] By acquiring the vehicle's driving parameters and the road environment, it is easier to adjust the vehicle's gears safely, ensuring that the gear control conforms to the actual road conditions and the vehicle's actual needs.

[0054] In step 206, the vehicle's gear is controlled based on the actual driving intention, the vehicle's driving parameters, and the environmental conditions of the road where the vehicle is located.

[0055] Optionally, before controlling the vehicle's gear based on the actual driving intention, the vehicle's driving parameters, and the road environment, a model of the actual driving intention, the vehicle's driving parameters, the road environment, and the vehicle's target gear is first established. This model is used to determine the vehicle's target gear based on the actual driving intention, the vehicle's driving parameters, and the road environment.

[0056] For example, if the actual driving intention is to change lanes, and the road environment where the vehicle is located is free-flowing, the slope is below the steepness threshold and the curvature is less than the curve threshold, and the vehicle's driving parameters are an increase in the vehicle's steering angle and an increase in the vehicle's speed, and are not within the speed range corresponding to the vehicle's current gear, the vehicle's gear is controlled to be raised by one gear.

[0057] Optionally, if the actual driving intention is to accelerate, and if the road environment where the vehicle is located is free-flowing, the slope is below the steepness threshold and the curvature is less than the curve threshold, and the vehicle's driving parameters are that the vehicle's steering angle does not change significantly, the vehicle's speed increases and is not within the speed range corresponding to the vehicle's current gear, then the vehicle's gear is controlled to be raised by one gear.

[0058] In one possible implementation, if the actual driving intention is to decelerate, and if the road environment where the vehicle is located is free-flowing, the slope is below the steepness threshold and the curvature is less than the curve threshold, and the vehicle's driving parameters are that the vehicle's steering angle does not change significantly, the vehicle's speed decreases and is not within the speed range corresponding to the vehicle's current gear, then the vehicle's gear is controlled to be downshifted by one gear.

[0059] For example, if the actual driving intention is to change lanes, accelerate, or decelerate, and the road environment where the vehicle is located is either Level 1 or Level 2 traffic congestion, or the gradient is greater than or equal to a steepness threshold, or the curvature is greater than or equal to a curve threshold, at least one of these conditions must be met, the vehicle's gear will not be adjusted.

[0060] If at least one of the following conditions is met: the road environment where the vehicle is located is either Level 1 or Level 2 traffic congestion, the slope is greater than or equal to the steepness threshold, or the curvature is greater than or equal to the curve threshold, the vehicle's gear will not be adjusted. This prevents the vehicle from automatically adjusting its gear and causing driving hazards when driving on congested roads, slopes, or curves.

[0061] This application's embodiments determine the driver's initial driving intention by observing their eye movements. Upon receiving a voice command from the driver, it determines the driver's actual driving intention by combining the initial intention with the voice command, thereby improving the accuracy of judging the driver's actual driving intention. Then, it controls the vehicle's gear selection based on the actual driving intention, vehicle driving parameters, and the road environment. This application ensures safety during gear shifting while reducing manual operation by the driver and effectively prevents erroneous automatic gear shifting when the driver is not paying attention, thus improving driving safety.

[0062] See Figure 3 This application provides a vehicle gear control device, which includes:

[0063] The data acquisition module 301 is used to acquire the driver's eye information;

[0064] The first determining module 302 is used to determine the driver's first driving intention based on the driver's eye information;

[0065] The first acquisition module 303 is used to acquire the driver's voice command detection result, which indicates whether the driver's voice command has been received.

[0066] The second determining module 304 is used to respond to the driver's voice command detection result indicating that the driver's voice command has been received, and to determine the driver's second driving intention based on the first driving intention and the driver's voice command, wherein the second driving intention is the driver's actual driving intention.

[0067] The second acquisition module 305 is used to acquire the vehicle's driving parameters and the environment of the road where the vehicle is located;

[0068] The control module 306 is used to control the vehicle's gears based on the actual driving intention, the vehicle's driving parameters, and the environment of the road where the vehicle is located.

[0069] In one possible implementation, the driver's eye information includes the gaze point position, eye movement speed, and blink frequency; the first determining module 302 is used to determine the driver's level of concentration based on the eye movement speed and blink frequency; and to determine the driver's first driving intention based on the gaze point position and the driver's level of concentration.

[0070] In one possible implementation, the first determining module 302 is configured to increase the driver's concentration level in response to an increase in eye movement speed and decrease the driver's concentration level in response to an increase in blinking frequency.

[0071] In one possible implementation, the first determining module 302 is used to determine the driver's first driving intention based on the position of the eye's gaze point in response to the driver's attention concentration being greater than a reference threshold.

[0072] In one possible implementation, the first acquisition module 303 is further configured to determine the driver's second driving intention based on the first driving intention in response to a driver's voice command detection result indicating that no driver's voice command has been received.

[0073] In one possible implementation, the control module 306 is further configured to establish a model of the actual driving intention, the vehicle's driving parameters, the environment of the road where the vehicle is located, and the vehicle's target gear. The model is used to determine the vehicle's target gear based on the actual driving intention, the vehicle's driving parameters, and the environment of the road where the vehicle is located.

[0074] This device determines the driver's initial driving intention by observing their eye movements. Upon receiving a voice command from the driver, it determines the driver's actual driving intention by combining the initial intention with the voice command, thus improving the accuracy of judging the driver's actual driving intention. It then controls the vehicle's gear selection based on the actual driving intention, vehicle driving parameters, and the road environment. This application ensures safety during gear shifting while reducing manual operation by the driver and effectively prevents erroneous automatic gear shifting when the driver is not paying attention, thereby improving driving safety.

[0075] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0076] In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described vehicle gear control methods.

[0077] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0078] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the vehicle gear control methods described above.

[0079] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the driver's eye information, driver's voice commands, vehicle driving parameters, and the environment of the road where the vehicle is located involved in this application were all obtained with full authorization.

[0080] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0081] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0082] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling vehicle gears, characterized in that, The method includes: Collect driver's eye information; The driver's eye information includes the position of the gaze point, the speed of eye movement, and the blink frequency; the driver's level of concentration is determined based on the speed of eye movement and the blink frequency. The driver's first driving intention is determined based on the position of the eye's gaze point and the driver's level of concentration. Obtain the driver's voice command detection result, which indicates whether the driver's voice command has been received; In response to the driver's voice command detection result indicating that the driver's voice command has been received, the driver's second driving intention is determined based on the first driving intention and the driver's voice command, and the second driving intention is the driver's actual driving intention; Obtain the vehicle's driving parameters and the environment of the road where the vehicle is located; The vehicle's gears are controlled based on the actual driving intention, the vehicle's driving parameters, and the road environment where the vehicle is located.

2. The method according to claim 1, characterized in that, Determining the driver's level of concentration based on the eye movement speed and the blinking frequency includes: In response to an increase in the speed of eye movement, the driver's level of concentration is increased; In response to an increase in the blinking frequency of the eyeballs, the driver's level of concentration is reduced.

3. The method according to claim 1, characterized in that, Determining the driver's first driving intention based on the gaze point position of the eyeball and the driver's level of concentration includes: In response to the driver's level of concentration being greater than a reference threshold, the driver's first driving intention is determined based on the position of the gaze point of the eyeball.

4. The method according to claim 1, characterized in that, After obtaining the driver's voice command detection results, the process also includes: In response to the driver's voice command detection result indicating that no voice command from the driver was received, the driver's second driving intention is determined based on the first driving intention.

5. The method according to claim 1, characterized in that, Before controlling the vehicle's gear selection based on the actual driving intention, the vehicle's driving parameters, and the road environment, the method further includes: A model is established that combines the actual driving intention, the vehicle's driving parameters, the road environment where the vehicle is located, and the vehicle's target gear. This model is used to determine the vehicle's target gear based on the actual driving intention, the vehicle's driving parameters, and the road environment where the vehicle is located.

6. A vehicle gear control device, characterized in that, The device includes: The data acquisition module is used to collect information about the driver's eye movements. The driver's eye information includes the gaze point position, eye movement speed, and blink frequency; the first determining module is used to determine the driver's level of concentration based on the eye movement speed and the blink frequency; and to determine the driver's first driving intention based on the gaze point position and the driver's level of concentration. The first acquisition module is used to acquire the driver's voice command detection result, wherein the driver's voice command detection result indicates whether the driver's voice command has been received; The second determining module is configured to, in response to the driver's voice command detection result indicating that the driver's voice command has been received, determine the driver's second driving intention based on the first driving intention and the driver's voice command, wherein the second driving intention is the driver's actual driving intention; The second acquisition module is used to acquire the vehicle's driving parameters and the environment of the road where the vehicle is located; The control module is used to control the vehicle's gears based on the actual driving intention, the vehicle's driving parameters, and the environment of the road where the vehicle is located.

7. The apparatus according to claim 6, characterized in that, The first determining module is configured to increase the driver's concentration level in response to an increase in the speed of eye movement; and to decrease the driver's concentration level in response to an increase in the blinking frequency of the eyes.

8. A non-transitory computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the vehicle gear control method as described in any one of claims 1 to 5.

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