Vehicle control method and related device based on fatigue detection

Abstract

This embodiment discloses a vehicle control method based on fatigue detection and related devices, the method includes: receiving a first message from the vehicle system; responding to the first message, obtaining Beidou positioning information, and determining the driver's energy consumption level according to the Beidou positioning information; receiving a second message from the vehicle system; responding to the second message, determining the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch; determining the driver's vehicle control sensitivity according to the energy consumption level, visual perception data, physiological state perception data, and motion state perception data; performing a reminder operation according to the vehicle control sensitivity. In this way, the timeliness and accuracy of reminding the driver when he is in a fatigued state are improved, avoiding the driver's inability to respond when the vehicle encounters a dangerous situation, which is conducive to improving the driving safety of emergencies when driving.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method and related devices based on fatigue detection. Background Art

[0002] With the rapid development of the automobile industry, cars have gradually become one of the indispensable means of transportation in people's lives. During the driving process, the driver's physical and mental fatigue leads to poor driving condition, which is the main cause of many traffic accidents. Therefore, driver fatigue detection is particularly important.

[0003] At present, when the existing fatigue detection method determines that the driver is in a fatigued state, the vehicle is likely to be in a dangerous state at this time. The driver, after being alerted, has no time to react and control the vehicle to avoid danger, which leads to traffic accidents and fails to effectively improve driving safety. Summary of the invention

[0004] The embodiment of the present application provides a vehicle control method and related devices based on fatigue detection, which can analyze the driver's vehicle control sensitivity through a Beidou watch, and perform related reminder operations based on the vehicle control sensitivity, thereby improving the timeliness and accuracy of reminders to the driver when he is in a fatigued state, avoiding the driver's inability to respond when the vehicle encounters a dangerous situation, and is conducive to improving driving safety in emergencies while driving.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method based on fatigue detection, which is applied to a driver's Beidou watch, and the driver's Beidou watch is communicatively connected to a vehicle system of a vehicle driven by the driver; the method comprises:

[0006] Receiving a first message from the vehicle computer system, the first message being associated with a driver's energy detection event;

[0007] In response to the first message, obtaining Beidou positioning information, determining the driver's energy consumption level according to the Beidou positioning information, where the Beidou positioning information represents the location information of the Beidou watch;

[0008] receiving a second message from the vehicle system, the second message being associated with a fatigue state detection event of the vehicle system, and the fatigue state detection event being associated with visual perception data of a visual perception device in a cockpit of the vehicle;

[0009] In response to the second message, determining the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch;

[0010] Determine the driver's control sensitivity of the vehicle based on the energy consumption level, visual perception data, physiological state perception data, and motion state perception data;

[0011] Perform reminder operations according to the vehicle control sensitivity.

[0012] In a second aspect, an embodiment of the present application provides a vehicle control method based on fatigue detection, which is applied to a controller in a vehicle system, wherein the vehicle system includes: a controller, a visual perception device, and a ranging sensor, wherein the controller is connected to the visual perception device and the ranging sensor respectively, and the vehicle system is connected to the driver's Beidou watch for communication; the method includes:

[0013] Detecting that the driver performs an ignition operation, generating a first message, the first message being associated with a driver's energy detection event; and,

[0014] Send the first message to the Beidou watch;

[0015] Receiving visual perception data from a visual sensor, the visual perception data being used to characterize a result of a fatigue state detection event for the driver, the result of the fatigue state detection event indicating that the driver is in a fatigue state or a normal state;

[0016] Sending a second message carrying visual perception data to the Beidou watch;

[0017] receiving a third message sent by the Beidou watch, the third message including energy consumption level, visual perception data, physiological state perception data and motion state perception data, and the third message is associated with the driver's vehicle control sensitivity;

[0018] When an obstacle is detected in front of the vehicle by the distance measuring sensor, a braking strategy is determined according to the third message and the driving speed of the vehicle.

[0019] In a third aspect, an embodiment of the present application provides a vehicle control device based on fatigue detection, which is applied to a driver's Beidou watch, and the driver's Beidou watch is communicatively connected to the vehicle system of the vehicle driven by the driver; the vehicle control device includes: a first receiving unit, an acquisition unit, a second receiving unit, a determination unit, a sending unit and an execution unit, wherein the first receiving unit is used to receive a first message from the vehicle system, and the first message is associated with the driver's energy detection event; the acquisition unit is used to respond to the first message, acquire Beidou positioning information, and determine the driver's energy consumption degree according to the Beidou positioning information, and the Beidou positioning information represents the location information of the Beidou watch; the second receiving unit is used to receive a second message from the vehicle system, and the second message is associated with the fatigue state detection event of the vehicle system, and the fatigue state detection event is associated with the visual perception data of the visual perception device in the cockpit of the vehicle; the determination unit is used to respond to the second message and determine the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch; the sending unit is used to determine the driver's vehicle control sensitivity to the vehicle according to the energy consumption degree, visual perception data, physiological state perception data and motion state perception data; the first receiving unit is used to perform a reminder operation according to the vehicle control sensitivity.

[0020] In a fourth aspect, an embodiment of the present application provides a vehicle control device based on fatigue detection, which is applied to a controller in a vehicle's on-board system, wherein the on-board system includes: a controller, a visual perception device and a ranging sensor, the controller is connected to the visual perception device and the ranging sensor respectively, and the on-board system is communicatively connected to the driver's Beidou watch; the vehicle control device includes: a detection unit, a first sending unit, a first receiving unit, a second sending unit, a second receiving unit and a determination unit, wherein the detection unit is used to detect that the driver performs an ignition operation and generate a first message, the first message being associated with the driver's energy detection event; and the first sending unit is used to send a first message to the Beidou watch; the first receiving unit , used to receive visual perception data from a visual sensor, the visual perception data is used to characterize the result of a fatigue state detection event for the driver, and the result of the fatigue state detection event indicates that the driver is in a fatigue state or a normal state; a second sending unit, used to send a second message carrying visual perception data to the Beidou watch; a second receiving unit, used to receive a third message sent by the Beidou watch, the third message includes energy consumption level, visual perception data, physiological state perception data and motion state perception data, and the third message is associated with the driver's vehicle control sensitivity; a determination unit, used to determine the braking strategy according to the third message and the vehicle's driving speed when an obstacle is detected in front of the vehicle through a ranging sensor.

[0021] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps of any method in the first aspect or the second aspect of the embodiment of the present application.

[0022] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in any method of the first aspect or the second aspect of the embodiment of the present application.

[0023] In a seventh aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect or the second aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0024] It can be seen that in the embodiment of the present application, first, the Beidou watch receives the first message from the car system, and the first message is associated with the driver's energy detection event; secondly, in response to the first message, Beidou positioning information is obtained, and the driver's energy consumption degree is determined according to the Beidou positioning information, and the Beidou positioning information represents the location information of the Beidou watch; then, the second message from the car system is received, and the second message is associated with the fatigue state detection event of the car system, and the fatigue state detection event is associated with the visual perception data of the visual perception device in the cockpit of the vehicle; then, in response to the second message, the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch are determined; according to the energy consumption degree, visual perception data, physiological state perception data and motion state perception data, the driver's control sensitivity to the vehicle is determined; finally, according to the control sensitivity, the reminder operation is performed. In this way, the driver's control sensitivity to the vehicle can be analyzed through the Beidou watch, and the relevant reminder operation is performed through the control sensitivity, which improves the timeliness and accuracy of reminding the driver when he is in a fatigued state, avoids the driver's inability to respond when the vehicle encounters a dangerous situation, and is conducive to improving the driving safety of emergencies when driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a system architecture diagram of a vehicle control system based on fatigue detection provided in an embodiment of the present application;

[0027] Figure 2 is a flow chart of a vehicle control method based on fatigue detection provided in an embodiment of the present application;

[0028] Figure 3 is a system architecture diagram of a vehicle system provided by an embodiment of the present application;

[0029] Figure 4 is another flow chart of a vehicle control method based on fatigue detection provided in an embodiment of the present application;

[0030] Figure 5 is a schematic diagram of a braking strategy scenario provided by an embodiment of the present application;

[0031] Figure 6 This is a block diagram of the functional units of a vehicle control device based on fatigue detection provided in an embodiment of the present application;

[0032] Figure 7 It is a block diagram of the functional units of another vehicle control device based on fatigue detection provided in an embodiment of the present application;

[0033] Figure 8 It is a structural block diagram of an electronic device provided by this application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0036] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship.

[0037] The "multiple" in the embodiments of the present application refers to two or more. The "connection" in the embodiments of the present application refers to various connection modes such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not make any limitation on this.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] See also Figure 1 , Figure 1 is a system architecture diagram of a vehicle control system based on fatigue detection provided by an embodiment of the present application, such as Figure 1 As shown, the vehicle control system 100 based on fatigue detection includes a Beidou watch 110 and a vehicle system 120, and the Beidou watch 110 is in communication connection with the vehicle system 120. Among them, the Beidou watch 110 receives a first message from the vehicle system 120; secondly, the Beidou watch 110 responds to the first message, obtains Beidou positioning information, and determines the driver's energy consumption degree according to the Beidou positioning information; then the Beidou watch 110 receives a second message from the vehicle system 120; then responds to the second message, determines the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch; then, the Beidou watch 110 determines the driver's vehicle control sensitivity to the vehicle according to the energy consumption degree, visual perception data, physiological state perception data and motion state perception data; finally, the Beidou watch 110 sends a third message carrying the vehicle control sensitivity to the vehicle system 120.

[0040] Among them, Beidou watch 110 is a smart watch based on the timing and positioning of China's Beidou satellite navigation system. Beidou watch 110 can receive Beidou satellite navigation system signals for timing; and Beidou watch 110 has a positioning function, can display longitude and latitude information, and has functions such as a compass and an altimeter. Specifically, Beidou watch 110 may include: a sensor, a processing module, a storage module, and a prompt module. Among them, the sensor can identify the type of action behavior performed by the driver when wearing the Beidou watch 110, and at the same time, the driver's action trajectory can be determined based on the built-in pressure sensor, gyroscope sensor, etc. in the sensor and the driver's wearing position; in addition, the sensor can also detect the driver's physiological signs through the contact part with the driver, and the physiological signs include: blood pressure, heart rate, pulse interval, skin resistance, electromyographic signal, body temperature, blood oxygen, etc.; the processing module is used to obtain the action type and physiological sign data completed by the driver, and judge and analyze the driver's vehicle control sensitivity; the storage module is used to store the driver's historical exercise type and corresponding duration, so that the processing module can analyze the driver's physical fitness level; the prompt module can have a sound broadcast function and a vibration function, etc., to respond to the instructions of the processing module and execute the corresponding prompt strategy.

[0041] Among them, the vehicle system 120 includes various sensors, actuators, controllers and other devices installed on the vehicle, which monitor and control the vehicle's operating status in real time to achieve the vehicle's automatic driving, assisted driving or optimized driving experience. Its main functions include: Automatic driving: Under certain conditions, the vehicle can complete the driving task autonomously without the driver's intervention. Assisted driving: By providing driving assistance information or performing some driving operations, the driver's burden is reduced and driving safety is improved. Optimized driving experience: By adjusting vehicle parameters, optimizing driving strategies, etc., the driving comfort and convenience are improved.

[0042] See also Figure 2 , Figure 2 is a flow chart of a vehicle control method based on fatigue detection provided by an embodiment of the present application, such as Figure 2 The fatigue detection based vehicle control method shown is applied to Figure 1 The Beidou wristwatch 110 shown in FIG. 1 comprises the following steps:

[0043] Step S210, receiving a first message from the vehicle system.

[0044] The first message is associated with the driver's energy detection event.

[0045] Among them, after the vehicle's on-board system detects that the driver has gotten on the vehicle, it sends a first message to the Beidou watch, which is used to instruct the Beidou watch to feedback Beidou positioning information, thereby facilitating the driver's energy detection event.

[0046] Step S220, responding to the first message, obtaining Beidou positioning information, and determining the driver's energy consumption level according to the Beidou positioning information.

[0047] Among them, the Beidou positioning information represents the location information of the Beidou watch.

[0048] Among them, the Beidou watch can determine the driver's movement trajectory and distance based on the Beidou positioning information, and estimate the driver's energy consumed based on the movement trajectory and distance. Furthermore, the driver's vehicle control sensitivity is determined by the degree of energy consumption. Vehicle control sensitivity refers to the driver's control reaction speed of the vehicle. The higher the vehicle control sensitivity, the faster the driver's reaction speed, the higher the degree of control over the vehicle, and the lower the probability of driving safety accidents.

[0049] Step S230, receiving a second message from the vehicle system.

[0050] Among them, the second message is associated with the fatigue state detection event of the vehicle system, and the fatigue state detection event is associated with the visual perception data of the visual perception device in the vehicle's cabin.

[0051] Among them, the vehicle's visual perception equipment determines the driver's current fatigue state by comprehensively analyzing the driver's expression, demeanor, posture, etc. For example, when a driver is in a fatigued state, he will yawn many times, his eyes will be distracted, and the number of times he blinks is significantly higher than the average level.

[0052] Step S240, in response to the second message, determining the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch.

[0053] Among them, the physiological state perception data is used to reflect whether the driver has heart disease, and may include: heart rate signals and electromyography signals. The electrocardiogram and electromyography are analyzed through the heart rate signals and electromyography signals, and whether the driver has heart disease, such as cardiac arrest, is further determined based on the electrocardiogram and electromyography; the motion state perception data is used to characterize the driver's posture of holding the steering wheel, including: the arm movement trajectory and arm movement acceleration of the driver's arm wearing the Beidou watch. According to the arm movement trajectory, it is judged whether the driver's arm wearing the Beidou watch maintains a normal posture of holding the steering wheel, and according to the arm movement acceleration, it is judged whether the driver controls the steering wheel in time to take steering operations.

[0054] Step S250, determining the driver's vehicle control sensitivity according to the energy consumption degree, visual perception data, physiological state perception data and motion state perception data.

[0055] Step S260: Execute a reminder operation according to the vehicle control sensitivity.

[0056] Among them, the reminder operation includes at least one of the following: vibration reminder, voice reminder; the voice reminder is information used to remind the driver to concentrate on controlling the vehicle and driving; specifically, the prompt level is determined according to the vehicle control sensitivity; if the driver is extremely tired, the output voice information can instruct the driver to temporarily stop and rest, and to ensure safety, drive again after recovering energy. At this time, the vibration intensity of the vibration reminder is the maximum; if the driver is generally tired, the output voice information such as "Please pay attention to the road ahead and concentrate on driving" and other information instructing the driver to concentrate on driving, and the vibration intensity of the vibration reminder is medium.

[0057] It can be seen that in the embodiment of the present application, first, the Beidou watch receives the first message from the car system, and the first message is associated with the driver's energy detection event; secondly, in response to the first message, Beidou positioning information is obtained, and the driver's energy consumption degree is determined according to the Beidou positioning information, and the Beidou positioning information represents the location information of the Beidou watch; then, the second message from the car system is received, and the second message is associated with the fatigue state detection event of the car system, and the fatigue state detection event is associated with the visual perception data of the visual perception device in the cockpit of the vehicle; then, in response to the second message, the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch are determined; according to the energy consumption degree, visual perception data, physiological state perception data and motion state perception data, the driver's control sensitivity to the vehicle is determined; finally, according to the control sensitivity, the reminder operation is performed. In this way, the driver's control sensitivity to the vehicle can be analyzed through the Beidou watch, and the relevant reminder operation is performed through the control sensitivity, which improves the timeliness and accuracy of reminding the driver when he is in a fatigued state, avoids the driver's inability to respond when the vehicle encounters a dangerous situation, and is conducive to improving the driving safety of emergencies when driving.

[0058] In one possible example, after performing a reminder operation according to the vehicle control sensitivity, the method further includes: sending a third message carrying the vehicle control sensitivity to the vehicle system, the third message being associated with the braking strategy of the vehicle system when an obstacle is detected in front of the vehicle.

[0059] Among them, the third message is related to the braking strategy of the vehicle system when an obstacle is detected in front of the vehicle.

[0060] Among them, when the vehicle control sensitivity is high, it means that the driver's driving state is good, and there is no need to execute a braking strategy with too high a degree of assistance. When there are emergencies such as obstacles in front of the driving section, the control of the vehicle is dominated by the driver; when the vehicle control sensitivity is low, it means that the driver's driving state is not good and the reaction ability is reduced. If an emergency occurs, he may not have time to react. Therefore, a braking strategy with a higher degree of assistance is adopted, and braking is automatically performed at the corresponding distance with the corresponding braking acceleration.

[0061] In one possible example, Beidou positioning information is obtained, and the driver's energy consumption level is determined based on the Beidou positioning information, including: judging whether the driver has a sleep event within a target detection period, the target detection period refers to the period from when the driver first wakes up on the detection day to when the driver is currently driving the vehicle; if there is no sleep event, retrieving the Beidou positioning information stored in the Beidou watch; analyzing the driver's position change data based on the Beidou positioning information, the position change data including at least one of the following: walking distance, running distance, and driving distance within the target detection period; determining the driver's energy consumption level based on the position change data.

[0062] Among them, when the driver includes multiple position change data, corresponding weights are configured for the multiple position change data. Since the energy consumed by driving is lower than the energy consumed by walking, and the energy consumed by walking is lower than the energy consumed by running, the configuration rule is that the weight corresponding to the driving distance is the lowest, the weight corresponding to the walking distance is the middle level, and the weight corresponding to the running distance is the highest.

[0063] Specifically, the driver's calorie consumption during the target detection period may also be counted. For example, the driver may perform fitness activities before driving and consume more calories, which results in a greater degree of energy consumption of the driver.

[0064] In other possible examples, if a sleep event occurs, the driver's energy level is determined to be full based on the duration of the sleep event. If the duration of the sleep event exceeds a preset time, the driver's energy level is determined to be full. If the duration of the sleep event is lower than a preset event, the driver's recovered energy level is determined based on the length of the duration. The longer the duration, the higher the recovered energy level.

[0065] It can be seen that in this example, by judging whether the driver has a sleep event during the target detection period, if there is no sleep event, the Beidou positioning information stored in the Beidou watch is retrieved, and the driver's position change data is analyzed according to the Beidou positioning information, and the driver's energy consumption degree is determined according to the position change data. In this way, the driver's exercise intensity before driving is determined according to the Beidou positioning information stored in the Beidou watch, so as to comprehensively determine the driver's energy consumption degree, improve the intelligence and accuracy of determining the driver's energy consumption degree according to the Beidou watch, and help to accurately determine the driver's vehicle control sensitivity, so as to control the vehicle to execute an adaptive braking strategy and improve driving safety and reliability.

[0066] In one possible example, determining the physiological state perception data of the driver and the motion state perception data of the arm wearing the Beidou watch includes: detecting the driver's heart rate signal and electromyography signal, generating the driver's electrocardiogram based on the heart rate signal and generating the driver's electromyography based on the electromyography signal; determining the physiological state perception data according to the driver's electrocardiogram and the driver's electromyography, the physiological state perception data being used to reflect whether the driver has a heart disease; detecting the arm motion trajectory and arm motion acceleration of the driver's arm wearing the Beidou watch; determining the motion state perception data according to the arm motion trajectory and the arm motion acceleration, the motion state perception data being used to characterize the driver's posture of holding the steering wheel.

[0067] Among them, the electromyographic signal adopts a non-invasive measurement method, that is, the signal is acquired by the Beidou watch's electrodes contacting the driver's arm skin surface; the analysis of the electromyographic signal mainly includes signal preprocessing, feature extraction and pattern recognition. The preprocessing stage mainly performs filtering and denoising on the signal; the feature extraction stage extracts the signal's amplitude, frequency, waveform and other characteristic parameters; the pattern recognition stage classifies and identifies the signal according to the extracted characteristic parameters.

[0068] Among them, if the physiological state perception data is abnormal, it means that the driver may have a heart disease, and rescue measures should be taken immediately, such as braking immediately, sounding an alarm through the vehicle system, notifying fellow passengers in the car, etc.

[0069] Among them, the arm movement trajectory can be used to determine whether the driver is in a normal position of holding the steering wheel, for example: both hands are placed on the steering wheel, and both hands are placed on both sides of the steering wheel. Specifically, the left hand should be placed at about 9 o'clock on the left side of the steering wheel, and the right hand should be placed at about 3 o'clock on the right side. This holding method helps to provide the best controllability and stability in emergency situations.

[0070] Among them, if it is determined based on the motion state perception data that the driver is not holding the steering wheel in a normal posture, it means that the driver is not focused or is performing dangerous driving operations, such as holding an object with one hand and holding the steering wheel with the other hand.

[0071] It can be seen that in this example, the driver's heart rate signal and electromyography signal are detected, the driver's electrocardiogram is generated based on the heart rate signal and the driver's electromyography is generated based on the electromyography signal, the physiological state perception data is determined based on the driver's electrocardiogram and the driver's electromyography, the arm movement trajectory and arm movement acceleration of the driver's arm wearing the Beidou watch are detected, and the motion state perception data is determined based on the arm movement trajectory and arm movement acceleration. In this way, the Beidou watch collects relevant physiological information and motion posture information, improves the accuracy of subsequent analysis of the driver's vehicle control sensitivity, enriches the reference factor dimension of the driver's vehicle control sensitivity, and can objectively reflect the driver's real vehicle control sensitivity and improve driving safety.

[0072] In one possible example, determining the driver's control sensitivity of the vehicle includes:

[0073] Determining whether the energy consumption level is greater than a preset energy consumption threshold;

[0074] When the energy consumption degree is greater than the preset energy consumption threshold, it is determined that the driver is in a fatigue state, and thus the vehicle control sensitivity is determined to be the first sensitivity;

[0075] When it is determined according to the visual perception data that the driver is in a fatigue state, the vehicle control sensitivity is determined to be the first sensitivity, and the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity;

[0076] Determining whether the motion state perception data conforms to the preset motion data;

[0077] When the motion state perception data does not conform to the preset motion data, it is determined that the driver is not holding the steering wheel in a normal posture, thereby determining that the vehicle control sensitivity is the second sensitivity;

[0078] Determining whether the physiological state sensing data meets a preset physiological threshold;

[0079] When the physiological state perception data does not meet the preset physiological threshold, it is determined that the driver has a heart disease, and the vehicle control sensitivity is determined to be a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity.

[0080] Among them, the driver's energy consumption degree is comprehensively determined based on the walking distance, running distance and driving distance during the target detection period. The longer the walking distance, running distance and driving distance during the target detection period, the greater the energy consumption degree.

[0081] Among them, the first sensitivity indicates that the driver is relatively tired, the second sensitivity indicates that the driver can no longer maintain the correct driving posture and the danger level is further increased; the third sensitivity indicates that the driver suddenly encounters a crisis event and the danger level is the most urgent. At this time, the control over the vehicle is almost zero.

[0082] It can be seen that in this example, the driver's vehicle control sensitivity is comprehensively determined by the energy consumption level, visual perception data, motion state perception data and physiological state perception data. The higher the vehicle control sensitivity, the higher the driver's controllability over the vehicle driving. The vehicle implements a low-assisted driving braking strategy. The vehicle's braking strategy is determined by the vehicle control sensitivity, which improves the driver's driving flexibility and intelligence, and is also beneficial to improving driving safety in the event of emergencies while driving.

[0083] See also Figure 3 , Figure 3 is a system architecture diagram of a vehicle system provided by an embodiment of the present application, such as Figure 1 The vehicle system 120 shown in the figure includes: a controller 301, a visual perception device 302 and a distance sensor 303, wherein the controller 301 is connected to the visual perception device 302, the controller 301 is connected to the distance sensor 303, and the vehicle system 120 is connected to Figure 1 The Beidou wristwatch 110 shown is connected for communication.

[0084] Among them, the visual perception device 302 can be an on-board camera, optical sensor and other equipment in the vehicle cabin, which can realize real-time monitoring and perception of the internal environment of the vehicle cabin by combining computer vision algorithms and artificial intelligence technology; the visual perception device 302 can use facial recognition technology to monitor the driver's facial states such as eyelid closure, gaze direction, yawning, head movement, etc. in real time, and use facial recognition technology to monitor whether the driver's attention is concentrated, and remind the driver of distraction to ensure driving safety; the visual perception device 302 can also use facial recognition technology to complete the identity confirmation of car owners, passengers and other driving-related personnel, and realize personalized settings and access control.

[0085] Among them, the ranging sensor 303 can be a laser ranging sensor, an ultrasonic ranging sensor, a millimeter wave ranging sensor or a video (camera) ranging sensor. The ranging sensor 303 is used to identify and track obstacles in front of the vehicle, such as other vehicles, pedestrians, animals, etc., and can also send early warning signals to the driver in time when potential dangers are detected, such as sound, light signals or vibrations, to remind the driver to pay attention; at the same time, it can also work in coordination with other systems of the vehicle (such as braking system, steering system, etc.) to realize advanced driving assistance functions such as automatic emergency braking, adaptive cruise control, lane keeping assist, etc.

[0086] See also Figure 4, Figure 4 is another flow chart of a vehicle control method based on fatigue detection provided by an embodiment of the present application, Figure 4 The fatigue detection based vehicle control method shown is applied to Figure 3 The controller 301 shown, the method comprises the following steps:

[0087] Step S410: Detecting that the driver performs an ignition operation and generating a first message.

[0088] Among them, the first message is related to the driver's energy detection event; face recognition can be performed through the visual perception sensor installed in the cockpit to determine whether the driver is sitting in the driver's seat and ready to drive, and to assist in determining that the ignition operation is performed by the driver himself to avoid recognition errors.

[0089] Step S420: Send a first message to the Beidou wristwatch.

[0090] Among them, the first message is used to instruct the Beidou watch to retrieve the built-in Beidou positioning information, and determine the driver's energy consumption level by analyzing the Beidou positioning information.

[0091] Step S430, receiving visual perception data from a visual sensor.

[0092] The visual perception data is used to characterize the result of the driver's fatigue state detection event, and the result of the fatigue state detection event indicates that the driver is in a fatigue state or a normal state.

[0093] Among them, the visual sensor uses facial recognition technology to monitor the driver's visual perception data in real time. The visual perception data includes at least one of the following: number of eyelid closures, gaze direction, number of yawns, head movements and other facial states. The collected facial emotions of the driver can also be analyzed through the artificial intelligence software system built into the car computer to accurately analyze the driver's emotional state at this time, which plays an auxiliary role in analyzing the driver's fatigue level.

[0094] Step S440: Send a second message carrying visual perception data to the Beidou wristwatch.

[0095] Among them, the second message is used to instruct the Beidou watch to analyze and determine the driver's fatigue status based on visual perception data.

[0096] Step S450, receiving the third message sent by the Beidou wristwatch.

[0097] Among them, the third message includes energy consumption level, visual perception data, physiological state perception data and motion state perception data, and the third message is related to the driver's vehicle control sensitivity.

[0098] Step S460: When an obstacle is detected in front of the vehicle by the distance measuring sensor, a braking strategy is determined according to the third message and the driving speed of the vehicle.

[0099] It can be seen that in this example, by detecting that the driver performs an ignition operation, a first message is generated, and the first message is associated with the driver's energy detection event; and the first message is sent to the Beidou watch; the visual perception data from the visual sensor is received, and the visual perception data is used to characterize the result of the driver's fatigue state detection event, and the result of the fatigue state detection event indicates that the driver is in a fatigue state or a normal state; the second message carrying the visual perception data is sent to the Beidou watch; the third message sent by the Beidou watch is received, and the third message includes the energy consumption level, visual perception data, physiological state perception data, and motion state perception data, and the third message is associated with the driver's vehicle control sensitivity; when an obstacle is detected in front of the vehicle by the ranging sensor, the braking strategy is determined according to the third message and the vehicle's driving speed. In this way, the vehicle can determine a matching braking strategy according to the driver's driving control sensitivity, improve the intelligent driving experience, avoid driving dangers caused by excessive driver fatigue, and improve driving safety.

[0100] In other possible examples, before the distance measuring sensor detects an obstacle in front of the vehicle, the method also includes: establishing an association relationship between multiple vehicle speeds of the vehicle and corresponding safe braking distances, the safe braking distance referring to the distance at which the vehicle is stopped with a preset braking acceleration; determining the current driving speed of the vehicle; determining a target safe braking distance based on the driving speed and the association relationship; and sending a detection message to the distance measuring sensor, the detection message including information on the target safe braking distance to instruct the distance measuring sensor to detect whether there is an obstacle within the range of the target safe braking distance.

[0101] It can be seen that in this example, by establishing an association relationship between multiple vehicle speeds and corresponding safe braking distances, the current vehicle speed is determined, and the target safe braking distance is determined based on the driving speed and the association relationship, and a detection message is sent to the distance measuring sensor to instruct the distance measuring sensor to detect whether there is an obstacle within the target safe braking distance. In this way, the safe braking distance is dynamically determined based on the real-time vehicle speed, which improves the reliability and safety of the braking strategy formulation, avoids the situation where the safe braking distance is fixed and the safe braking distance is insufficient to achieve the braking operation when the vehicle speed increases, thereby causing a safety accident, which is more in line with the actual situation.

[0102] In a possible example, determining a braking strategy according to the third message and the driving speed of the vehicle includes:

[0103] When it is determined according to the third message that the energy consumption degree is greater than a preset energy consumption threshold and / or it is determined that the visual perception data indicates that the driver is in a fatigue state, the vehicle control sensitivity is determined to be the first sensitivity;

[0104] Determining a first braking strategy according to the first sensitivity, the first braking strategy is braking at a preset braking acceleration when the vehicle is at a first braking distance from the obstacle, the first braking distance being a braking distance for stopping the vehicle at the preset acceleration at the driving speed;

[0105] When it is determined according to the third message that the motion state perception data does not meet the preset motion data, the vehicle control sensitivity is determined to be the second sensitivity;

[0106] Determining a second braking strategy according to the second sensitivity, the second braking strategy is braking at a reference braking acceleration when the vehicle is at a second braking distance from the obstacle, the second braking distance refers to a braking distance for stopping the vehicle at the reference braking acceleration at the driving speed, and the reference braking acceleration is a braking acceleration that meets the braking habits of the driver;

[0107] According to the third message, when the physiological state perception data does not meet the preset physiological threshold, the vehicle control sensitivity is determined to be a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity;

[0108] A third braking strategy is determined according to the third sensitivity, and the third braking strategy is to brake immediately at a preset acceleration.

[0109] Among them, the preset braking acceleration refers to the minimum braking acceleration of the vehicle, so the first braking distance is also the relatively safest and longest braking distance; the reference acceleration is determined based on the driver's historical driving data, which is in line with the driver's braking acceleration habits and is larger than the preset acceleration.

[0110] Among them, when it is determined based on the physiological state perception data that the driver does not meet the preset physiological threshold, it means that the driver has a heart disease and requires emergency braking for treatment.

[0111] It should be understood that when the driver's energy consumption level is greater than the preset energy consumption threshold, and / or it is determined that the visual perception data indicates that the driver is in a fatigue state, and at the same time the motion state perception data does not meet the preset motion data, and even at the same time the physiological state perception data does not meet the preset physiological threshold, the physiological state perception data is used as the final evaluation data, that is, the data with higher indicated vehicle control sensitivity has higher priority and needs to be considered first.

[0112] Specifically, see Figure 5 , Figure 5 is a schematic diagram of a braking strategy provided in an embodiment of the present application, such as Figure 5As shown, a vehicle 500 and an obstacle 510, wherein a first marking point 530 is a position where braking measures are taken when the vehicle is at a first braking distance, Figure 5 S1 in the figure is the first braking distance; the second marking point 540 is the position where braking measures are taken when the distance is the second braking distance. Figure 5 The S2 in the figure is the second braking distance.

[0113] It can be seen that in this example, according to the third message, when it is determined that the energy consumption level is greater than the preset energy consumption threshold, and / or when it is determined that the visual perception data indicates that the driver is in a fatigue state, the vehicle control sensitivity is determined to be the first sensitivity; according to the first sensitivity, the first braking strategy is determined; according to the third message, when it is determined that the motion state perception data does not meet the preset motion data, the vehicle control sensitivity is determined to be the second sensitivity; according to the second sensitivity, the second braking strategy is determined; according to the third message, when the physiological state perception data does not meet the preset physiological threshold, the vehicle control sensitivity is determined to be the third sensitivity; according to the third sensitivity, the third braking strategy is determined, and the third braking strategy is to brake immediately with a preset acceleration. In this way, the driver's vehicle control sensitivity is comprehensively determined according to the energy consumption level, visual perception data, motion state perception data, and physiological state perception data, thereby determining the vehicle's braking strategy, and performing braking assistance according to the driver's state, thereby improving the intelligent driving experience, avoiding driving dangers caused by excessive driver fatigue, and improving driving safety.

[0114] In other possible examples, before determining whether the driver takes anti-collision action at a reference braking distance between the vehicle and the obstacle, the method further includes: obtaining the driver's historical driving data, the historical driving data including at least one of the following: average vehicle speed, average vehicle distance during braking, and average braking acceleration during braking; determining the driver's braking habits based on the historical driving data, the braking habits being used to characterize the relationship between the vehicle's speed and the driver's braking acceleration during braking; and determining a reference braking acceleration based on the driving speed and the braking habits.

[0115] It can be seen that in this example, the driver's historical driving data is obtained, the driver's braking habits are determined based on the historical driving data, and the reference braking acceleration is determined based on the driving speed and braking habits. In this way, braking is performed at a braking acceleration that matches the driver's braking habits, avoiding panic caused by sudden braking when the driver is fatigued, improving the intelligence of executing the braking strategy, and improving the driver's driving experience.

[0116] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that in order to realize the above functions, the mobile electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0117] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0118] and Figure 2 For details, see Figure 6 , Figure 6 is a functional unit block diagram of a vehicle control device based on fatigue detection provided by an embodiment of the present application. The first vehicle control device based on fatigue detection 600 is applied to Figure 1 The Beidou wristwatch 110 shown includes: a first receiving unit 610, an acquisition unit 620, a second receiving unit 630, a first determining unit 640, a sending unit 650 and an execution unit 660, wherein the first receiving unit 610 is used to receive a first message from the vehicle system, the first message being associated with the driver's energy detection event; the acquisition unit 620 is used to respond to the first message, acquire Beidou positioning information, and determine the driver's energy consumption degree according to the Beidou positioning information, the Beidou positioning information represents the location information of the Beidou wristwatch; the second receiving unit 630 is used to receive a second message from the vehicle system, the second message being associated with the fatigue state detection event of the vehicle system, the fatigue state detection event being associated with the visual perception data of the visual perception device in the cockpit of the vehicle; the first determining unit 640 is used to respond to the second message and determine the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou wristwatch; the sending unit 650 is used to determine the driver's vehicle control sensitivity to the vehicle according to the energy consumption degree, the visual perception data, the physiological state perception data and the motion state perception data; the execution unit 660 is used to perform a reminder operation according to the vehicle control sensitivity.

[0119] In one possible example, in terms of acquiring Beidou positioning information and determining the driver's energy consumption level based on the Beidou positioning information, the acquisition unit 620 is specifically used to: determine whether the driver has a sleep event within the target detection period, the target detection period refers to the period from the first time the driver wakes up on the day to the time when the driver is currently driving the vehicle; if there is no sleep event, retrieve the Beidou positioning information stored in the Beidou watch; analyze the driver's position change data based on the Beidou positioning information, the position change data including at least one of the following: walking distance, running distance, and driving distance within the target detection period; determine the driver's energy consumption level based on the position change data.

[0120] In one possible example, in determining the driver's physiological state perception data and the motion state perception data of the arm wearing the Beidou watch, the first determination unit 640 is specifically used to: detect the driver's heart rate signal and electromyography signal, generate the driver's electrocardiogram based on the heart rate signal, and generate the driver's electromyography based on the electromyography signal; determine the physiological state perception data based on the driver's electrocardiogram and the driver's electromyography, and the physiological state perception data is used to reflect whether the driver has a heart disease; detect the arm motion trajectory and arm motion acceleration of the driver's arm wearing the Beidou watch; determine the motion state perception data based on the arm motion trajectory and the arm motion acceleration, and the motion state perception data is used to characterize the driver's posture of holding the steering wheel.

[0121] In one possible example, in terms of determining the driver's sensitivity to controlling the vehicle, the sending unit 650 is specifically used to: determine whether the degree of energy consumption is greater than a preset energy consumption threshold; when the degree of energy consumption is greater than the preset energy consumption threshold, it is determined that the driver is in a fatigue state, thereby determining that the vehicle control sensitivity is a first sensitivity; when it is determined that the driver is in a fatigue state according to visual perception data, the vehicle control sensitivity is determined to be the first sensitivity, and the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity; determine whether the motion state perception data conforms to the preset motion data; when the motion state perception data does not conform to the preset motion data, it is determined that the driver does not hold the steering wheel in a normal posture, thereby determining that the vehicle control sensitivity is a second sensitivity; determine whether the physiological state perception data conforms to the preset physiological threshold; when the physiological state perception data does not conform to the preset physiological threshold, it is determined that the driver has a heart disease, thereby determining that the vehicle control sensitivity is a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity.

[0122] In one possible example, in terms of performing a reminder operation based on the vehicle control sensitivity, the execution unit 660 is specifically used to: send a third message carrying the vehicle control sensitivity to the vehicle system, and the third message is associated with the braking strategy of the vehicle system when an obstacle is detected in front of the vehicle.

[0123] and Figure 4 For details, see Figure 7 , Figure 7 is a functional unit block diagram of another vehicle control device based on fatigue detection provided in an embodiment of the present application. The second vehicle control device based on fatigue detection 700 is applied to Figure 4 The controller 301 shown includes: a detection unit 710, a first sending unit 720, a third receiving unit 730, a second sending unit 740, a fourth receiving unit 750 and a second determining unit 760, wherein the detection unit 710 is used to detect that the driver performs an ignition operation and generate a first message, the first message being associated with the driver's energy detection event; and the first sending unit 720 is used to send the first message to the Beidou watch; the third receiving unit 730 is used to receive visual perception data from a visual sensor, the visual perception data being used to characterize the result of a fatigue state detection event of the driver, the result of the fatigue state detection event indicating that the driver is in a fatigue state or a normal state; the second sending unit 740 is used to send a second message carrying visual perception data to the Beidou watch; the fourth receiving unit 750 is used to receive a third message sent by the Beidou watch, the third message including energy consumption level, visual perception data, physiological state perception data and motion state perception data, the third message being associated with the driver's sensitivity to vehicle control; the second determining unit 760 is used to determine a braking strategy according to the third message and the vehicle's driving speed when an obstacle is detected in front of the vehicle through a ranging sensor.

[0124] In one possible example, in terms of determining the braking strategy according to the third message and the driving speed of the vehicle, the second determination unit 760 is specifically used to: determine, according to the third message, when the energy consumption level is greater than a preset energy consumption threshold, and / or determine that the visual perception data indicates that the driver is in a fatigue state, determine that the vehicle control sensitivity is the first sensitivity; determine, according to the first sensitivity, a first braking strategy, the first braking strategy is to brake at a preset braking acceleration when the distance from the obstacle is a first braking distance, and the first braking distance refers to the braking distance for stopping at a preset acceleration at the driving speed; determine, according to the third message, when the motion state perception data does not meet the preset motion data, determine the control The vehicle control sensitivity is the second sensitivity; according to the second sensitivity, the second braking strategy is determined, and the second braking strategy is to brake with a reference braking acceleration when the vehicle is at a second braking distance from the obstacle. The second braking distance refers to the braking distance for stopping with a reference braking acceleration at a driving speed, and the reference braking acceleration is a braking acceleration that meets the driver's braking habits; according to the third message, when the physiological state perception data does not meet the preset physiological threshold, the vehicle control sensitivity is determined to be the third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity; according to the third sensitivity, the third braking strategy is determined, and the third braking strategy is to immediately brake with a preset acceleration.

[0125] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0126] Figure 8 This is a structural block diagram of an electronic device provided by this application. Figure 8 As shown, the electronic device 800 may include one or more of the following components: a processor 801, a memory 802 coupled to the processor 801, wherein the memory 802 may store one or more computer programs, and the one or more computer programs may be configured to implement the methods described in the above examples when executed by one or more processors 801. Figure 8 It can be the above Figure 1 Beidou Watch 110, or Figure 4 Controller 301 in.

[0127] The processor 801 may include one or more processing cores. The processor 801 uses various interfaces and lines to connect the various parts of the entire electronic device 800, and executes various functions and processes data of the electronic device 800 by running or executing instructions, programs, code sets or instruction sets stored in the memory 802, and calling data stored in the memory 802. Optionally, the processor 801 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 801 can integrate one or more combinations of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU) and a modem. It is understandable that the above-mentioned modem may not be integrated into the processor 801, and may be implemented separately through a communication chip.

[0128] The memory 802 may include a random access memory (RAM) or a read-only memory (ROM). The memory 802 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 802 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method examples, etc. The data storage area may also store data created by the electronic device 800 during use, etc.

[0129] It is understandable that the electronic device 800 may include more or fewer structural elements than those in the above structural block diagram, for example, a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., which are not limited here.

[0130] An embodiment of the present application also provides a computer storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, part or all of the steps of any method recorded in the above method embodiments are implemented.

[0131] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0132] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are only schematic; for example, the division of units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0136] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM) and direct RAM bus random access memory (DR RAM), among other media that can store program code.

[0137] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present invention.

Claims

1. A vehicle control method based on fatigue detection, characterized in that: A BeiDou wristwatch applied to a driver, wherein the BeiDou wristwatch of the driver is communicatively connected with a vehicle system of a vehicle driven by the driver; The vehicle control method comprises: Receiving a first message from the vehicle system, wherein the first message is associated with an alertness detection event of the driver; In response to the first message, obtaining Beidou positioning information, the Beidou positioning information representing the location information of the Beidou wristwatch, and determining whether the driver has a sleep event within a target detection period, the target detection period being the period from when the driver first wakes up on the detection day to when the driver is currently driving the vehicle; If the sleep event does not exist, retrieving the Beidou positioning information stored in the Beidou wristwatch; Analyzing the position change data of the driver according to the Beidou positioning information, wherein the position change data includes at least one of the following: walking distance, running distance, and driving distance within the target detection period; determining the driver's energy consumption level according to the position change data; receiving a second message from the vehicle system, the second message being associated with a fatigue state detection event of the driver, the fatigue state detection event being associated with visual perception data of a visual perception device in a cockpit of the vehicle; In response to the second message, determining the physiological state perception data of the driver and the motion state perception data of the arm wearing the Beidou wristwatch, wherein the motion state perception data is used to characterize the posture of the driver holding the steering wheel; Determining the driver's sensitivity to controlling the vehicle according to the energy consumption degree, the visual perception data, the physiological state perception data, and the motion state perception data, including: determining whether the energy consumption degree is greater than a preset energy consumption threshold; when the energy consumption degree is greater than the preset energy consumption threshold, determining that the driver is in a fatigue state, thereby determining that the vehicle control sensitivity is a first sensitivity; when it is determined that the driver is in the fatigue state according to the visual perception data, determining that the vehicle control sensitivity is the first sensitivity, the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity; determining whether the motion state perception data conforms to the preset motion data; when the motion state perception data does not conform to the preset motion data, determining that the driver does not hold the steering wheel in a normal posture, thereby determining that the vehicle control sensitivity is a second sensitivity; determining whether the physiological state perception data conforms to the preset physiological threshold; when the physiological state perception data does not conform to the preset physiological threshold, determining that the vehicle control sensitivity is a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity; Executing a reminder operation according to the vehicle control sensitivity; A third message carrying the vehicle control sensitivity is sent to the vehicle system, wherein the third message is associated with a braking strategy of the vehicle system when an obstacle is detected in front of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The determining of the physiological state perception data of the driver and the motion state perception data of the arm wearing the Beidou wristwatch includes: Detecting a heart rate signal and an electromyogram signal of the driver, generating an electrocardiogram of the driver based on the heart rate signal and generating an electromyogram of the driver based on the electromyogram signal; Determining the physiological state perception data according to the driver's electrocardiogram and the driver's electromyogram; Detecting the arm movement trajectory and arm movement acceleration of the arm of the driver wearing the Beidou wristwatch; The motion state perception data is determined according to the arm motion trajectory and the arm motion acceleration.

3. A vehicle control method based on fatigue detection, characterized in that: A controller applied to a vehicle system, the vehicle system comprising: the controller, a visual perception device and a distance sensor, the controller being connected to the visual perception device and the distance sensor respectively, and the vehicle system being connected to a driver's Beidou wristwatch for communication; the vehicle control method comprising: It is detected that the driver performs an ignition operation, a first message is generated, the first message is associated with the energy detection event of the driver, the first message is sent to the Beidou watch, and in response to the first message, Beidou positioning information is obtained, the Beidou positioning information represents the position information of the Beidou watch, and it is determined whether the driver has a sleep event within a target detection period, and the target detection period refers to the period from when the driver first wakes up on the detection day to when the driver currently drives the vehicle; if the sleep event does not exist, the Beidou positioning information stored in the Beidou watch is retrieved; according to the Beidou positioning information, the position change data of the driver is analyzed, and the position change data includes at least one of the following: walking distance, running distance, and driving distance within the target detection period; according to the position change data, the energy consumption degree of the driver is determined; Receiving visual perception data from the visual perception device, the visual perception data being used to characterize a result of a fatigue state detection event for the driver, the result of the fatigue state detection event indicating that the driver is in a fatigue state or a normal state; Sending a second message carrying the visual perception data to the Beidou wristwatch; receiving a third message sent by the Beidou wristwatch, wherein the third message includes the energy consumption degree, the visual perception data, the physiological state perception data, and the motion state perception data, wherein the third message is associated with the driver's control sensitivity of the vehicle, and the motion state perception data is used to characterize the driver's posture of holding the steering wheel; When an obstacle is detected in front of the vehicle by the ranging sensor, a braking strategy is determined according to the third message and the driving speed of the vehicle, including: according to the third message, when it is determined that the energy consumption level is greater than a preset energy consumption threshold and / or when it is determined that the visual perception data indicates that the driver is in the fatigue state, the vehicle control sensitivity is determined to be a first sensitivity, and the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity; according to the third message, when it is determined that the motion state perception data does not meet the preset motion data, the vehicle control sensitivity is determined to be a second sensitivity; according to the third message, when the physiological state perception data does not meet the preset physiological threshold, the vehicle control sensitivity is determined to be a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity.

4. The vehicle control method according to claim 3, characterized in that: The determining of the braking strategy according to the third message and the driving speed of the vehicle further includes: Determining a first braking strategy according to the first sensitivity, wherein the first braking strategy is to brake at a preset braking acceleration when the vehicle is at a first braking distance from the obstacle, wherein the first braking distance refers to a braking distance for stopping the vehicle at the preset braking acceleration at the driving speed, and the preset braking acceleration refers to a minimum braking acceleration of the vehicle; determining a second braking strategy according to the second sensitivity, wherein the second braking strategy is to brake at a second braking distance from the obstacle with a reference braking acceleration, wherein the second braking distance refers to a braking distance for stopping the vehicle at the reference braking acceleration at the driving speed, and the reference braking acceleration is a braking acceleration that meets the braking habit of the driver; A third braking strategy is determined according to the third sensitivity, where the third braking strategy is to immediately brake at the preset braking acceleration.

5. A vehicle control device based on fatigue detection, characterized in that: A Beidou watch applied to a driver, wherein the driver's Beidou watch is communicatively connected to a vehicle system of a vehicle driven by the driver; the vehicle control device comprises: a first receiving unit, an acquiring unit, a second receiving unit, a determining unit, a sending unit and an executing unit, wherein: The first receiving unit is used to receive a first message from the vehicle system, where the first message is associated with the driver's energy detection event; The acquisition unit is used to respond to the first message, acquire Beidou positioning information, the Beidou positioning information represents the position information of the Beidou wristwatch, and judge whether the driver has a sleep event within a target detection period, the target detection period refers to the period from when the driver first wakes up on the detection day to when the driver currently drives the vehicle; if the sleep event does not exist, retrieve the Beidou positioning information stored in the Beidou wristwatch; analyze the driver's position change data according to the Beidou positioning information, the position change data including at least one of the following: walking distance, running distance, and driving distance within the target detection period; determine the driver's energy consumption level according to the position change data; The second receiving unit is used to receive a second message from the vehicle system, the second message is associated with the driver's fatigue state detection event, and the fatigue state detection event is associated with visual perception data of a visual perception device in the cabin of the vehicle; The determining unit is used to determine the physiological state perception data of the driver and the motion state perception data of the arm wearing the Beidou wristwatch in response to the second message, wherein the motion state perception data is used to characterize the posture of the driver holding the steering wheel; The sending unit is used to determine the driver's vehicle control sensitivity to the vehicle according to the energy consumption degree, the visual perception data, the physiological state perception data and the motion state perception data, including: determining whether the energy consumption degree is greater than a preset energy consumption threshold; when the energy consumption degree is greater than the preset energy consumption threshold, determining that the driver is in a fatigue state, thereby determining that the vehicle control sensitivity is a first sensitivity; when it is determined that the driver is in the fatigue state according to the visual perception data, determining that the vehicle control sensitivity is the first sensitivity, the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity; determining whether the motion state perception data conforms to the preset motion data; when the motion state perception data does not conform to the preset motion data, determining that the driver does not hold the steering wheel in a normal posture, thereby determining that the vehicle control sensitivity is a second sensitivity; determining whether the physiological state perception data conforms to the preset physiological threshold; when the physiological state perception data does not conform to the preset physiological threshold, determining that the vehicle control sensitivity is a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity; The execution unit is used to execute a reminder operation according to the vehicle control sensitivity; The execution unit is further used to send a third message carrying the vehicle control sensitivity to the vehicle system, where the third message is associated with a braking strategy of the vehicle system when an obstacle is detected in front of the vehicle.

6. A vehicle control device based on fatigue detection, characterized in that: A controller used in a vehicle system, the vehicle system comprising: the controller, a visual perception device and a distance sensor, the controller being connected to the visual perception device and the distance sensor respectively, the vehicle system being connected to a driver's Beidou wristwatch in communication; the vehicle control device comprising: a detection unit, a first sending unit, a first receiving unit, a second sending unit, a second receiving unit and a determination unit, wherein: The detection unit is used to detect that the driver performs an ignition operation and generate a first message, wherein the first message is associated with an energy detection event of the driver; the first sending unit is used to send the first message to the Beidou watch, and in response to the first message, obtain Beidou positioning information, wherein the Beidou positioning information represents the position information of the Beidou watch, and judge whether the driver has a sleep event within a target detection period, wherein the target detection period refers to a period from when the driver first wakes up on the detection day to when the driver currently drives the vehicle; if the sleep event does not exist, the Beidou positioning information stored in the Beidou watch is retrieved; according to the Beidou positioning information, the position change data of the driver is analyzed, wherein the position change data includes at least one of the following: walking distance, running distance, and driving distance within the target detection period; according to the position change data, the energy consumption degree of the driver is determined; The first receiving unit is used to receive visual perception data from the visual perception device, the visual perception data is used to represent the result of the fatigue state detection event of the driver, and the result of the fatigue state detection event indicates that the driver is in a fatigue state or a normal state; The second sending unit is used to send a second message carrying the visual perception data to the Beidou wristwatch; The second receiving unit is used to receive a third message sent by the Beidou wristwatch, wherein the third message includes the energy consumption degree, the visual perception data, the physiological state perception data, and the motion state perception data, wherein the third message is associated with the driver's control sensitivity of the vehicle, and the motion state perception data is used to characterize the driver's posture of holding the steering wheel; The determination unit is used to determine the braking strategy according to the third message and the driving speed of the vehicle when an obstacle is detected in front of the vehicle through the ranging sensor, including: according to the third message, when it is determined that the energy consumption level is greater than a preset energy consumption threshold and / or when it is determined that the visual perception data indicates that the driver is in the fatigue state, the vehicle control sensitivity is determined to be a first sensitivity, and the visual perception data includes at least one of the following: blinking frequency, eyelid closure, head movement, and facial muscle activity; according to the third message, when it is determined that the motion state perception data does not meet the preset motion data, the vehicle control sensitivity is determined to be a second sensitivity; according to the third message, when the physiological state perception data does not meet the preset physiological threshold, the vehicle control sensitivity is determined to be a third sensitivity, wherein the first sensitivity is greater than the second sensitivity, and the second sensitivity is greater than the third sensitivity.

7. An electronic device, characterized in that: It includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the processor, and the one or more programs include instructions for executing the steps in the vehicle control method as described in any one of claims 1-4.

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