Vehicle control method and device, vehicle and storage medium

Abstract

The application discloses a vehicle control method and device, a vehicle and a readable storage medium. The method comprises the following steps: obtaining a driving style in a self-vehicle driving process and a passenger emotion of a passenger; the driving style is used to indicate at least one of comfort, commuting efficiency and safety of the self-vehicle driving process; the driving style is adjusted based on the passenger emotion; and the self-vehicle driving is controlled according to the adjusted driving style. According to the method, the driving style is adjusted in real time according to the passenger emotion, so that the situation that the self-vehicle driving process cannot match the passenger emotion, the driving style is single and the driving experience of the automatic driving process is poor due to the use of a fixed driving style (a driving style selected by the user) in the self-vehicle driving process is avoided, and the driving experience of the automatic driving process is effectively improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle control method, apparatus, vehicle, and computer-readable storage medium. Background Technology

[0002] In the field of autonomous driving, users can manually select a driving style for their vehicle, which then controls autonomous driving based on the selected style. However, this control method results in a poor driving experience during the autonomous driving process. Summary of the Invention

[0003] This application proposes a vehicle control method, apparatus, vehicle, and computer-readable storage medium to enhance the driving experience during the autonomous driving process of a vehicle.

[0004] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0005] Determine the target sensing lane where the target obstacle is located from at least one sensing lane sensed by the vehicle;

[0006] Determine the relative angle difference between the heading angle of the target obstacle and the direction of the lane centerline of the target sensing lane;

[0007] Determine the target obstacle intent corresponding to the target angle interval where the relative angle difference lies; each angle interval corresponds to its respective obstacle intent;

[0008] Generate the motion trajectory of the target obstacle based on its intended movement.

[0009] Secondly, embodiments of this application also provide a vehicle control device, the device comprising:

[0010] The lane determination module is used to determine the target sensing lane where the target obstacle is located from at least one sensing lane sensed by the vehicle.

[0011] Angle determination module is used to determine the relative angle difference between the heading angle of the target obstacle and the direction of the lane centerline of the target perception lane;

[0012] The intent determination module is used to determine the intent of the target obstacle corresponding to the target angle interval where the relative angle difference is located; each angle interval corresponds to its own obstacle intent;

[0013] The vehicle control module is used to generate the movement trajectory of the target obstacle based on the target obstacle's intent.

[0014] Thirdly, embodiments of this application also provide a vehicle, the vehicle including: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the methods described above.

[0015] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.

[0016] This application provides a vehicle control method, device, vehicle, and computer-readable storage medium. In this application, the occupants' emotions are first determined, and then the driving style is adjusted based on these emotions. The vehicle is then controlled based on the adjusted driving style, achieving the goal of adjusting the driving style in real time according to the occupants' emotions. This avoids situations where a fixed driving style (user-selected) is used during vehicle operation, leading to difficulty in matching occupants' emotions and a monotonous driving style, resulting in a poor driving experience during autonomous driving. This effectively improves the driving experience during autonomous driving.

[0017] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0020] Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown.

[0021] Figure 3 It shows Figure 2 The flowchart of step S120 in one embodiment is shown below.

[0022] Figure 4 A schematic diagram of a vehicle structure according to an embodiment of this application is shown.

[0023] Figure 5 A schematic diagram of a vehicle control process according to an embodiment of this application is shown.

[0024] Figure 6 A structural block diagram of a vehicle control device according to an embodiment of this application is shown. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes a driving system 110, which can have multiple built-in autonomous driving functions. The driving system 110 can store electronic maps. The driving system 110 can plan driving routes based on the electronic maps it stores, and can also control the vehicle to drive autonomously based on the planned driving routes.

[0028] The driving system 110 may include a data acquisition device 111, one or more (only one is shown in the figure) processors 112 and memory 113.

[0029] The data acquisition device 111 is used to detect the emotions of occupants. The data acquisition device 111 may include a Driver Monitoring System (DMS) and an Occupancy Monitoring System (OMS). The DMS acquires the facial image of the driver, and the OMS acquires the facial image of the co-driver. The driver's emotion is determined from the driver's facial image, and the co-driver's emotion is determined from the co-driver's facial image. Both the DMS and OMS may include cameras to acquire facial images.

[0030] The processor 112 may be a microcontroller unit (MCU) with a built-in memory 113 containing a program that can execute the contents of the following embodiments, and the processor 112 can execute the program stored in the memory 113.

[0031] The processor 112 may include one or more processors. The processor 112 uses various interfaces and circuits to connect various parts of the vehicle 100, and performs various functions of the vehicle 10 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0032] Memory 113 may include random access memory (RAM) or read-only memory (ROM). Memory 15 may be used to store instructions, programs, code, code sets, or instruction sets. Memory 15 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 touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described below, etc.

[0033] Please see Figure 2 , Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown, for a vehicle, the method comprising:

[0034] S110: Acquire the driving style and occupant emotions during vehicle operation.

[0035] In this embodiment, the vehicle can be an electric vehicle or a fuel vehicle, or it can be a sedan, SUV, bus, or truck, etc.; "self-vehicle" refers to the vehicle itself.

[0036] An occupant is a passenger in a vehicle. An occupant may include at least one of the driver and the front passenger, and may also include other passengers besides the driver and the front passenger. For example, an occupant may also include a passenger in the rear seat of the car.

[0037] The driving process of the vehicle can be an autonomous driving process, in which the vehicle drives itself according to a driving style. Here, driving style is used to indicate the characteristics of the vehicle's driving process. For example, driving style is used to indicate at least one of comfort, commuting efficiency and safety of the vehicle's driving process. Commuting efficiency is used to indicate the aggressiveness of the vehicle's driving. The higher the commuting efficiency, the more aggressive the vehicle's driving. The lower the commuting efficiency, the more conservative the vehicle's driving.

[0038] Driving styles can correspond to multiple style levels. Safety and comfort levels are positively correlated with driving style level, while commuting efficiency is negatively correlated. For example, when the driving style indicates comfort, a higher style level results in higher comfort. Conversely, when the driving style indicates commuting efficiency, a higher style level results in lower commuting efficiency. Furthermore, when the driving style indicates comfort, commuting efficiency, and safety, a higher style level results in lower commuting efficiency but higher safety and comfort.

[0039] For example, when driving style indicators prioritize comfort, commuting efficiency, and safety, driving style can be divided into five style levels: A1, A2, A3, A4, and A5. Among them, A1: prioritizes commuting efficiency and aggressive driving; A2: prioritizes commuting efficiency; A3: balances commuting efficiency and comfort; A4: prioritizes comfort and safety; and A5: prioritizes both comfort and safety.

[0040] Passenger emotions refer to the emotions of passengers while riding in a vehicle. Passenger emotions can include fear, tension, calmness, and impatience.

[0041] In some implementations, the passenger's emotions can be determined by the tone of voice of the passenger inside the vehicle, or the passenger can input their emotions, for example, by voice or text.

[0042] In some other implementations, facial images of occupants can be acquired; based on the facial images, the occupants' emotions can be determined.

[0043] The vehicle may be equipped with an occupant monitoring system; the occupant monitoring system uses cameras to capture facial images of occupants. The occupant monitoring system may include a Direct Observation Monitoring System (DMS) and an External Observation Monitoring System (OMS), with the DMS using a camera to capture the facial image of the driver occupant and the OMS using a camera to capture the facial image of the front passenger.

[0044] Of course, the vehicle can be equipped with only one camera to capture the facial images of each occupant individually, or to capture a global facial image including the faces of each occupant.

[0045] After identifying the occupant's facial image, an emotion recognition model can be used to identify the occupant's emotion. This emotion recognition model can be a neural network model, trained using sample facial images and the labeled emotions within those images, with parameters initialized.

[0046] In some implementations, after determining the occupant's facial image, an expression recognition model can be used to identify the facial image to determine the occupant's expression, and then the occupant's emotion can be determined based on the expression. The expression recognition model can be a neural network model, which can be trained by initializing the parameters of a neural network model using sample facial images and the labeled expressions in the sample facial images.

[0047] Once the passenger's facial expression is determined, the corresponding emotion can be directly obtained as the passenger's emotion. For example, if the passenger's facial expression is one of fear, the passenger's emotion is one of fear; similarly, if the passenger's facial expression is one of tension, the passenger's emotion is one of tension.

[0048] S120: Adjust the driving style based on passenger emotions.

[0049] Once the passengers' emotions are known, the driving style can be adjusted accordingly.

[0050] In some implementations, if the passenger's emotion falls under the category of fear, the driving style level is increased to adjust the driving style; wherein, the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0051] Specifically, when occupant emotions include fear and tension, the occupant emotion is classified as fear. When occupant emotions fall into the fear category, it indicates an aggressive driving style, causing occupant fear. Therefore, the driving style level is increased to reduce commuting efficiency and increase comfort and safety.

[0052] In some other implementations, if the passenger's mood falls under the category of boredom, the driving style level is lowered to adjust the driving style.

[0053] When passengers exhibit impatience and sighing, their emotions are classified as annoyance. This indicates a conservative driving style, passenger fatigue from waiting, and a desire for faster travel. Therefore, the driving style level can be lowered to increase commuting efficiency while reducing comfort and safety.

[0054] S130: Control the vehicle's movement according to the adjusted driving style.

[0055] After adjusting the driving style, you can continue to control the vehicle to drive automatically according to the driving style.

[0056] The vehicle may include actuators such as ESP (Electronic Stability Program) and EPS (Electronic Power Steering), which control the vehicle's movement based on the adjusted driving style.

[0057] In this embodiment, the emotions of the occupants of the vehicle are first determined, and then the driving style is adjusted according to the occupants' emotions. The vehicle is then controlled based on the adjusted driving style, which achieves the goal of adjusting the driving style in real time according to the occupants' emotions. This avoids the situation where the vehicle uses a fixed driving style (the driving style manually selected by the user) during driving, which makes it difficult to match the occupants' emotions and results in a monotonous driving style, leading to a poor driving experience during the autonomous driving process. This effectively improves the driving experience during the autonomous driving process.

[0058] In some embodiments, such as Figure 3 As shown, S120 includes:

[0059] S210. Obtain the driving scene of the vehicle during its driving process.

[0060] The driving scenario is used to indicate the driving behavior of the vehicle. For example, the driving scenario may include following another vehicle (which can be divided into long-distance following and short-distance following), cutting into other lanes, overtaking, and changing lanes.

[0061] S220: Adjust the driving style according to the driving scenario and the emotions of the passengers.

[0062] After obtaining the driving scenario of the vehicle, the driving style can be adjusted by combining the driving scenario and the emotions of the passengers.

[0063] In one implementation, if the driving scenario indicates that the vehicle's driving process is a high-risk driving process, and / or the occupant's emotions fall into the fear category, the driving style level is increased to adjust the driving style.

[0064] In particular, when the driving scenario involves close following, cutting into other lanes, or changing lanes, the driving scenario is determined to be a high-risk driving process.

[0065] If the driving scenario indicates that the vehicle's driving process is high-risk, it means that the vehicle's driving process is relatively dangerous and aggressive. Therefore, it is necessary to increase the driving style level to reduce commuting efficiency and improve safety and comfort.

[0066] If the passenger's emotions fall under the category of fear, it indicates that the vehicle's driving process is causing fear and is relatively aggressive. In this case, the driving style level needs to be increased to reduce commuting efficiency and improve safety and comfort.

[0067] If the driving scenario indicates that the vehicle's driving process is high-risk and the passengers' emotions fall into the category of fear, it is determined that the vehicle's driving process is relatively dangerous and aggressive. At the same time, the vehicle's driving process causes fear among the passengers, further confirming that the vehicle's driving process is relatively aggressive. It is necessary to increase the driving style level to reduce commuting efficiency and improve safety and comfort.

[0068] In another implementation, if the driving scenario indicates that the vehicle's driving process is a low-to-high-risk driving process, and / or the occupant's mood falls into the category of boredom, the driving style level is lowered to adjust the driving style.

[0069] In particular, when the driving scenario involves following another vehicle at the same distance, the driving scenario is determined to be a low-risk driving process.

[0070] If the driving scenario indicates that the vehicle's driving process is low-risk, it means that the vehicle's driving process is relatively conservative and safe. Therefore, it is necessary to lower the driving style level to improve commuting efficiency.

[0071] If the passenger's emotion falls under the category of boredom, it indicates that the vehicle's driving process is causing boredom. This is because the vehicle's driving style is conservative and slow, leaving the passenger feeling fatigued and wanting to travel faster. In this case, the passenger needs to lower the driving style level to improve commuting efficiency.

[0072] If the driving scenario indicates that the vehicle's driving process is low-risk and the passengers' emotions fall into the fear category, it is determined that the vehicle's driving process is relatively conservative and safe. At the same time, if the vehicle's driving process makes the passengers bored, tired of waiting, and want to drive faster, it is again determined that the vehicle's driving process is relatively conservative and safe. Therefore, it is necessary to lower the driving style level to improve commuting efficiency.

[0073] For example, the structure of a vehicle can be as follows: Figure 4As shown, the vehicle collects video streams through the cameras of the DMS and OMS and sends the video streams to the intelligent driving domain. The intelligent driving domain extracts the occupant's facial images from the video streams to determine the occupant's emotions based on the facial images.

[0074] Meanwhile, the vehicle can also acquire environmental information about its surroundings and its own driving information through driving cameras, ultrasonic radar, millimeter-wave radar and other sensors, so that the intelligent driving domain can determine the vehicle's driving style and driving scenario based on the environmental information and driving information.

[0075] Then, the intelligent driving domain combines the driving scenario and the passengers' emotions to adjust the driving style, and through the adjusted driving style, controls the EPS, ESP and other actuators to output corresponding actions to achieve the purpose of controlling the vehicle.

[0076] The vehicle control process in this embodiment is as follows: Figure 5 As shown, the occupant monitoring system collects facial images of occupants to determine their emotions; simultaneously, the vehicle's domain controller acquires sensor information from various sensors to determine the driving scenario.

[0077] Then, based on the driving scenario and the passengers' emotions, adjust the driving style. Specific adjustment methods may include:

[0078] When following another vehicle at a long distance or when feeling impatient, you can adjust the driving style level AX to A(X-1);

[0079] When changing lanes quickly or under stress, you can adjust the driving style level AX to A(X+1);

[0080] When changing lanes or experiencing panic, you can adjust the driving style level AX to A(X+1).

[0081] The driving style levels can be divided into A1 to A5, with A1 being a priority for commuting efficiency and aggressive driving; A2 prioritizing commuting efficiency; A3 balancing commuting efficiency and comfort; A4 prioritizing comfort and safety; and A5 prioritizing both comfort and safety.

[0082] In this embodiment, the driving style is adjusted by combining both passenger emotions and driving scenarios. This achieves the goal of adjusting the driving style based on the specific driving conditions of the vehicle (demonstrated through driving scenarios) and passenger experience (reflected through passenger emotions). The adjusted driving style is consistent with the specific driving conditions of the vehicle and the passenger experience, thereby improving the accuracy of the adjusted driving style and achieving precise adjustment of the driving style. This further enhances the driving experience of controlling the autonomous driving process of the vehicle based on the adjusted driving style.

[0083] See appendix Figure 5 , Figure 5 This illustration shows a structural block diagram of a vehicle control device according to one embodiment of this application. For use in a vehicle, the device 800 includes:

[0084] The acquisition module 810 is used to acquire the driving style and occupant emotions during the driving process of the vehicle; the driving style is used to indicate at least one of the following: comfort, commuting efficiency and safety during the driving process of the vehicle.

[0085] Adjustment module 820 is used to adjust the driving style based on the occupant's mood;

[0086] The control module 830 is used to control the vehicle's movement according to the adjusted driving style.

[0087] Optionally, the adjustment module 820 is also used to acquire the driving scenario of the vehicle during its driving process, and the driving scenario is used to indicate the driving behavior of the vehicle; the driving style is adjusted according to the driving scenario and the emotions of the passengers.

[0088] Optionally, the adjustment module 820 is also used to increase the style level of the driving style to adjust the driving style if the driving scenario indicates that the vehicle's driving process is a high-risk driving process, and / or the occupant's emotion belongs to the fear emotion category; wherein, the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0089] Optionally, the adjustment module 820 is also used to adjust the driving style by lowering the style level if the driving scenario indicates that the vehicle is in a low-to-high-risk driving process, and / or the occupant's mood is in the category of boredom; wherein the style level is positively correlated with comfort and safety, and negatively correlated with commuting efficiency.

[0090] Optionally, the acquisition module 810 is also used to acquire the occupant's facial image; and to determine the occupant's emotion based on the facial image.

[0091] Optionally, the vehicle occupant monitoring system; the acquisition module 810 is also used to acquire facial images of occupants through the camera of the occupant monitoring system.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0093] Furthermore, the functions in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.

[0094] On the other hand, this application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.

[0095] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-volatile computer-readable storage media. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: The system acquires the driving style and passenger emotions during the vehicle's operation; the driving style is used to indicate at least one of the following: comfort, commuting efficiency, and safety during the vehicle's operation; the driving style corresponds to multiple style levels, each style level is positively correlated with comfort and safety, and each style level is negatively correlated with commuting efficiency. The driving scene of the vehicle is obtained, and the driving scene is used to indicate the driving behavior of the vehicle. If the driving scenario indicates that the vehicle's driving process is a high-risk driving process, and / or the occupant's emotion belongs to the fear emotion category, the style level of the driving style is increased to adjust the driving style; If the driving scenario indicates that the vehicle's driving process is a low-to-high-risk driving process, and / or the occupant's emotion belongs to the category of boredom, the style level of the driving style is reduced to adjust the driving style; The vehicle's movement is controlled according to the adjusted driving style.

2. The method according to claim 1, characterized in that, Before obtaining the driving style and occupant emotions during vehicle operation, the method further includes: Obtain the facial image of the occupant; The passenger's emotion is determined based on the facial image.

3. The method according to claim 1, characterized in that, The vehicle occupant monitoring system; The process of obtaining the occupant's facial image includes: The occupant's facial images are captured by the camera of the occupant monitoring system.

4. The method according to any one of claims 1 to 3, characterized in that, The occupants include at least one of the driver's seat occupant and the front passenger seat occupant.

5. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the driving style and passenger emotions during the driving process of the vehicle; the driving style is used to indicate at least one of the comfort, commuting efficiency and safety of the vehicle during the driving process; the driving style corresponds to multiple style levels, each style level is positively correlated with comfort and safety, and each style level is negatively correlated with commuting efficiency. An adjustment module is used to acquire the driving scenario of the vehicle's driving process, the driving scenario being used to indicate the vehicle's driving behavior; if the driving scenario indicates that the vehicle's driving process is a high-risk driving process, and / or the occupant's emotion belongs to the fear category, the driving style level is increased to adjust the driving style; if the driving scenario indicates that the vehicle's driving process is a low-high-risk driving process, and / or the occupant's emotion belongs to the annoyance category, the driving style level is decreased to adjust the driving style. The control module is used to control the vehicle's movement according to the adjusted driving style.

6. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-4.

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