Driving safety control method and system, vehicle and equipment

Abstract

The invention discloses a driving safety control method and system, a vehicle and equipment. The driving safety control method comprises the steps that driving information of a target vehicle on an adjacent lane is recognized, and the driving information comprises the transverse distance, the longitudinal distance, the transverse deviation acceleration and the longitudinal speed of the target vehicle; according to the change trend of the transverse distance and the transverse deviation acceleration, obtaining a deviation probability; and determining whether to trigger intrusion reminding of the target vehicle or not according to the vehicle speed, the longitudinal speed, the longitudinal distance, the deviation probability and the transverse distance of the target vehicle. By the adoption of the method and device, when unconscious deviation of the vehicles on the adjacent lanes possibly affects the vehicle, the vehicle can remind a driver in time, then collision accidents are reduced, and driving safety and reliability are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety technology, and in particular to a driving safety control method, system, vehicle and equipment. Background Art

[0002] At present, lane departure warning (LDW) can warn the driver if the driver deviates from the lane. However, many accidents on highways are caused by other vehicles, such as the negligence, distraction or fatigue of other drivers, which cause the vehicle to deviate from the lane. In this case, if the driver is in the lane next to the driver, insufficient processing time and improper operation will cause a tragic accident. The existing lane departure warning only warns the driver; if a foreign vehicle deviates to the lane, the driver will not be able to dodge and an accident will occur. Summary of the invention

[0003] Based on this, it is necessary to provide a driving safety control method, system, vehicle and equipment to address the above technical problems. When an unconscious deviation of a vehicle in an adjacent lane may affect the vehicle itself, the vehicle can promptly remind the driver, thereby reducing the occurrence of collision accidents and improving driving safety and reliability.

[0004] In a first aspect, a driving safety control method is provided, comprising:

[0005] Identify driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle;

[0006] Obtaining a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration;

[0007] Whether to trigger an intrusion reminder for the target vehicle is determined according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0008] In some examples, obtaining the deviation probability according to the change trend of the lateral distance and the lateral deviation acceleration includes:

[0009] In each counting cycle, the deviation probability is increased when the lateral distance of the target vehicle becomes smaller, and the deviation probability is further increased when the deviation acceleration is greater than a first threshold; the deviation probability is reduced when the lateral distance of the target vehicle becomes larger, and the deviation probability is further reduced when the deviation acceleration is greater than a second threshold.

[0010] In some examples, determining whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability, and the lateral distance includes:

[0011] Obtaining a lateral distance threshold according to the offset probability, wherein the greater the offset probability, the greater the lateral distance threshold;

[0012] Determining whether the lateral distance of the target vehicle is less than the lateral distance threshold;

[0013] When the lateral distance of the target vehicle is less than the lateral distance threshold, it is determined whether to trigger an intrusion reminder for the target vehicle according to the vehicle speed, the longitudinal speed and the longitudinal distance of the target vehicle and the offset probability.

[0014] In some examples, when the lateral distance of the target vehicle is less than the lateral distance threshold, determining whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed and longitudinal distance of the target vehicle, and the offset probability includes:

[0015] When the lateral distance of the target vehicle is less than the lateral distance threshold, if the vehicle speed is greater than the longitudinal speed of the target vehicle, the longitudinal distance is less than a predetermined distance and the offset probability is greater than a predetermined probability, an intrusion reminder of the target vehicle is triggered.

[0016] In some examples, before determining whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability, and the lateral distance, the method further includes:

[0017] Determining whether the longitudinal speed of the target vehicle is greater than the target speed and whether the vehicle speed is greater than the longitudinal speed of the target vehicle;

[0018] If yes, a step of determining whether to trigger an intrusion reminder of the target vehicle is performed based on the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0019] In some examples, the lateral distance of the target vehicle refers to the lateral distance between the center of the target vehicle and the center of the own vehicle.

[0020] In a second aspect, a driving safety control system is provided, comprising:

[0021] An identification module, used to identify driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle;

[0022] A deviation probability determination module, used to obtain a deviation probability according to a change trend of the lateral distance and the lateral deviation acceleration;

[0023] The safety control module is used to determine whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0024] In a third aspect, a vehicle is provided, comprising: a driving safety control system according to the second aspect.

[0025] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the driving safety control method of the first aspect and any possible implementation method of the first aspect are implemented.

[0026] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the driving safety control method of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0027] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the driving safety control method of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0028] By using the embodiment of the present application, the driving information of the target vehicle in the adjacent lane is identified, and the offset probability of the target vehicle is obtained based on the driving information. Finally, according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, it is determined whether to trigger the intrusion reminder of the target vehicle. Therefore, when the unconscious deviation of the vehicle in the adjacent lane may affect the vehicle, the vehicle can promptly remind the driver, thereby reducing the occurrence of collision accidents and improving the safety and reliability of driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0030] Figure 1 This is a schematic diagram of the vehicle intrusion in the adjacent lane when the vehicle is in the middle lane;

[0031] Figure 2 Schematic diagram of vehicles intruding into adjacent lanes when the vehicle is located in the leftmost lane and the rightmost lane;

[0032] Figure 3 A flow chart of a driving safety control method provided in an embodiment of the present application;

[0033] Figure 4A schematic diagram of the correspondence between the deviation probability and the lateral threshold in the driving safety control method provided in an embodiment of the present application;

[0034] Figure 5 A structural block diagram of a driving safety control system provided in an embodiment of the present application;

[0035] Figure 6 A structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for ease of description, only the parts related to the application are shown in the drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] The following describes in detail the driving safety control method, system, device and medium according to the embodiments of the present application in conjunction with the accompanying drawings.

[0039] The driving safety control method of the embodiment of the present application is mainly aimed at warning the vehicle when the adjacent lane invades the vehicle lane. For example, when driving on a highway, see Figure 1 and Figure 2 In the scenario shown in Figure 1, when the vehicle is in the middle lane, there may be Figure 1 The threat of vehicle intrusion from the adjacent lanes on the left and right sides is shown, Figure 2 As shown, when the vehicle is at the far left or far right, it may be threatened by an intrusion from a vehicle on one of the sides.

[0040] Figure 3 FIG. 1 is a flow chart of a driving safety control method according to an embodiment of the present application. Figure 3 As shown, the driving safety control method according to the embodiment of the present application includes the following steps:

[0041] S101: Identify driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle.

[0042] For example, the ego vehicle, i.e., the host vehicle, identifies the ID of the target vehicle in the adjacent lane, the lateral distance Y, the longitudinal distance X, the lateral deviation acceleration Ay, and the longitudinal speed Vx of the target vehicle through the configured perception processing module.

[0043] The lateral distance of the target vehicle usually refers to the lateral distance between the center of the target vehicle and the center of the ego vehicle.

[0044] S102: Obtaining a deviation probability according to the change trend of the lateral distance and the lateral deviation acceleration.

[0045] In one embodiment of the present application, the deviation probability is obtained according to the change trend of the lateral distance and the lateral deviation acceleration, including: in each counting cycle, when the lateral distance of the target vehicle becomes smaller, the deviation probability is increased, and the deviation probability is further increased when the deviation acceleration is greater than a first threshold; when the lateral distance of the target vehicle becomes larger, the deviation probability is reduced, and the deviation probability is further reduced when the deviation acceleration is greater than a second threshold. It should be noted that the deviation probability P is accumulated only when the lateral distance is within the range of Y (2-3.75m) to prevent false alarms to a certain extent; 0% <P<100%,

[0046] For example: the offset probability is recorded as offset probability P, with 10ms as a counting period, and the offset probability is determined by the change of the lateral distance Y and the lateral deviation acceleration Ay. In the specific example, when the lateral distance Y (absolute value) of the target vehicle becomes smaller, the offset probability P is accumulated by n%. If the lateral deviation acceleration Ay is relatively large at this time, then n1% is added to the accumulated n% of the offset probability P; similarly, when the lateral distance Y (absolute value) of the target vehicle becomes larger, the offset probability P is decreased by m%. If the lateral deviation acceleration Ay is relatively large at this time, then m1% is subtracted from the accumulated m% of the offset probability P.

[0047] It should be noted that different lateral distance change values ​​and lateral deviation acceleration Ay correspond to different n, n1 and m, m1, wherein n, n1, m and m1 can be calibrated in advance, as shown in Table 1:

[0048] Table 1

[0049] Y'<0

[0050] Y' / (m) n％ <![CDATA[Ay / (m / s 2 )]]> n1％ Y'<0.01 +1 Is<0.5 +0 0.01<Y’＜0.015 +2 0.5<Ay<1 +1 Y’＞0.015 +3 Ay>1 +2

[0051] Y'>0

[0052] Y' / (m) m％ <![CDATA[Ay / (m / s 2 )]]> m1％ Y'<0.01 -1 Is<0.5 -0 0.01<Y’＜0.015 -2 0.5<Ay<1 -1 Y’＞0.015 -3 Ay>1 -2

[0053] S103: Determine whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, such as a reminder of "watch out for intrusion of the vehicle ahead".

[0054] In one embodiment of the present application, whether to trigger an intrusion reminder of the target vehicle is determined based on the speed of the own vehicle, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, including: obtaining a lateral distance threshold based on the offset probability, wherein the greater the offset probability, the greater the lateral distance threshold; judging whether the lateral distance of the target vehicle is less than the lateral distance threshold; when the lateral distance of the target vehicle is less than the lateral distance threshold, determining whether to trigger an intrusion reminder of the target vehicle based on the speed of the own vehicle, the longitudinal speed of the target vehicle, the longitudinal distance and the offset probability.

[0055] Furthermore, when the lateral distance of the target vehicle is less than the lateral distance threshold, whether to trigger an intrusion reminder of the target vehicle is determined based on the speed of the own vehicle, the longitudinal speed of the target vehicle, the longitudinal distance, and the offset probability, including: when the lateral distance of the target vehicle is less than the lateral distance threshold, if the speed of the own vehicle is greater than the longitudinal speed of the target vehicle, the longitudinal distance is less than a predetermined distance and the offset probability is greater than a predetermined probability, then the intrusion reminder of the target vehicle is triggered.

[0056] That is to say, the offset probability P, longitudinal speed Vx, longitudinal distance X, etc. are used to determine whether the target vehicle's intrusion warning conditions are met. For example:

[0057] (1) The longitudinal speed of the target vehicle is greater than the target speed Vx (e.g., 60 kph) and the ego vehicle speed V is greater than the longitudinal speed Vx of the target vehicle;

[0058] (2) Longitudinal distance X < 50 m;

[0059] (3) Deviation probability P>85%;

[0060] (4) Horizontal distance Y<lateral distance threshold.

[0061] When (1) to (4) are all satisfied, the intrusion reminder of the target vehicle is triggered.

[0062] In the above example, the lateral distance threshold is determined by the offset probability P, such as Figure 4 As shown, a schematic diagram showing the correspondence between a displacement probability P and a lateral distance threshold (ie, a lateral threshold) is shown, as Figure 4 As shown, when the offset probability P is 90%, the corresponding lateral threshold is 2.2 meters, when the offset probability P is 95%, the corresponding lateral threshold is 2.3 meters, and when the offset probability P is 100%, the corresponding lateral threshold is 2.4 meters.

[0063] It should be noted that before determining whether to trigger the intrusion reminder of the target vehicle based on the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, it also includes: judging whether the vehicle speed is greater than the target speed; if so, executing the step of determining whether to trigger the intrusion reminder of the target vehicle based on the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance. That is, when driving on a highway, the speed of the vehicle usually needs to be greater than 60 kilometers per hour, so the target speed can be set to 60 kilometers per hour, that is, when the speed is greater than 60 kilometers per hour, an intrusion determination is performed, thereby avoiding some unnecessary detection calculations.

[0064] According to the driving safety control method of the embodiment of the present application, the driving information of the target vehicle in the adjacent lane is identified, and the offset probability of the target vehicle is obtained according to the driving information. Finally, according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, it is determined whether to trigger the intrusion reminder of the target vehicle. Therefore, when the unconscious deviation of the vehicle in the adjacent lane may affect the vehicle, the vehicle can remind the driver in time, thereby reducing the occurrence of collision accidents and improving the safety and reliability of driving.

[0065] Figure 5 is a structural block diagram of a driving safety control system according to an embodiment of the present application. Figure 5 As shown, a driving safety control system according to an embodiment of the present application includes: an identification module 510, an offset probability determination module 520 and a safety control module 530, wherein:

[0066] An identification module 510 is used to identify the driving information of the target vehicle in the adjacent lane, wherein the driving information includes the lateral distance, longitudinal distance, lateral deviation acceleration and longitudinal speed of the target vehicle;

[0067] A deviation probability determination module 520, configured to obtain a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration;

[0068] The safety control module 530 is used to determine whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0069] According to the driving safety control system of the embodiment of the present application, the driving information of the target vehicle in the adjacent lane is identified, and the deviation probability of the target vehicle is obtained according to the driving information. Finally, according to the vehicle speed, the longitudinal speed, longitudinal distance, deviation probability and lateral distance of the target vehicle, it is determined whether to trigger the intrusion reminder of the target vehicle. Therefore, when the unintentional deviation of the vehicle in the adjacent lane may affect the vehicle, the vehicle can remind the driver in time, thereby reducing the occurrence of collision accidents and improving the safety and reliability of driving.

[0070] For the specific definition of the driving safety control system, please refer to the definition of the driving safety control method mentioned above, which will not be repeated here. Each module of the above-mentioned driving safety control system can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0071] In one embodiment, a vehicle is provided, comprising: a driving safety control system according to any one of the above embodiments. The vehicle can identify the driving information of a target vehicle in an adjacent lane, and obtain the offset probability of the target vehicle according to the driving information. Finally, according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, it is determined whether to trigger the intrusion reminder of the target vehicle. Thus, when the unconscious deviation of the vehicle in the adjacent lane may affect the vehicle, the vehicle can promptly remind the driver, thereby reducing the occurrence of collision accidents and improving the safety and reliability of driving.

[0072] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in the field and will not be elaborated here.

[0073] In one embodiment, a computer device is provided. Figure 6 This is a block diagram of the computer device provided in the embodiment of the present application, refer to Figure 6 The computer device includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned driving safety control method embodiment when executing the computer program. For example, the following is performed: identifying driving information of a target vehicle in an adjacent lane, wherein the driving information includes the lateral distance, longitudinal distance, lateral deviation acceleration and longitudinal speed of the target vehicle;

[0074] Obtaining a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration;

[0075] Whether to trigger an intrusion reminder for the target vehicle is determined according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0076] The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and the processor implements the above-mentioned driving safety control method embodiment when executing the computer program. For example, the execution includes: identifying the driving information of the target vehicle in the adjacent lane, wherein the driving information includes the lateral distance, longitudinal distance, lateral deviation acceleration and longitudinal speed of the target vehicle;

[0077] Obtaining a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration;

[0078] Whether to trigger an intrusion reminder for the target vehicle is determined according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0079] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the embodiment of the present application is executed. For example, it can be executed Figure 1 The various steps of the driving safety control method shown, for example, are performed: identifying driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle;

[0080] Obtaining a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration;

[0081] Whether to trigger an intrusion reminder for the target vehicle is determined according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

[0082] Those of ordinary skill in the art can understand that all or part of the processes in the methods for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0083] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A driving safety control method, characterized in that: include: Identify driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle; Obtaining a deviation probability according to a variation trend of the lateral distance and the lateral deviation acceleration; Whether to trigger an intrusion reminder for the target vehicle is determined according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

2. The driving safety control method according to claim 1, characterized in that: Obtaining a deviation probability according to the variation trend of the lateral distance and the lateral deviation acceleration includes: In each counting cycle, the deviation probability is increased when the lateral distance of the target vehicle becomes smaller, and the deviation probability is further increased when the deviation acceleration is greater than a first threshold; the deviation probability is reduced when the lateral distance of the target vehicle becomes larger, and the deviation probability is further reduced when the deviation acceleration is greater than a second threshold.

3. The driving safety control method according to claim 1, characterized in that: The determining whether to trigger the intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance includes: Obtaining a lateral distance threshold according to the offset probability, wherein the greater the offset probability, the greater the lateral distance threshold; Determining whether the lateral distance of the target vehicle is less than the lateral distance threshold; When the lateral distance of the target vehicle is less than the lateral distance threshold, it is determined whether to trigger an intrusion reminder for the target vehicle according to the vehicle speed, the longitudinal speed and the longitudinal distance of the target vehicle and the offset probability.

4. The driving safety control method according to claim 3, characterized in that: When the lateral distance of the target vehicle is less than the lateral distance threshold, determining whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed and the longitudinal distance of the target vehicle, and the offset probability, includes: When the lateral distance of the target vehicle is less than the lateral distance threshold, if the vehicle speed is greater than the longitudinal speed of the target vehicle, the longitudinal distance is less than a predetermined distance and the offset probability is greater than a predetermined probability, an intrusion reminder of the target vehicle is triggered.

5. The driving safety control method according to any one of claims 1 to 4, characterized in that: Before determining whether to trigger the intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance, the method further includes: Determining whether the longitudinal speed of the target vehicle is greater than the target speed and whether the vehicle speed is greater than the longitudinal speed of the target vehicle; If yes, a step of determining whether to trigger an intrusion reminder of the target vehicle is performed based on the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

6. The driving safety control method according to claim 1, characterized in that: The lateral distance of the target vehicle refers to the lateral distance between the center of the target vehicle and the center of the own vehicle.

7. A driving safety control system, characterized in that: include: An identification module, used to identify driving information of a target vehicle in an adjacent lane, wherein the driving information includes a lateral distance, a longitudinal distance, a lateral deviation acceleration, and a longitudinal speed of the target vehicle; A deviation probability determination module, used to obtain a deviation probability according to a change trend of the lateral distance and the lateral deviation acceleration; The safety control module is used to determine whether to trigger an intrusion reminder of the target vehicle according to the vehicle speed, the longitudinal speed of the target vehicle, the longitudinal distance, the offset probability and the lateral distance.

8. A vehicle, characterized in that: include: The driving safety control system according to claim 7.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the driving safety control method according to any one of claims 1-6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the driving safety control method according to any one of claims 1 to 6 is implemented.

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