Vehicle defrosting function control method and vehicle terminal

Abstract

The invention relates to the technical field of vehicle defrosting, and discloses a vehicle defrosting function control method and a vehicle terminal. According to the method, the target vehicle in the automatic driving mode is monitored according to the dangerous driving condition, the target vehicle meeting the dangerous driving condition is controlled to exit the automatic driving mode, the defrosting function is automatically started under the condition that the windshield is frosted, and defrosting operation is conducted on the windshield; if the target vehicle exits the automatic driving mode due to the fact that the target vehicle meets the dangerous driving condition and the defrosting function is started under the condition that the windshield is frosted, automatic starting of the defrosting function is achieved, the defrosting function is not started after the automatic driving mode is actively exited by a user, automatic starting of the defrosting function is more intelligent, and the user experience is improved. Therefore, the driving safety in the automatic driving process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle defrosting, and in particular to a vehicle defrosting function control method and a vehicle terminal. Background Art

[0002] As an important research direction in the automotive field, autonomous driving technology is based on the integration of advanced infrared radar sensors, lidar sensors, cameras, GPS (Global Positioning System), computer vision, machine learning and artificial intelligence algorithms, so that vehicles can autonomously perceive the environment, plan paths and perform driving tasks without direct human intervention. This technology aims to improve driving safety, efficiency and comfort.

[0003] At present, in the L3 level autonomous driving system, the vehicle can achieve autonomous driving in most driving scenarios, but dangerous situations may occur during the autonomous driving process and the driver needs to take over control. At this time, if there is frost or fog on the windshield, it will seriously affect the driver's line of sight, increase the difficulty and risk of the takeover process, and may even cause traffic accidents. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] In view of the shortcomings of the prior art described above, the present application provides a vehicle defrost function control method and a vehicle terminal to achieve automatic activation of the defrost function and improve driving safety during automatic driving.

[0006] The present application provides a vehicle defrost function control method, comprising: in response to a target vehicle turning on an automatic driving mode, obtaining dangerous driving conditions corresponding to the target vehicle, and monitoring the target vehicle according to the dangerous driving conditions; if the target vehicle is monitored to meet the dangerous driving conditions, controlling the target vehicle to exit the automatic driving mode; in response to the target vehicle exiting the automatic driving mode, performing a frost detection on the windshield of the target vehicle to obtain a frosting state corresponding to the windshield; if the frosting state includes the presence of frosting on the windshield, turning on the defrost function of the target vehicle to trigger the target vehicle to defrost the windshield.

[0007] In one embodiment of the present application, frost detection is performed on the windshield of the target vehicle to obtain the frosting state corresponding to the windshield, including: obtaining a frost detection rule corresponding to the windshield, wherein the frost detection rule includes a current vehicle index, a frost determination index and a determination threshold; if the number of the frost detection rules includes one, data collection is performed through the target vehicle to obtain the current vehicle index, and a frost determination index is generated according to the vehicle index parameter according to a preset conversion relationship between the current vehicle index and the frost determination index, so as to determine the frosting state corresponding to the windshield according to a comparison result between the frost determination index and the determination threshold; if the number of the frost detection rules includes multiple, the frost determination index corresponding to each of the frost determination rules is obtained, and the corresponding determination threshold is calculated according to the frost determination index to obtain a frost probability; if the maximum value of the frost probabilities is greater than or equal to the preset probability threshold, the frost state corresponding to the windshield is determined as the presence of frost on the windshield.

[0008] In one embodiment of the present application, the frost detection rule includes at least one of the following: if the current vehicle index includes the in-vehicle temperature and the in-vehicle relative humidity, the frost determination index includes the current dew point temperature, and the determination threshold includes the outside temperature, wherein a preset dew point temperature table stores the correspondence between dew point temperature samples, in-vehicle temperature samples, and in-vehicle relative humidity samples, and the in-vehicle temperature and the in-vehicle relative humidity are matched according to the dew point temperature table to obtain the current dew point temperature; if the current vehicle index includes a first area image and a second area image corresponding to the target area, the frost determination index includes the image similarity between the first area image and the second area image, and the determination threshold includes a preset similarity threshold, wherein the first area image is the image similarity between the first area image and the second area image, and the determination threshold includes a preset similarity threshold, The domain image and the second area image are obtained by respectively capturing images of the target area on the inner and outer sides of the windshield; if the current vehicle index includes the outside temperature, the frost judgment index is consistent with the current vehicle index, and the judgment threshold includes a preset outside temperature threshold; if the current vehicle index includes the transparency parameter of the windshield, the frost judgment index is consistent with the current vehicle index, and the judgment threshold includes a preset transmittance parameter threshold, wherein the transparency parameter includes transmittance and / or reflectivity; if the current vehicle index includes the surface capacitance value of the windshield, the frost judgment index includes the capacitance difference between the preset reference capacitance value and the surface capacitance value, and the judgment threshold includes a preset capacitance difference threshold.

[0009] In one embodiment of the present application, a dew point temperature table is obtained in the following manner: temperature and humidity samples of the target vehicle are obtained, wherein the temperature and humidity samples include an in-vehicle temperature sample and an in-vehicle relative humidity sample; the in-vehicle temperature sample is calculated by a preset saturated water vapor pressure formula to obtain the saturated water vapor pressure corresponding to the in-vehicle temperature sample, and the saturated water vapor pressure corresponding to the in-vehicle temperature sample is calculated according to the in-vehicle relative humidity sample to obtain the actual water vapor pressure; the actual water vapor pressure is calculated by the saturated water vapor pressure formula to obtain a dew point temperature sample corresponding to the actual water vapor pressure; dew point temperature samples corresponding to different temperature and humidity samples are obtained, and a dew point temperature table is generated according to each of the temperature and humidity samples and each of the dew point temperature samples.

[0010] In one embodiment of the present application, the method further includes: obtaining a defrost operation index of the target vehicle, and obtaining an index target value corresponding to the defrost operation index, wherein the defrost operation index includes at least one of the temperature inside the vehicle, air-conditioning wind speed, air outlet position, air circulation mode, heating wire power, dehumidification module power and window lifting state; if the frosting state includes the presence of frost on the windshield, calculating according to the frosting judgment index and the judgment threshold to obtain a frosting intensity score, and calculating according to the defrost operation index and the index target value to obtain a defrost intensity score; if the defrost intensity score is greater than the frosting intensity score, controlling the target vehicle to defrost the windshield according to the defrost operation index; if the defrost intensity score is less than or equal to the frosting intensity score, adjusting each of the defrost operation indexes to the corresponding index target value according to a preset priority, until the defrost intensity score obtained after adjustment is greater than the frosting intensity score, and controlling the target vehicle to defrost the windshield according to the adjusted defrost operation index.

[0011] In one embodiment of the present application, if the target vehicle meets the automatic driving conditions, the target vehicle is controlled to start the automatic driving mode, wherein the automatic driving conditions include at least one of the following: the target vehicle obtains the navigation route; the vehicle inspection result of the target vehicle is qualified; the passengers in the target vehicle all wear seat belts; the steering wheel of the target vehicle is in a preset reference position; the adjustable shock absorber of the target vehicle is in normal operating state; the mental state of the driver in the target vehicle is in a normal state; the current speed of the target vehicle meets the preset starting speed range; the geographical location of the target vehicle is within a preset geographical range; the accelerator pedal and brake pedal of the target vehicle are respectively in preset initial pedal positions; the data acquisition module of the target vehicle is in working state, wherein the data acquisition module is used to collect data from the target vehicle.

[0012] In one embodiment of the present application, the dangerous driving conditions include at least one of the following: the target vehicle fails to identify the road lane line; the gear position of the target vehicle is in a preset abnormal gear position; any passenger in the target vehicle does not wear a seat belt; the driver is not detected in the driver area of ​​the target vehicle; any door of the target vehicle is in an open state; the data acquisition module of the target vehicle is in an abnormal state; the tire pressure of the target vehicle is between a preset tire pressure abnormal range; the geographical location of the target vehicle is outside a preset geographical range; the accelerator pedal or brake pedal of the target vehicle is in a preset abnormal pedal position; the mental state of the driver in the target vehicle is in an abnormal state, wherein the abnormal state is obtained by performing behavioral detection on the driver; the driving-related sensors of the target vehicle are in an abnormal working state, wherein the driving-related sensors include image sensors and / or radar sensors.

[0013] In one embodiment of the present application, the method further includes: in response to the target vehicle exiting the automatic driving mode, obtaining the type of road on which the target vehicle is located, wherein the road type includes at least one of a highway, an expressway, a multi-lane road, and a single-lane road; determining a current area and a target area from the current road on which the target vehicle is traveling according to the road type, wherein the target vehicle is located in the current area; in response to the current area or the target area, obtaining a traffic status between the current area and the target area; in response to the traffic status being impassable, executing a first instruction or a second instruction, wherein the first instruction includes obtaining a new traffic status after a preset driving time period, and the second instruction includes determining a new target area from the current road on which the target vehicle is traveling; in response to the communication status being allowed to pass, controlling the target vehicle to stop in the target area, and reminding the driver to take over control of the target vehicle.

[0014] In one embodiment of the present application, the method also includes at least one of the following: in response to a change in the functional state of the defrost function, controlling the target vehicle to display the functional state of the defrost function to the user, wherein the functional state includes a function-on state and a function-off state; before turning on the defrost function of the target vehicle, recording the functional state of the defrost function to obtain a historical state; if the historical state is a function-off state, then after turning on the defrost function of the target vehicle, counting the duration of the functional state in the function-on state; if the duration of the state is greater than or equal to a preset duration threshold, turning off the defrost function of the target vehicle.

[0015] The present application discloses a vehicle terminal, comprising: an intelligent driving module, for responding to a target vehicle turning on an automatic driving mode, obtaining dangerous driving conditions corresponding to the target vehicle, and monitoring the target vehicle according to the dangerous driving conditions; if the target vehicle is monitored to meet the dangerous driving conditions, controlling the target vehicle to exit the automatic driving mode; a sensor module, for responding to the target vehicle exiting the automatic driving mode, performing frost detection on the windshield of the target vehicle, and obtaining a frosting state corresponding to the windshield; an air conditioning module, for turning on the defrost function of the target vehicle if the frosting state includes the presence of frosting on the windshield, so as to trigger the target vehicle to defrost the windshield.

[0016] Beneficial effects of this application:

[0017] The target vehicle in the automatic driving mode is monitored by dangerous driving conditions, and the target vehicle that meets the dangerous driving conditions is controlled to exit the automatic driving mode, and the defrost function is automatically turned on to defrost the windshield when there is frost on the windshield. In this way, if the target vehicle exits the automatic driving mode due to meeting the dangerous driving conditions, and the defrost function is turned on when there is frost on the windshield, not only the automatic opening of the defrost function is realized, but also when the automatic driving mode is actively exited by the user, the defrost function will not be turned on, making the automatic opening of the defrost function more intelligent, thereby improving driving safety during the automatic driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of a vehicle defrosting function control method in an embodiment of the present application;

[0019] Figure 2 is a flow chart of another method for controlling a vehicle defrosting function in an embodiment of the present application;

[0020] Figure 3 is a flow chart of another method for controlling a vehicle defrosting function in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the structure of a vehicle terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and sub-samples in the embodiments can be combined with each other without conflict.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0024] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0025] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0026] Unless otherwise stated, the term "plurality" means two or more.

[0027] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0028] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0029] Combination Figure 1 As shown, the embodiment of the present disclosure provides a vehicle defrosting function control method, including:

[0030] Step S101, in response to the target vehicle turning on the automatic driving mode, obtaining a dangerous driving condition corresponding to the target vehicle, and monitoring the target vehicle according to the dangerous driving condition;

[0031] Step S102, if the target vehicle is monitored to meet the dangerous driving conditions, the target vehicle is controlled to exit the automatic driving mode;

[0032] Step S103, in response to the target vehicle exiting the automatic driving mode, performing a frosting detection on the windshield of the target vehicle to obtain a frosting state corresponding to the windshield;

[0033] Step S104: if the frosting state includes frosting on the windshield, the defrosting function of the target vehicle is turned on to trigger the target vehicle to defrost the windshield.

[0034] The vehicle defrost function control method provided by the embodiment of the present disclosure is adopted to monitor the target vehicle in the automatic driving mode through dangerous driving conditions, control the target vehicle that meets the dangerous driving conditions to exit the automatic driving mode, and automatically turn on the defrost function to defrost the windshield when there is frost on the windshield. In this way, if the target vehicle exits the automatic driving mode due to meeting the dangerous driving conditions, and the defrost function is turned on when there is frost on the windshield, not only the automatic turning on of the defrost function is realized, but also when the automatic driving mode is actively exited by the user, the defrost function will not be turned on, making the automatic turning on of the defrost function more intelligent, thereby improving the driving safety during the automatic driving process.

[0035] Optionally, if the target vehicle meets the automatic driving conditions, the target vehicle is controlled to start the automatic driving mode, wherein the automatic driving conditions include at least one of the following: the target vehicle obtains the navigation route; the vehicle inspection result of the target vehicle is qualified; the passengers in the target vehicle all wear seat belts; the steering wheel of the target vehicle is in a preset reference position; the adjustable shock absorber of the target vehicle is in normal operating state; the mental state of the driver in the target vehicle is in a normal state; the current speed of the target vehicle meets the preset starting speed range; the geographical location of the target vehicle is within a preset geographical range; the accelerator pedal and brake pedal of the target vehicle are respectively in preset initial pedal positions; the data acquisition module of the target vehicle is in working state, wherein the data acquisition module is used to collect data from the target vehicle.

[0036] In some embodiments, the L3 automated driving function (Level 3Automated Driving, L3 automated driving means that the vehicle can be autonomously controlled in specific environments, but the driver needs to be ready to take over at any time) can be driven at a speed of 0-120km / h on closed highways, urban expressways, urban roads, etc. with clear lane lines and good road conditions, suitable for good lighting and weather conditions. The automated driving function can continuously identify whether its design operating conditions are met through geographic fences and road information, perception information of sensors equipped on the vehicle, detection information of the driver status monitoring camera DMS (Driver Monitor System), and other relevant system status information of the vehicle, to ensure that the automated driving function can only be activated when the vehicle meets the activation conditions.

[0037] In some embodiments, the target vehicle needs to meet the following requirements: the vehicle is within a geographic fence where the autonomous driving function can be activated; the vehicle has planned a navigation route and the vehicle speed is between 0 and 120 km / h; the driver is wearing a seat belt in the driving position; the driver is not detected to be fatigued or distracted; the driver does not step on the accelerator / brake and does not turn the steering wheel; self-inspection confirms that there are no faults that affect the operation of the autonomous driving function; the data recording system is in normal working condition; the vehicle is not performing a software upgrade that affects the operation of ADS.

[0038] Optionally, the dangerous driving conditions include at least one of the following: the target vehicle fails to identify the road lane line; the gear position of the target vehicle is in a preset abnormal gear position; any passenger in the target vehicle is not wearing a seat belt; the driver is not detected in the driver area of ​​the target vehicle; any door of the target vehicle is in an open state; the data acquisition module of the target vehicle is in an abnormal state; the tire pressure of the target vehicle is between a preset tire pressure abnormal range; the geographical location of the target vehicle is outside a preset geographical range; the accelerator pedal or brake pedal of the target vehicle is in a preset abnormal pedal position; the mental state of the driver in the target vehicle is in an abnormal state, wherein the abnormal state is obtained by performing behavioral detection on the driver; the driving-related sensors of the target vehicle are in an abnormal working state, wherein the driving-related sensors include image sensors and / or radar sensors.

[0039] In some embodiments, dangerous driving conditions include the disappearance of lane lines on the road ahead; the vehicle is traveling on a road beyond the geographic fence (for example, the road is not displayed on the navigation map); the camera and radar sensors are blocked (for example, the sensing element fails, the sensing ability is limited, and the conditions for autonomous driving activation and operation are not met); the vehicle is in a gear other than D (Drive gear); the tire pressure is abnormal and the activation conditions are not met; the driver leaves the seat, the driver is not wearing a seat belt, and the four doors are not closed; the DSSAD (Data Storage System for Automated Driving) data recording system is abnormal and does not work properly, where, if the function is degraded or the vehicle is involved in a collision accident, the DSSAD data recording system will record the vehicle and driver behavior information and video 15 seconds before and 5 seconds after the critical event, and analyze the accident through the information recorded by the system; the driver steps on the accelerator pedal beyond the set threshold; the driver steps on the brakes to check in.

[0040] In some embodiments, if the driver closes his eyes for more than 6 seconds, the driver will be reminded to close his eyes; if the reminder to close eyes occurs more than 3 times within 1 minute, and the driver is detected to yawn more than 6 times, the driver's mental state is determined to be abnormal.

[0041] In some embodiments, if the target vehicle meets the dangerous driving conditions, it means that the autonomous driving mode has exceeded the operating range; the target vehicle is controlled to downgrade to L3 autonomous driving mode, reminding the driver to take over control of the vehicle while executing a minimum risk strategy, where the minimum risk strategy means that if the environment in which the vehicle is located at the time meets the conditions for pullover parking and the driver has not taken over the vehicle, the vehicle will turn on the right turn signal and perform a pullover parking operation; if the environment in which the vehicle is located at the time does not meet the conditions for pullover parking and the driver has not taken over the vehicle, the vehicle will light up the double flashes and slowly brake to a stop in the lane.

[0042] Optionally, the method also includes: in response to the target vehicle exiting the automatic driving mode, obtaining the type of road on which the target vehicle is located, wherein the road type includes at least one of a highway, an expressway, a multi-lane road and a single-lane road; determining a current area and a target area from the current road on which the target vehicle is traveling according to the road type, wherein the target vehicle is located in the current area; in response to the current area or the target area, obtaining a traffic status between the current area and the target area; in response to the traffic status being impassable, executing a first instruction or a second instruction, wherein the first instruction includes obtaining a new traffic status after a preset driving time period, and the second instruction includes determining a new target area from the current road on which the target vehicle is traveling; in response to the communication status being allowed to pass, controlling the target vehicle to stop in the target area, and reminding the driver to take over control of the target vehicle.

[0043] In some embodiments, if the current area of ​​the target vehicle includes the rightmost lane of a highway or expressway, the target area includes an emergency lane; when the L3 autonomous driving function is downgraded, the target vehicle will turn on the right turn signal and then change lanes to the right to enter the emergency lane, and during the entire process, the vehicle IC instrument and HUD (Heads Up Display) continue to remind the driver to take over through optical, acoustic and tactile alarms; after the lane change is successful, the vehicle speed continues to decrease until the vehicle stops. The driver can interrupt the vehicle lane change operation at any time, and the acoustic alarm will stop after the vehicle is stationary and shifted to P gear (Park gear) for 30 seconds, wherein the longitudinal deceleration of the target vehicle is less than 10m / s2; if no driver takes over within 3 seconds after the target vehicle stops, the target vehicle will shift to P gear and turn on the double flash emergency lights to alert vehicles coming from behind.

[0044] In some embodiments, if the current area of ​​the target vehicle includes the rightmost lane of a multi-lane road and there is no emergency lane on the right side of the vehicle, the target area includes the rightmost lane; when the L3 autonomous driving function is downgraded, the target vehicle will immediately turn on the hazard lights and slowly decelerate until the vehicle is stationary in the lane, and then shift into P gear. During the whole process, the vehicle IC instrument and HUD continue to remind the driver to take over the vehicle through optical, acoustic and tactile alarms. The driver can interrupt the minimum risk strategy operation at any time to take over the vehicle, and the acoustic alarm will stop after the vehicle is stationary and shifted into P gear for 30 seconds.

[0045] In some embodiments, if the current area of ​​the target vehicle includes the leftmost road of a three-lane highway, and the lane line on the right is a dotted line, and there is an emergency lane in the rightmost lane, then the target area includes the emergency lane; when the L3 autonomous driving function is downgraded, the target vehicle will turn on the right turn signal and then change lanes to the right into the middle lane, and then initiate a lane change to enter the rightmost lane, and then initiate a lane change from the rightmost lane to the emergency lane, and during the entire process, the vehicle IC instrument and HUD continue to remind the driver to take over through optical, acoustic and tactile alarms; after the lane change is successful, the vehicle speed continues to decrease until the vehicle stops, and the driver can interrupt the vehicle lane change operation at any time, and stop the acoustic alarm after the vehicle is stationary and shifted to P gear for 30 seconds, where the longitudinal deceleration of the target vehicle is less than 10m / s2; if no driver takes over within 3 seconds after the target vehicle stops, the target vehicle will shift to P gear and turn on the double flash emergency lights to remind vehicles coming from behind.

[0046] In some embodiments, if the current area of ​​the target vehicle includes the middle road of a three-lane highway and the right lane line of the target vehicle is a solid line, the target area of ​​the target vehicle includes the right road or the emergency lane; when the L3 autonomous driving function is downgraded, the target vehicle continues to travel for 5 seconds; if the lane line becomes a dashed line within 5 seconds, the vehicle will perform a lane change to the right and pull over; if the lane line is still a solid line after 5 seconds and the lane change conditions are not met, the target area of ​​the target vehicle includes the middle lane, and the target vehicle will brake in the middle lane. During the entire process, the vehicle IC instrument and HUD continue to remind the driver to take over through optical, acoustic and tactile alarms; after the lane change is successful, the vehicle speed continues to decrease until the vehicle stops, and the driver can interrupt the vehicle lane change operation at any time. The acoustic alarm will stop after the vehicle is stationary and the P gear is put in place for 30 seconds, wherein the longitudinal deceleration of the target vehicle is less than 10m / s2; if no driver takes over within 3 seconds after the target vehicle stops, the target vehicle will be put in P gear and the double flash emergency lights will be turned on to remind vehicles coming from behind.

[0047] In some embodiments, if the current area of ​​the target vehicle includes the middle road of a three-lane highway and the laser radar and sensor of the target vehicle fail, the target area of ​​the target vehicle includes the middle road; the target vehicle will brake to a stop in the middle lane, and during the entire process, the vehicle IC instrument and HUD continue to remind the driver to take over through optical, acoustic and tactile alarms; after a successful lane change, the vehicle speed continues to decrease until the vehicle comes to a stop, and the driver can interrupt the vehicle lane change operation at any time, and the acoustic alarm will stop after the vehicle is stationary and shifted to P gear for 30 seconds; if no driver takes over within 3 seconds after the target vehicle comes to a stop, the target vehicle will shift to P gear and turn on the hazard lights to alert vehicles coming from behind.

[0048] In some embodiments, if the current area of ​​the target vehicle includes the middle road of a three-lane highway and there is continuous construction on the right lane of the target vehicle, the target area of ​​the target vehicle includes the right road; when the L3 autonomous driving function is downgraded, the target vehicle continues to travel for 5 seconds; if there is no road construction on the right road within 5 seconds, the vehicle will perform a lane change to the right and pull over; if there is still road construction on the lane line after 5 seconds, the target area of ​​the target vehicle includes the middle lane, and the target vehicle will brake in the middle lane, and during the whole process, the vehicle IC instrument and HUD continue to remind the driver to take over through optical, acoustic and tactile alarms; after the lane change is successful, the vehicle speed continues to decrease until the vehicle stops, and the driver can interrupt the vehicle lane change operation at any time, and the acoustic alarm will stop after the vehicle is stationary and the P gear is put in P gear for 30 seconds, wherein the longitudinal deceleration of the target vehicle is less than 10m / s2; if no driver takes over within 3 seconds after the target vehicle stops, the target vehicle will be put in P gear and the double flash emergency lights will be turned on to remind vehicles coming from behind

[0049] Optionally, the method also includes at least one of the following: in response to a change in the functional state of the defrost function, controlling the target vehicle to display the functional state of the defrost function to the user, wherein the functional state includes a function-on state and a function-off state; before turning on the defrost function of the target vehicle, recording the functional state of the defrost function to obtain a historical state; if the historical state is a function-off state, then after turning on the defrost function of the target vehicle, counting the duration of the functional state in the function-on state; if the duration of the state is greater than or equal to a preset duration threshold, turning off the defrost function of the target vehicle.

[0050] In some embodiments, the frosting condition of the windshield is detected in real time by the sensor module, and when the windshield is frosted, a defrost request is generated and sent to the intelligent driving module; the window display request sent by the sensor module is received by the intelligent driving module, and the function downgrade and the defrost request information are transmitted to the air conditioning module through the CAN (Controller Area Network Bus) bus; if the automatic defrost switch is already turned on in the air conditioning module, the air conditioning module will turn on the defrost function after receiving the defrost request information. If the driver does not turn on the automatic defrost switch in the air conditioning module, then when the air conditioning module simultaneously receives the information that the automatic driving function is downgraded and the minimum risk strategy is executed and the defrost request is received, the vehicle will automatically turn on the automatic defrost function and turn the defrost gear to the maximum.

[0051] In some embodiments, after the defrost function is started, the air conditioning automatic defrost switch on the IVI (In-Vehicle Infotainment) large screen will be displayed as on, and the system will remind the driver through voice: "The automatic defrost function has been turned on, please continue to pay attention and ensure safe driving.".

[0052] In some embodiments, the user can manually turn off the automatic defrost function after taking over the vehicle. If the user does not manually turn off the automatic defrost function, in order not to change the user's original settings and improve the user experience, the automatic defrost function switch will automatically turn off after the vehicle does not meet the defrost conditions for 5 minutes. At this time, the IVI requests the air conditioning module to turn off the automatic defrost function. After turning off the automatic defrost function, the air conditioning module feeds back to the IVI that the automatic defrost function has been turned off, and the air conditioning automatic defrost switch on the IVI is displayed as off.

[0053] Combination Figure 3 As shown, the embodiment of the present disclosure provides a vehicle defrosting function control method, including:

[0054] Step S201, performing frost detection on the windshield of the target vehicle through the sensor module of the target vehicle to obtain the corresponding frosting state of the windshield;

[0055] Step S202, in response to the target vehicle turning on the automatic driving mode, obtaining a dangerous driving condition corresponding to the target vehicle;

[0056] Step S203, monitoring the target vehicle according to dangerous driving conditions;

[0057] Step S204, determine whether the target vehicle meets the dangerous driving conditions, if yes, jump to step S205, if no, jump to step S203;

[0058] Step S205, controlling the target vehicle to exit the automatic driving mode and reminding the user to take over the vehicle control;

[0059] Step S206, determining whether there is frost on the windshield, if yes, jump to step S207, if no, jump to step S208;

[0060] Step S207, control the target vehicle to start the defrost function, and jump to step S208;

[0061] Step S208, waiting for the user to take over the control of the vehicle.

[0062] The vehicle defrost function control method provided by the embodiment of the present disclosure is adopted to monitor the target vehicle in the automatic driving mode through dangerous driving conditions, control the target vehicle that meets the dangerous driving conditions to exit the automatic driving mode, and automatically turn on the defrost function to defrost the windshield when there is frost on the windshield. In this way, if the target vehicle exits the automatic driving mode due to meeting the dangerous driving conditions, and the defrost function is turned on when there is frost on the windshield, not only the automatic turning on of the defrost function is realized, but also when the automatic driving mode is actively exited by the user, the defrost function will not be turned on, making the automatic turning on of the defrost function more intelligent, thereby improving the driving safety during the automatic driving process.

[0063] Optionally, a frost detection is performed on the windshield of the target vehicle to obtain a frosting state corresponding to the windshield, including: obtaining a frost detection rule corresponding to the windshield, wherein the frost detection rule includes a current vehicle index, a frost determination index and a determination threshold; if the number of frost detection rules includes one, data is collected through the target vehicle to obtain the current vehicle index, and a frost determination index is generated according to the vehicle index parameter according to a preset conversion relationship between the current vehicle index and the frost determination index, so as to determine the frosting state corresponding to the windshield according to a comparison result between the frost determination index and the determination threshold; if the number of frost detection rules includes multiple, the frost determination index corresponding to each frost determination rule is obtained, and the corresponding determination threshold is calculated according to the frost determination index to obtain a frost probability; if the maximum value of the frost probability is greater than or equal to the preset probability threshold, the frost state corresponding to the windshield is determined as the presence of frost on the windshield.

[0064] Optionally, the frost detection rule includes at least one of the following: if the current vehicle index includes the in-vehicle temperature and the in-vehicle relative humidity, the frost determination index includes the current dew point temperature, and the determination threshold includes the outside temperature, wherein a preset dew point temperature table stores the correspondence between dew point temperature samples, in-vehicle temperature samples and in-vehicle relative humidity samples, and the in-vehicle temperature and the in-vehicle relative humidity are matched according to the dew point temperature table to obtain the current dew point temperature; if the current vehicle index includes a first area image and a second area image corresponding to the target area, the frost determination index includes the image similarity between the first area image and the second area image, and the determination threshold includes a preset similarity threshold, wherein the first area image and the second area image are respectively the same. An area image and a second area image are obtained by respectively capturing images of the target area on the inner and outer sides of the windshield; if the current vehicle index includes the outside temperature, the frost judgment index is consistent with the current vehicle index, and the judgment threshold includes a preset outside temperature threshold; if the current vehicle index includes a transparency parameter of the windshield, the frost judgment index is consistent with the current vehicle index, and the judgment threshold includes a preset light transmittance parameter threshold, wherein the transparency parameter includes transmittance and / or reflectivity; if the current vehicle index includes the surface capacitance value of the windshield, the frost judgment index includes the capacitance difference between the preset reference capacitance value and the surface capacitance value, and the judgment threshold includes a preset capacitance difference threshold.

[0065] In some embodiments, the dew point temperature inside the vehicle is determined by the temperature and humidity inside the vehicle. The dew point temperature refers to the temperature when the gas is cooled to saturation under the condition that the water vapor content and air pressure in the gas do not change. When the temperature outside the vehicle is lower than the dew point temperature, the windshield will fog.

[0066] In some embodiments, images of the target area are captured on the inner and outer sides of the windshield respectively to obtain a first area image corresponding to the inner side and a second area image corresponding to the outer side; the image similarity between the first area image and the second area image is determined by a similarity model; if the image similarity is low and the image clarity of the first area image is blurred, it is determined that the windshield is frosted.

[0067] In some embodiments, if the outside temperature of the vehicle is lower than 0°C (degrees Celsius), the windshield is prone to fogging or frosting.

[0068] In some embodiments, if the light transmittance of the windshield is low, or the reflectivity of the windshield is high, it means that the driver cannot clearly see the environment outside the vehicle through the windshield, and the windshield may be frosted.

[0069] In some embodiments, when the windshield is frosted, the capacitance value of the windshield will fluctuate; a reference capacitance value is determined through experiments, so that when there is a large difference between the surface capacitance value of the windshield and the reference capacitance value, it is judged that the windshield may be frosted.

[0070] Optionally, the dew point temperature table is obtained in the following manner: obtain temperature and humidity samples of the target vehicle, wherein the temperature and humidity samples include in-vehicle temperature samples and in-vehicle relative humidity samples; calculate the in-vehicle temperature samples by a preset saturated water vapor pressure formula to obtain the saturated water vapor pressure corresponding to the in-vehicle temperature samples, and calculate the saturated water vapor pressure corresponding to the in-vehicle temperature samples according to the in-vehicle relative humidity samples to obtain the actual water vapor pressure; calculate the actual water vapor pressure by the saturated water vapor pressure formula to obtain the dew point temperature samples corresponding to the actual water vapor pressure; obtain the dew point temperature samples corresponding to different temperature and humidity samples, and generate a dew point temperature table according to each temperature and humidity sample and each dew point temperature sample.

[0071] In some embodiments, the saturated water vapor pressure formula is established based on the Antoine equation, wherein the saturated water vapor pressure refers to the pressure of vapor when water and its vapor are in dynamic equilibrium at a certain temperature. It is a function of temperature, increasing with increasing temperature and decreasing with decreasing temperature.

[0072] Optionally, the method also includes: obtaining a defrost operation index of the target vehicle, and obtaining an index target value corresponding to the defrost operation index, wherein the defrost operation index includes at least one of the temperature inside the vehicle, air-conditioning wind speed, air outlet position, air circulation mode, heating wire power, dehumidification module power and window lifting status; if the frosting status includes the presence of frosting on the windshield, calculating according to the frosting judgment index and the judgment threshold to obtain a frosting intensity score, and calculating according to the defrost operation index and the index target value to obtain a defrost intensity score; if the defrost intensity score is greater than the frosting intensity score, controlling the target vehicle to defrost the windshield according to the defrost operation index; if the defrost intensity score is less than or equal to the frosting intensity score, adjusting each defrost operation index to the corresponding index target value according to the preset priority, until the defrost intensity score obtained after adjustment is greater than the frosting intensity score, and controlling the target vehicle to defrost the windshield according to the adjusted defrost operation index.

[0073] In some embodiments, increasing the temperature inside the vehicle, the air-conditioning wind speed, and the heating wire power can accelerate the melting of frost on the windshield, and the defrost intensity score is positively correlated with the temperature inside the vehicle, the air-conditioning wind speed, and the heating wire power.

[0074] In some embodiments, air outlets at different positions have different defrosting effects on windshields at different positions. The defrosting effect between the air outlet and the windshield is determined based on experiments, so that the defrosting intensity score is increased when the defrosting effect on the windshield is best when the air outlet is opened.

[0075] In some embodiments, if the air circulation mode is internal circulation, the effect of increasing the temperature inside the vehicle is higher than that of external circulation, and the defrosting effect is good; at the same time, if the air circulation mode is external circulation, the relative humidity inside the vehicle will be reduced, and the defrosting effect is good; based on the different defrosting purposes and defrosting purposes, using different air circulation modes will affect the defrosting intensity score.

[0076] In some embodiments, increasing the power of the dehumidification module may reduce the relative humidity in the vehicle, thereby improving the defog effect on the windshield and increasing the defrost intensity score.

[0077] In some embodiments, lowering the windows allows the temperature inside and outside the vehicle to remain uniform, thereby preventing fogging of the windshield due to the temperature difference between inside and outside.

[0078] In some embodiments, the frost intensity score is calculated by formula (1):

[0079]

[0080] In formula (1), Score(1) is the frost intensity score, n is the number of frost detection rules, and I i is the frost determination index of the i-th frost detection rule, T i is the decision threshold of the i-th frost detection rule.

[0081] In some embodiments, the defrost intensity score is calculated by formula (2):

[0082]

[0083] In formula (2), Score (2) is the defrost intensity score, m is the number of defrost operation indicators, and i′ j is the jth defrosting operation index, T′ j is the target value of the j-th defrosting operation indicator.

[0084] Combination Figure 3 As shown, the embodiment of the present disclosure provides a vehicle defrosting function control method, including:

[0085] Step S301, if the target vehicle exits the automatic driving mode and there is frost on the windshield, the defrosting function of the target vehicle is turned on;

[0086] Step S302, obtaining a frost determination index, a determination threshold corresponding to the frost determination index, a defrost operation index, and an index target value of the defrost operation index;

[0087] Step S303, calculating according to the frost determination index and the determination threshold to obtain a frost intensity score, and calculating according to the defrost operation index and the index target value to obtain a defrost intensity score;

[0088] Step S304, determining whether the frosting intensity score is greater than the defrosting intensity score, if so, jump to step S305, if not, jump to step S306;

[0089] Step S305, adjust the defrosting operation index according to the index target value, and jump to step S303.

[0090] Step S306, performing a defrost operation according to the defrost operation index.

[0091] The vehicle defrost function control method provided by the embodiment of the present disclosure is adopted to monitor the target vehicle in the automatic driving mode through dangerous driving conditions, control the target vehicle that meets the dangerous driving conditions to exit the automatic driving mode, and automatically turn on the defrost function to defrost the windshield when there is frost on the windshield. In this way, if the target vehicle exits the automatic driving mode due to meeting the dangerous driving conditions, and the defrost function is turned on when there is frost on the windshield, not only the automatic turning on of the defrost function is realized, but also when the automatic driving mode is actively exited by the user, the defrost function will not be turned on, making the automatic turning on of the defrost function more intelligent, thereby improving the driving safety during the automatic driving process.

[0092] Combination Figure 4 As shown, an embodiment of the present disclosure provides a vehicle terminal, including an intelligent driving module 401, a sensor module 402 and an air-conditioning module 403, wherein the intelligent driving module 401 and the air-conditioning module 403 are connected via a CAN bus.

[0093] The intelligent driving module 401 is used to respond to the target vehicle turning on the automatic driving mode, obtain the dangerous driving conditions corresponding to the target vehicle, and monitor the target vehicle according to the dangerous driving conditions; if the target vehicle is monitored to meet the dangerous driving conditions, the target vehicle is controlled to exit the automatic driving mode;

[0094] The sensor module 402 is used for performing frost detection on the windshield of the target vehicle in response to the target vehicle exiting the automatic driving mode, and obtaining a corresponding frost state of the windshield;

[0095] The air conditioning module 403 is used to activate the defrosting function of the target vehicle if the frosting state includes frosting on the windshield, so as to trigger the target vehicle to perform a defrosting operation on the windshield.

[0096] The vehicle terminal provided by the embodiment of the present disclosure is used to monitor the target vehicle in the automatic driving mode through dangerous driving conditions, control the target vehicle that meets the dangerous driving conditions to exit the automatic driving mode, and automatically turn on the defrost function to defrost the windshield when there is frost on the windshield. In this way, if the target vehicle exits the automatic driving mode due to meeting the dangerous driving conditions, and the defrost function is turned on when there is frost on the windshield, not only the automatic turning on of the defrost function is realized, but also when the automatic driving mode is actively exited by the user, the defrost function will not be turned on, making the automatic turning on of the defrost function more intelligent, thereby improving the driving safety during the automatic driving process.

[0097] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation can be changed. Parts and sub-samples of some embodiments may be included in or replace parts and sub-samples of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of a stated sub-sample, whole, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0098] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians 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 the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0099] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other 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. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0100] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A vehicle defrosting function control method, characterized in that: include: In response to a target vehicle turning on an automatic driving mode, obtaining a dangerous driving condition corresponding to the target vehicle, and monitoring the target vehicle according to the dangerous driving condition; If it is monitored that the target vehicle meets the dangerous driving condition, controlling the target vehicle to exit the automatic driving mode; In response to the target vehicle exiting the automatic driving mode, performing a frosting detection on a windshield of the target vehicle to obtain a frosting state corresponding to the windshield; If the frosting state includes frosting on the windshield, the defrosting function of the target vehicle is turned on to trigger the target vehicle to defrost the windshield.

2. The vehicle defrosting function control method according to claim 1, characterized in that: Performing frost detection on the windshield of the target vehicle to obtain a frost state corresponding to the windshield includes: Acquire a frosting detection rule corresponding to the windshield, wherein the frosting detection rule includes a current vehicle index, a frosting determination index, and a determination threshold; If the number of the frosting detection rules includes one, data is collected through the target vehicle to obtain a current vehicle index, and a frosting determination index is generated according to the vehicle index parameter according to a preset conversion relationship between the current vehicle index and the frosting determination index, so as to determine the frosting state corresponding to the windshield according to a comparison result between the frosting determination index and the determination threshold; If the number of the frost detection rules includes multiple ones, then obtaining frost determination indicators corresponding to the frost determination rules respectively, and calculating the corresponding determination threshold according to the frost determination indicators to obtain the frost probability; If the maximum value of the frosting probabilities is greater than or equal to a preset probability threshold, the frosting state corresponding to the windshield is determined as the presence of frosting on the windshield.

3. The vehicle defrosting function control method according to claim 2, characterized in that: The frost detection rule includes at least one of the following: If the current vehicle index includes the in-vehicle temperature and the in-vehicle relative humidity, the frost determination index includes the current dew point temperature, and the determination threshold includes the outside temperature, wherein the preset dew point temperature table stores the correspondence between the dew point temperature samples, the in-vehicle temperature samples and the in-vehicle relative humidity samples, and the in-vehicle temperature and the in-vehicle relative humidity are matched according to the dew point temperature table to obtain the current dew point temperature; If the current vehicle index includes a first region image and a second region image corresponding to the target region, the frost determination index includes an image similarity between the first region image and the second region image, and the determination threshold includes a preset similarity threshold, wherein the first region image and the second region image are obtained by respectively capturing images of the target region on the inner side and the outer side of the windshield; If the current vehicle index includes the vehicle exterior temperature, the frost determination index is consistent with the current vehicle index, and the determination threshold includes a preset vehicle exterior temperature threshold; If the current vehicle index includes the transparency parameter of the windshield, the frosting determination index is consistent with the current vehicle index, and the determination threshold includes a preset light transmittance parameter threshold, wherein the transparency parameter includes light transmittance and / or reflectance; If the current vehicle index includes the surface capacitance value of the windshield, the frost determination index includes the capacitance difference between a preset reference capacitance value and the surface capacitance value, and the determination threshold includes a preset capacitance difference threshold.

4. The vehicle defrosting function control method according to claim 3, characterized in that: Get the dew point temperature table by: Acquire temperature and humidity samples of the target vehicle, wherein the temperature and humidity samples include in-vehicle temperature samples and in-vehicle relative humidity samples; The in-vehicle temperature sample is calculated using a preset saturated water vapor pressure formula to obtain the saturated water vapor pressure corresponding to the in-vehicle temperature sample, and the saturated water vapor pressure corresponding to the in-vehicle temperature sample is calculated according to the in-vehicle relative humidity sample to obtain the actual water vapor pressure; Calculating the actual water vapor pressure using the saturated water vapor pressure formula to obtain a dew point temperature sample corresponding to the actual water vapor pressure; Dew point temperature samples corresponding to different temperature and humidity samples are obtained, and a dew point temperature table is generated according to the temperature and humidity samples and the dew point temperature samples.

5. The vehicle defrosting function control method according to claim 2, characterized in that: The method further comprises: Obtaining a defrost operation index of the target vehicle, and obtaining an index target value corresponding to the defrost operation index, wherein the defrost operation index includes at least one of the vehicle interior temperature, air conditioning wind speed, air outlet position, air circulation mode, heating wire power, dehumidification module power, and window lifting state; If the frosting state includes the presence of frosting on the windshield, a frosting intensity score is obtained by calculation according to the frosting determination index and the determination threshold, and a defrosting intensity score is obtained by calculation according to the defrosting operation index and the index target value; If the defrost intensity score is greater than the frosting intensity score, controlling the target vehicle to perform a defrost operation on the windshield according to the defrost operation index; If the defrost intensity score is less than or equal to the frosting intensity score, each of the defrost operation indicators is adjusted towards the corresponding indicator target value according to the preset priority until the adjusted defrost intensity score is greater than the frosting intensity score, and the target vehicle is controlled to defrost the windshield according to the adjusted defrost operation indicator.

6. The vehicle defrosting function control method according to any one of claims 1 to 5, characterized in that: If the target vehicle meets the automatic driving condition, the target vehicle is controlled to start the automatic driving mode, wherein the automatic driving condition includes at least one of the following: The target vehicle obtains a navigation route; The vehicle inspection result of the target vehicle is qualified; All passengers in the target vehicle were wearing seat belts; The steering wheel of the target vehicle is in a preset reference position; The adjustable shock absorber of the target vehicle is in normal operating condition; The mental state of the driver in the target vehicle is normal; The current speed of the target vehicle meets the preset starting speed range; The geographical location of the target vehicle is within a preset geographical range; The accelerator pedal and brake pedal of the target vehicle are respectively in preset initial pedal positions; The data acquisition module of the target vehicle is in working state, wherein the data acquisition module is used to collect data from the target vehicle.

7. The vehicle defrosting function control method according to any one of claims 1 to 5, characterized in that: The dangerous driving conditions include at least one of the following: The target vehicle fails to identify the road lane line; The gear position of the target vehicle is in a preset abnormal gear position; Any passenger in the target vehicle was not wearing a seat belt; No driver is detected in the driver area of ​​the target vehicle; Any door of the target vehicle is in an open state; The data acquisition module of the target vehicle is in an abnormal state; The tire pressure of the target vehicle is within a preset tire pressure abnormal range; The geographical location of the target vehicle is outside the preset geographical range; The accelerator pedal or brake pedal of the target vehicle is in a preset abnormal pedal position; The mental state of the driver in the target vehicle is in an abnormal state, wherein the abnormal state is obtained by performing behavior detection on the driver; The driving-related sensors of the target vehicle are in an abnormal working state, wherein the driving-related sensors include image sensors and / or radar sensors.

8. The vehicle defrosting function control method according to any one of claims 1 to 5, characterized in that: The method further comprises: In response to the target vehicle exiting the automatic driving mode, obtaining a road type on which the target vehicle is located, wherein the road type includes at least one of a highway, an expressway, a multi-lane road, and a single-lane road; Determining a current area and a target area respectively from a current road on which the target vehicle is traveling according to the road type, wherein the target vehicle is located in the current area; In response to a current area or a target area, acquiring a traffic status between the current area and the target area; In response to the traffic status being impassable, executing a first instruction or a second instruction, wherein the first instruction includes obtaining a new traffic status after a preset driving time period, and the second instruction includes determining a new target area from a current road on which the target vehicle is traveling; In response to the communication status being that passage is allowed, the target vehicle is controlled to stop in the target area, and the driver is reminded to take over the control of the target vehicle.

9. The vehicle defrosting function control method according to any one of claims 1 to 5, characterized in that: The method further comprises at least one of the following: In response to a change in the functional state of the defrost function, controlling the target vehicle to display the functional state of the defrost function to a user, wherein the functional state includes a function-on state and a function-off state; Before turning on the defrost function of the target vehicle, recording the functional state of the defrost function to obtain a historical state; If the historical state is a function-off state, then after the defrost function of the target vehicle is turned on, the duration of the function state being in the function-on state is counted; If the state lasts for a period greater than or equal to a preset time threshold, the defrost function of the target vehicle is turned off.

10. A vehicle terminal, characterized in that: include: An intelligent driving module, configured to obtain a dangerous driving condition corresponding to the target vehicle in response to the target vehicle starting an automatic driving mode, and monitor the target vehicle according to the dangerous driving condition; If it is monitored that the target vehicle meets the dangerous driving condition, controlling the target vehicle to exit the automatic driving mode; A sensor module, configured to detect frost on a windshield of the target vehicle in response to the target vehicle exiting the automatic driving mode, and obtain a corresponding frost state of the windshield; The air conditioning module is used to activate the defrost function of the target vehicle if the frosting state includes frosting on the windshield, so as to trigger the target vehicle to defrost the windshield.

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