Vehicle control method, device, vehicle and storage medium

Abstract

The present application provides a vehicle control method, device, vehicle and storage medium. When a target vehicle is traveling in a target scene with low visibility, the vehicle determines whether the target vehicle has overtaking conditions. When the target vehicle has overtaking conditions, the vehicle controls the target component in the target vehicle to operate according to the target working mode when overtaking. Among them, the target working mode is used to remind the target vehicle to overtake. That is, when the vehicle overtakes, the method adaptively controls the process of the vehicle component working to remind other vehicles of the overtaking behavior of the vehicle. This automatically controls the target component to work when the vehicle is overtaking. This can prevent novice drivers from forgetting to turn on the target component due to nervousness, thereby causing other vehicles to fail to notice that the vehicle has overtaken and collisions between vehicles. For people with sufficient driving experience, the method automatically controls the target component to work, which can reduce the driver's mental fatigue during the overtaking process.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle control method, a device, a vehicle and a storage medium in the field of vehicle technology. Background Art

[0002] With the development of vehicle technology, the improvement of highways and the improvement of people's quality of life, driving across provinces / cities has gradually become one of the popular travel methods. However, more and more related problems have also arisen, including driving safety issues.

[0003] At present, when driving at night, if the driver needs to overtake, he will manually control the overtaking lights of his own car to light up to remind surrounding vehicles to give way to his own car. However, some novice drivers forget to light up their own car's overtaking lights when overtaking due to nervousness or lack of experience. This may cause surrounding vehicles to fail to be alerted to the overtaking behavior of the own car in time, causing collisions between surrounding vehicles and the own car.

[0004] Therefore, there is an urgent need for a vehicle control method that can adaptively control vehicle components based on the driver's overtaking behavior, provide assistance to inexperienced drivers, and enable surrounding vehicles to be aware of the overtaking behavior of the vehicle in a timely manner to avoid traffic accidents between the vehicle and surrounding vehicles. Summary of the invention

[0005] The present application provides a vehicle control method, device, vehicle and storage medium. The method can automatically control the operation of vehicle components when the vehicle overtakes, so that surrounding vehicles are promptly alerted to the overtaking behavior of the vehicle, avoid traffic accidents between the vehicle and surrounding vehicles, and improve the safety of passengers in the vehicle.

[0006] In a first aspect, a vehicle control method is provided, the method comprising: when a target vehicle is traveling in a target scene, determining whether the target vehicle has overtaking conditions, the visibility of the target scene being lower than a preset visibility; when the target vehicle has overtaking conditions, controlling a target component in the target vehicle to operate in a target working mode when the target vehicle overtakes, the target working mode being used to remind the target vehicle to overtake.

[0007] In the above technical solution, when the target vehicle is traveling in a target scene with low visibility, the vehicle determines whether the target vehicle has overtaking conditions. Further, when the target vehicle has overtaking conditions, the vehicle controls the target components in the target vehicle to work according to the target working mode when the target vehicle overtakes. Among them, the target working mode is used to remind the target vehicle to overtake. That is to say, the method provides a method for adaptively controlling the operation of vehicle components when the vehicle overtakes to remind other vehicles of the overtaking behavior of the vehicle. For example, when the vehicle is overtaking, the overtaking light can be automatically lit without the driver operating the target component (for example, turning on or off the overtaking light). This can avoid the situation where novice drivers forget to turn on the overtaking light due to nervousness, thereby causing other vehicles to fail to notice that the vehicle is overtaking and collisions occur between vehicles. For people with sufficient driving experience, the method realizes automatic control of the target component, which can reduce the mental fatigue of the driver during the overtaking process. Therefore, the method can automatically control the operation of vehicle components when the self-vehicle overtakes, so that surrounding vehicles are promptly alerted to the overtaking behavior of the self-vehicle, avoid traffic accidents between the self-vehicle and surrounding vehicles, and improve the riding safety of vehicle personnel.

[0008] In combination with the first aspect, in some possible implementations, when the target vehicle is traveling in a target scene, determining whether the target vehicle has overtaking conditions includes: when the target vehicle is traveling in the target scene, determining whether the emotional state of the user in the target vehicle is a preset state, the preset state being used to indicate that the user has encountered an emergency; when the emotional state is the preset state, determining whether the target vehicle has overtaking conditions.

[0009] In the above technical solution, when it is determined that the user in the target vehicle is in an emergency, that is, the user is in a hurry, the vehicle determines whether the target vehicle has the overtaking condition. In other words, the vehicle does not determine whether the target vehicle has the overtaking condition in real time based on the vehicle status, which can reduce the consumption of the vehicle's computing resources. The overtaking condition is determined only when the user is in an emergency, that is, the vehicle needs to overtake.

[0010] In combination with the first aspect, in some possible implementations, the method for determining that the emotional state is a preset state includes: performing feature extraction on the facial image of the user to obtain facial features, where the facial features include at least one of eye features, eyebrow features, mouth features, and facial muscle features on the face of the user; when the eye features indicate that the user's pupils are dilated and / or the eyebrow features indicate that the user's eyebrows are in a locked state and / or the mouth features indicate that the user's mouth is in a closed state and / or the facial muscle features indicate that the user's facial muscles are in a contracted state, determining that the emotional state is The preset state; or, when a voice signal of the user is detected, feature extraction is performed on the voice signal to obtain an acoustic feature of the voice signal, wherein the acoustic feature includes at least one of a tone feature, a speaking rate feature, a volume feature, a voiceprint feature and a semantic feature; when the tone feature indicates that the user's tone is rising and / or the speaking rate feature indicates that the user's speaking rate is accelerating and / or the volume feature indicates that the user's volume is increasing and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, the emotional state is determined to be the preset state.

[0011] In the above technical solution, it is difficult to obtain a single facial feature when the target vehicle is in a driving scene with low visibility. The lighting conditions in the car, the driver's sitting posture and head posture changes will affect the quality of the facial image, making it difficult to accurately extract facial features. In addition, when driving, the target scene where the target vehicle is located may be very noisy, making it difficult to obtain a single acoustic feature. Therefore, this method determines whether the user's emotional state is a preset state through multiple facial features (eye features, eyebrow features, mouth features and facial muscle features) or multiple acoustic features. Specifically, when the eye feature indicates that the user's pupil is dilated and / or the eyebrow feature indicates that the user's eyebrows are locked and / or the mouth feature indicates that the user's mouth is closed and / or the facial muscle feature indicates that the user's facial muscles are contracted, or when the tone feature indicates that the user's tone is rising and / or the speech rate feature indicates that the user's speech rate is accelerated and / or the volume feature indicates that the user's volume is increased and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, it is determined that the user is anxious. This can avoid the situation where it is impossible to determine whether the emotional state is a preset state, and can improve the accuracy of determining the emotional state.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method for determining the facial image of the user includes: obtaining an upper body image of the user through a vehicle-mounted camera; marking multiple facial key points in the upper body image; determining the facial boundary of the user based on the multiple facial key points; cropping out an image area surrounded by the facial boundary in the upper body image, and determining the image area as the facial image.

[0013] In the above technical solution, the key points of the face include eyebrows, eyes, nose and chin, etc. There are enough types of key points of the face, so the vehicle can determine the accurate facial boundary of the user based on enough key points of the face, and then cut out the image area surrounded by the facial boundary from the upper body image to obtain the accurate facial image of the user. In this way, the vehicle can obtain various facial features through the accurate facial image of the user to provide support for the determination process of the emotional state of the user.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the target vehicle has the overtaking conditions includes: when the first driving speed of the target vehicle is greater than the second driving speed of the vehicle ahead of the target vehicle, determining whether the acceleration of the vehicle ahead is less than a preset acceleration; when the acceleration is less than the preset acceleration, determining whether there is an obstacle in the target overtaking area on the overtaking lane where the target vehicle is to travel; when there is no obstacle in the target overtaking area, determining whether the distance between the target vehicle and the vehicle ahead is greater than a preset distance; when the distance is greater than the preset distance, determining that the target vehicle has the overtaking conditions; when the distance is less than or equal to the preset distance, determining that the target vehicle does not have the overtaking conditions.

[0015] In the above technical solution, when determining that the target vehicle has the overtaking conditions, the following four conditions are considered: the first driving speed of the target vehicle is greater than the second driving speed of the front vehicle, the acceleration of the front vehicle is less than the preset acceleration, there are no obstacles in the target overtaking area on the overtaking lane where the target vehicle is to travel, and the distance between the target vehicle and the front vehicle is greater than the preset distance. Among them, for the first condition, under normal circumstances, the number of vehicles on the road where the target vehicle is traveling is relatively large. When the target vehicle meets the first condition, the target vehicle can achieve faster overtaking and the probability of successfully completing the overtaking process is also large. For the second condition, by determining whether the acceleration of the front vehicle is less than the preset acceleration, the driving state of the front vehicle can be predicted in advance. If the acceleration of the front vehicle is small, it may be that the front vehicle is about to slow down, which may help the target vehicle to overtake. Of course, it may also be that the front vehicle encounters special circumstances (such as changes in road conditions ahead), and the target vehicle needs to be more cautious in overtaking at this time. This judgment helps to avoid the occurrence of collision accidents caused by the sudden deceleration of the front vehicle during the overtaking process. Regarding the third condition, obstacles on the overtaking lane may be other faulty vehicles, spilled objects, etc. If not checked in advance, the target vehicle may suddenly encounter obstacles during the overtaking process, and the target vehicle will find it difficult to avoid them, which may easily lead to dangerous situations such as collision or loss of control. Regarding the fourth condition, sufficient distance between the target vehicle and the vehicle in front is an important guarantee for safe overtaking. This can provide the target vehicle with enough space to complete lane changes, accelerate to overtake the vehicle in front, and safely return to the original lane during the overtaking process, and prevent the target vehicle from being too close to the vehicle in front during the overtaking process and causing a collision accident. Therefore, this method takes the above four conditions into consideration, and after the target vehicle meets the above four conditions, it can increase the probability of the target vehicle successfully completing the overtaking process.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target component in the target vehicle is controlled to operate according to the target working mode when the target vehicle overtakes, including: when the headlights currently turned on by the target vehicle are low beam lights, determining the ambient brightness of the driving environment in which the target vehicle is located; when the ambient brightness is lower than a preset brightness, controlling the left turn signal in the target vehicle to light up according to the target working mode when the target vehicle overtakes; when the ambient brightness is higher than the preset brightness, controlling the target component to operate according to the target working mode when the target vehicle overtakes.

[0017] In the above technical solution, no matter whether the headlight currently turned on by the target vehicle is a low beam or a high beam, the method will determine the ambient brightness of the driving environment in which the target vehicle is located. When the ambient brightness is low, it indicates that the light around the target vehicle is weak. After the target vehicle controls the left turn signal to light up, the vehicle in front can quickly be alerted to the overtaking behavior of the target vehicle and can remind the vehicle in front of the overtaking behavior of the target vehicle. In other words, when the target vehicle overtakes, the method can realize the overtaking reminder only through the left turn signal. This can not only play the role of overtaking reminder, but also avoid wasting too much vehicle resources. When the ambient brightness is high, the target vehicle may be in a noisy driving area. Therefore, by controlling the target component to work according to the target working mode, it can ensure that the vehicle in front is alerted to the overtaking behavior of the target vehicle in time, and it can also increase the probability of the vehicle in front being alerted to the overtaking behavior of the target vehicle, thereby improving the probability of successfully completing the overtaking process.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the target component to operate according to the target operating mode when the target vehicle overtakes includes at least one of the following: controlling the horn in the target vehicle to honk according to the target operating mode when the target vehicle overtakes; controlling the high beam and the low beam in the target vehicle to light up alternately according to the target operating mode when the target vehicle overtakes.

[0019] In the above technical solution, when the brightness of the environment where the target vehicle is located is high and the current low beam is turned on, the current driver's driving field of vision is wide, and the vehicle controls the horn and / or light combination (high beam and low beam) to work according to the target working mode (wherein the horn is specifically honking, and the high beam and low beam are specifically lit alternately). This can timely remind the target vehicle that it is overtaking without affecting the driver's driving field of vision and when the noise in the driving area is large. And it can timely remind the target vehicle that it is overtaking without affecting the driver's driving field of vision and when the street lights are very bright. Furthermore, when the driver's driving field of vision is not affected and the street lights are very bright, it can attract the attention of surrounding vehicles and remind the target vehicle that it is overtaking in a more timely manner.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target operating mode corresponds to the current emotional state of the user in the target vehicle, and the target operating mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration during each control process. The target component in the target vehicle is controlled to work according to the target operating mode when the target vehicle overtakes, including: dividing the current emotional state of the user into different levels to obtain the urgency of the emergency matter; determining the overtaking distance corresponding to the target overtaking area on the overtaking lane, and the target overtaking area is related to the acceleration performance of the target vehicle; determining the first number, the second number, the first duration and the second duration based on the urgency and the overtaking distance; controlling the target component to work the first number of times according to the first duration and the second number of times according to the second duration when the target vehicle overtakes.

[0021] In the above technical solution, when the target working mode is used to indicate that the target component works for the first number of times according to the first duration and the second number of times according to the second duration during each controlled process, the vehicle divides the emotional state of the user to obtain the urgency of the emergency, and determines the corresponding overtaking distance of the target overtaking area on the overtaking lane. Further, the vehicle can adaptively determine the first number, the second number, the first duration and the second duration in the target working mode based on the urgency and the overtaking distance. That is to say, for different urgency and different overtaking distances, the vehicle can control the target component to work through the corresponding target working mode to remind the target vehicle to overtake, that is, control the overtaking reminder signal. For example, an anxious driver (anxious because of an emergency) can complete overtaking faster and return to the normal lane under appropriate circumstances, and a driver who is not anxious will not overtake frequently due to excessive reminders, which can make the entire traffic flow smoother and reduce the possibility of traffic congestion.

[0022] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the first number, the second number, the first duration and the second duration are determined based on the urgency and the overtaking distance, including: based on the overtaking distance, determining the overtaking duration of the target vehicle during the overtaking process; determining the ratio between the overtaking duration and the preset working number of the target component as the reference duration, and the preset working number is used to indicate the number of times the target component executes the control process corresponding to the preset working mode within the overtaking duration; based on the urgency, determining the first number and the second number; based on the proportion of the first number and the second number in the total number, respectively, allocating the target duration to obtain the second duration and the first duration, the target duration is less than the reference duration, and the total number is the sum of the first number and the second number.

[0023] In the above technical solution, the ratio between the overtaking time of the target vehicle and the preset working times of the target component is determined as the reference time, and based on the urgency, the first number and the second number are determined, which fully considers the urgency of the emergency, makes the control process of the target component more personalized, and can improve the overall riding experience of the user. Further, based on the proportion of the first number and the second number in the total number, the target time is allocated to obtain the second time and the first time. Among them, the target time is less than the reference time, the total number is the sum of the first number and the second number, and the sum of the first product and the second product is the target time. This can avoid the working time of the target component being greater than the overtaking time, and the target component continues to be controlled to work after the target vehicle has completed overtaking, resulting in unnecessary energy consumption of the target vehicle.

[0024] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the first number and the second number are determined based on the degree of urgency, including: when the degree of urgency is greater than a preset degree, the first preset number is determined as the first number, and the second preset number is determined as the second number, and the first preset number is less than the second preset number; when the degree of urgency is less than or equal to the preset degree, the third preset number is determined as the first number, and the fourth preset number is determined as the second number, and the third preset number is greater than or equal to the fourth preset number.

[0025] In the above technical solution, when the urgency is greater than the preset degree, that is, when the user is in a hurry, the vehicle components are first controlled to work with a small number of times, so that the length of time that the vehicle components do not work between the switching of the number of times is reduced, and it is relatively easy to make the front vehicle and even the rear vehicle detect the overtaking behavior of the target vehicle in time. Then, the vehicle components are controlled to work with a large number of times, so that the front vehicle and even the rear vehicle can detect the acceleration performance of the target vehicle in the overtaking process. In this way, when the user is in a hurry, the vehicle can maximize the use of the target components to more easily attract the attention of surrounding vehicles. When the urgency is less than or equal to the preset degree, that is, when the user is not in a hurry, the vehicle components are first controlled to work with a large number of times, so that the length of time that the vehicle components do not work between the switching of the number of times is reduced. Then, the vehicle components are controlled to work with a small number of times. This can make the surrounding vehicles detect the overtaking behavior of the target vehicle when the user is not in a hurry, and will not consume more energy of the target vehicle.

[0026] In a second aspect, a vehicle control device is provided, which includes: a determination module, which is used to determine whether the target vehicle has overtaking conditions when the target vehicle is traveling in a target scene, and the visibility of the target scene is lower than a preset visibility; a control module, which is used to control the target components in the target vehicle to operate according to a target working mode when the target vehicle overtakes when the target vehicle has overtaking conditions, and the target working mode is used to remind the target vehicle that it is overtaking.

[0027] In combination with the second aspect, in some possible implementations, the determination module is specifically used to: when the target vehicle is traveling in the target scene, determine whether the emotional state of the user in the target vehicle is a preset state, and the preset state is used to indicate that the user is encountering an emergency; when the emotional state is the preset state, determine whether the target vehicle has the conditions for overtaking.

[0028] In combination with the second aspect, in some possible implementations, the determination module is further specifically used to: extract features from the user's facial image to obtain facial features, where the facial features include at least one of eye features, eyebrow features, mouth features, and facial muscle features on the user's face; and when the eye features indicate that the user's pupils are dilated and / or the eyebrow features indicate that the user's eyebrows are in a locked state and / or the mouth features indicate that the user's mouth is in a closed state and / or the facial muscle features indicate that the user's facial muscles are in a contracted state, determine that the emotional state is the preset emotional state. state; or, in the case of detecting a voice signal of the user, performing feature extraction on the voice signal to obtain an acoustic feature of the voice signal, the acoustic feature including at least one of a tone feature, a speaking rate feature, a volume feature, a voiceprint feature and a semantic feature; when the tone feature indicates that the user's tone is rising and / or the speaking rate feature indicates that the user's speaking rate is accelerating and / or the volume feature indicates that the user's volume is increasing and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, it is determined that the emotional state is the preset state.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: an acquisition module, used to acquire the upper body image of the user through a vehicle-mounted camera; the determination module is specifically used to: mark multiple facial key points in the upper body image; determine the facial boundary of the user based on the multiple facial key points; crop out the image area surrounded by the facial boundary in the upper body image, and determine the image area as the facial image.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine whether the acceleration of the preceding vehicle is less than a preset acceleration when the first driving speed of the target vehicle is greater than the second driving speed of the preceding vehicle of the target vehicle; determine whether there is an obstacle in the target overtaking area on the overtaking lane where the target vehicle is to travel when the acceleration is less than the preset acceleration; determine whether the distance between the target vehicle and the preceding vehicle is greater than a preset distance when there is no obstacle in the target overtaking area; determine whether the target vehicle has an overtaking condition when the distance is greater than the preset distance; determine that the target vehicle has an overtaking condition when the distance is less than or equal to the preset distance; determine that the target vehicle does not have an overtaking condition.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to determine the ambient brightness of the driving environment in which the target vehicle is located when the headlights currently turned on by the target vehicle are low beam lights; the control module is specifically used to: when the ambient brightness is lower than the preset brightness, control the left turn signal in the target vehicle to light up according to the target working mode; when the ambient brightness is higher than the preset brightness, control the target component to work according to the target working mode when the target vehicle overtakes.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used for at least one of the following: controlling the horn in the target vehicle to honk according to the target working mode when the target vehicle overtakes; controlling the high beam and the low beam in the target vehicle to light up alternately according to the target working mode when the target vehicle overtakes.

[0033] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the target operating mode corresponds to the current emotional state of the user in the target vehicle, and the target operating mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration during each control process. The determination module is specifically used to: divide the current emotional state of the user into degrees to obtain the urgency of the emergency matter; determine the overtaking distance corresponding to the target overtaking area on the overtaking lane, and the target overtaking area is related to the acceleration performance of the target vehicle; based on the urgency and the overtaking distance, determine the first number, the second number, the first duration and the second duration; the control module is specifically used to control the target component to work the first number of times according to the first duration and the second number of times according to the second duration when the target vehicle overtakes.

[0034] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine the overtaking time of the target vehicle during the overtaking process based on the overtaking distance; determine the ratio between the overtaking time and the preset working number of the target component as the reference time, and the preset working number is used to indicate the number of times the target component executes the control process corresponding to the preset working mode within the overtaking time; determine the first number and the second number based on the urgency; allocate the target time based on the proportion of the first number and the second number in the total number, and obtain the second time and the first time, the target time is less than the reference time, and the total number is the sum of the first number and the second number.

[0035] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically further used to: when the urgency level is greater than the preset level, determine the first preset number as the first number, and determine the second preset number as the second number, and the first preset number is less than the second preset number; when the urgency level is less than or equal to the preset level, determine the third preset number as the first number, and determine the fourth preset number as the second number, and the third preset number is greater than or equal to the fourth preset number.

[0036] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application;

[0038] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of determining an overtaking distance and a target overtaking area provided in an embodiment of the present application;

[0040] Figure 4 This is a schematic diagram for determining a first number, a second number, a first duration, and a second duration provided in an embodiment of the present application;

[0041] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0042] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0044] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0045] Figure 1 It is a schematic diagram of a scenario of using a vehicle provided in an embodiment of the present application.

[0046] For example, Figure 1 As shown, in the scene of night driving, if the driver has the need to overtake, the driver will manually control the left turn signal of the vehicle to light up to remind the overtaking behavior of the vehicle and remind surrounding vehicles to give way to the vehicle. In some embodiments, the position of the left turn signal is located at least one of the front of the vehicle, the rear of the vehicle, and the left rearview mirror. Figure 1 A left turn signal lamp 1 at the front of the vehicle and a left turn signal lamp 2 at the rear of the vehicle are shown.

[0047] However, the driver may forget to turn on the left turn signal before and / or when overtaking due to lack of driving experience or distraction, which may cause surrounding vehicles to fail to be alert to the overtaking behavior of the vehicle in time, resulting in a collision between the surrounding vehicles and the vehicle.

[0048] In order to solve the above problems, the present application proposes a vehicle control method to adaptively control vehicle components based on the driver's overtaking behavior, so that surrounding vehicles can be alerted to the overtaking behavior of the vehicle in time to avoid traffic accidents between the vehicle and surrounding vehicles. The specific implementation steps can be found in Figure 2 .

[0049] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0050] It should be understood that the vehicle control method provided in the embodiment of the present application can be applied to Figure 1The vehicle shown (e.g., vehicle A). Specifically, the control method of the vehicle can be applied to a target controller in the vehicle. The target controller is any one of a vehicle controller and a body domain controller. The body domain controller is used to control various vehicle components in the vehicle. In the control method of the vehicle of the present application, the vehicle component includes at least one of a low beam, a high beam, a left turn signal, and a horn.

[0051] For example, Figure 2 As shown, the method 200 includes:

[0052] Step 201, when a target vehicle is traveling in a target scene, the vehicle controller determines whether the target vehicle has an overtaking condition, and the visibility of the target scene is lower than a preset visibility.

[0053] It should be understood that the "target scene" in step 201 above refers to a scene with low visibility. In some embodiments, the target scene includes any one of a night scene, a rainy scene, and a cloudy scene. The night scene is used to indicate the time period from sunset to sunrise. In the target scene, the driver's driving vision is limited and needs to rely on lighting equipment to illuminate the road ahead to facilitate safe driving.

[0054] In one possible implementation, the vehicle controller in step 201 determines whether the target vehicle has overtaking conditions, including: when the first driving speed of the target vehicle is greater than the second driving speed of the vehicle in front of the target vehicle, the vehicle controller determines whether the acceleration of the vehicle in front is less than a preset acceleration; when the acceleration is less than the preset acceleration, the vehicle controller determines whether there is an obstacle in the target overtaking area on the overtaking lane where the target vehicle is to travel; when there is no obstacle in the target overtaking area, the vehicle controller determines whether the distance between the target vehicle and the vehicle in front is greater than a preset distance; when the distance is greater than the preset distance, the vehicle controller determines that the target vehicle has overtaking conditions; when the distance is less than or equal to the preset distance, the vehicle controller determines that the target vehicle does not have overtaking conditions.

[0055] It should be understood that the "preset acceleration" in the above solution is less than the acceleration of the target vehicle. This ensures that when the target vehicle overtakes, its own acceleration is greater than the acceleration of the preceding vehicle, and the target vehicle can overtake the preceding vehicle to smoothly complete the overtaking process.

[0056] It should also be understood that the "overtaking lane" in the above scheme refers to the left lane of the current lane of the target vehicle. The "target overtaking area on the overtaking lane" in the above scheme refers to the road area where the target vehicle is traveling on the overtaking lane during the overtaking process. The target overtaking area is related to the acceleration performance of the target vehicle. When the acceleration performance of the target vehicle is high, the overtaking distance corresponding to the target overtaking area is shorter; otherwise, it is longer.

[0057] It should also be understood that the obstacles that may exist in the target overtaking area in the above scheme may be static obstacles or dynamic obstacles. In some embodiments, the static obstacles include any one of accident vehicles, static pedestrians, road construction equipment, building structures, urban furniture, naturally formed obstacles and traffic signs. In some embodiments, the road construction equipment includes any one of construction cones, warning signs and temporary guardrails. In some embodiments, the building structure includes any one of bridge piers and tunnel entrances. In some embodiments, the urban furniture includes any one of streetlight poles, trash cans and public seats. In some embodiments, the naturally formed obstacles include any one of fallen trees and fallen rocks. In some embodiments, the traffic signs include any one of signal lights and triangular warning signs.

[0058] It should also be understood that the overtaking conditions described in the above scheme are conditions that the vehicle itself needs to meet, and the vehicle controller can also determine whether the target vehicle meets the overtaking conditions based on the weather environment and / or the type of road the target vehicle is currently traveling on.

[0059] In the above technical solution, when determining that the target vehicle has the overtaking conditions, the following four conditions are considered: the first driving speed of the target vehicle is greater than the second driving speed of the front vehicle, the acceleration of the front vehicle is less than the preset acceleration, there are no obstacles in the target overtaking area on the overtaking lane where the target vehicle is to travel, and the distance between the target vehicle and the front vehicle is greater than the preset distance. Among them, for the first condition, under normal circumstances, the number of vehicles on the road where the target vehicle is traveling is relatively large. When the target vehicle meets the first condition, the target vehicle can achieve faster overtaking and the probability of successfully completing the overtaking process is also large. For the second condition, by determining whether the acceleration of the front vehicle is less than the preset acceleration, the driving state of the front vehicle can be predicted in advance. If the acceleration of the front vehicle is small, it may be that the front vehicle is about to slow down, which may help the target vehicle to overtake. Of course, it may also be that the front vehicle encounters special circumstances (such as changes in road conditions ahead), and the target vehicle needs to be more cautious in overtaking at this time. This judgment helps to avoid the occurrence of collision accidents caused by the sudden deceleration of the front vehicle during the overtaking process. Regarding the third condition, obstacles on the overtaking lane may be other faulty vehicles, spilled objects, etc. If not checked in advance, the target vehicle may suddenly encounter obstacles during the overtaking process, and the target vehicle will find it difficult to avoid them, which may easily lead to dangerous situations such as collision or loss of control. Regarding the fourth condition, sufficient distance between the target vehicle and the vehicle in front is an important guarantee for safe overtaking. This can provide the target vehicle with enough space to complete lane changes, accelerate to overtake the vehicle in front, and safely return to the original lane during the overtaking process, and prevent the target vehicle from being too close to the vehicle in front during the overtaking process and causing a collision accident. Therefore, this method takes the above four conditions into consideration, and after the target vehicle meets the above four conditions, it can increase the probability of the target vehicle successfully completing the overtaking process.

[0060] In one possible implementation, in step 201, when the target vehicle is traveling in the target scene, the vehicle determines whether the target vehicle has the overtaking conditions, including: when the target vehicle is traveling in the target scene, the vehicle controller determines whether the emotional state of the user in the target vehicle is a preset state, and the preset state is used to indicate that the user encounters an emergency; when the emotional state is the preset state, the vehicle controller determines whether the target vehicle has the overtaking conditions.

[0061] It should be understood that the "preset state" in the above solution is an urgent state, which indicates that the user encounters an emergency during the driving of the target vehicle and needs to accelerate the target vehicle or change lanes to overtake to shorten the driving time and solve the emergency as soon as possible. Before the target vehicle is about to change lanes to overtake, the vehicle controller needs to determine whether the target vehicle has the conditions for overtaking, which can ensure the safety of overtaking.

[0062] It should also be understood that the "emotional state of the user" in the above scheme is used to indicate the comprehensive performance of the intensity, tension and persistence of the emotional experience experienced by the user in the target scenario. In some embodiments, the emotional state includes an anxious state, a happy state, an angry state and a depressed state. It should also be understood that each emotional state can be divided into degrees. For example, when the user is in a happy state, the happy state can be divided into severe happiness (very happy), moderate happiness (moderate happiness) and mild happiness (somewhat happy).

[0063] In the above technical solution, when it is determined that the user in the target vehicle is in an emergency, that is, the user is in a hurry, the vehicle determines whether the target vehicle has the overtaking condition. In other words, the vehicle does not determine whether the target vehicle has the overtaking condition in real time based on the vehicle status, which can reduce the consumption of the vehicle's computing resources. The overtaking condition is determined only when the user is in an emergency, that is, the vehicle needs to overtake.

[0064] In a possible implementation, a method for determining that the emotional state is a preset state includes: a vehicle controller extracts features of the user's facial image to obtain facial features, where the facial features include at least one of eye features, eyebrow features, mouth features, and facial muscle features on the user's face; when the eye features indicate that the user's pupils are dilated and / or the eyebrow features indicate that the user's eyebrows are in a locked state and / or the mouth features indicate that the user's mouth is in a closed state and / or the facial muscle features indicate that the user's facial muscles are in a contracted state, the vehicle controller determines that the emotional state is the preset state. state; or, when a voice signal of the user is detected, the vehicle controller extracts features of the voice signal to obtain acoustic features of the voice signal, wherein the acoustic features include at least one of a tone feature, a speaking rate feature, a volume feature, a voiceprint feature and a semantic feature; when the tone feature indicates that the user's tone is rising and / or the speaking rate feature indicates that the user's speaking rate is accelerating and / or the volume feature indicates that the user's volume is increasing and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, the vehicle controller determines that the emotional state is the preset state.

[0065] It should be understood that the user's facial features and acoustic features are different in different emotional states. When the emotional state is anxious, the user's eyebrows are tightly locked, vertical wrinkles appear between the two eyebrows, and the two eyebrows are close together; the user's mouth is tightly closed or slightly open; the user's facial muscles will contract, especially the muscles of the forehead and the corrugator muscles will contract; the user's voice will rise, showing a higher tone; the user's speech speed will increase; the user's volume will increase; the user's speech voice will tremble; the user repeats the same word or sentence many times.

[0066] It should also be understood that in the above scheme, the "tone feature" is also called the frequency feature of the sound, and the high and low changes of the sound are used to distinguish the meaning of the language when the user speaks. The "volume feature" is also called the loudness feature of the sound, which refers to the perception of the strength of the sound, which is related to the amplitude of the sound. The larger the amplitude, the louder the sound sounds; the smaller the amplitude, the weaker the sound sounds. In other words, the tone feature mainly involves the frequency change of the sound, which is used to distinguish different meanings in the language; while the volume feature involves the amplitude change of the sound, which affects the loudness of the sound and is the subjective feeling of the strength of the sound.

[0067] In the above technical solution, it is difficult to obtain a single facial feature when the target vehicle is in a driving scene with low visibility. The lighting conditions in the car, the driver's sitting posture and head posture changes will affect the quality of the facial image, making it difficult to accurately extract facial features. In addition, when driving, the target scene where the target vehicle is located may be very noisy, making it difficult to obtain a single acoustic feature. Therefore, this method determines whether the user's emotional state is a preset state through multiple facial features (eye features, eyebrow features, mouth features and facial muscle features) or multiple acoustic features. Specifically, when the eye feature indicates that the user's pupil is dilated and / or the eyebrow feature indicates that the user's eyebrows are locked and / or the mouth feature indicates that the user's mouth is closed and / or the facial muscle feature indicates that the user's facial muscles are contracted, or when the tone feature indicates that the user's tone is rising and / or the speech rate feature indicates that the user's speech rate is accelerated and / or the volume feature indicates that the user's volume is increased and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, it is determined that the user is anxious. This can avoid the situation where it is impossible to determine whether the emotional state is a preset state, and can improve the accuracy of determining the emotional state.

[0068] In one possible implementation, the method for determining the user's facial image includes: the vehicle controller obtains the upper body image of the user through a vehicle-mounted camera; the vehicle controller marks multiple facial key points in the upper body image; the vehicle controller determines the facial boundary of the user based on the multiple facial key points; the vehicle controller crops out the image area surrounded by the facial boundary in the upper body image, and determines the image area as the facial image.

[0069] It should be understood that the "upper body image" in the above solution generally refers to the image from the head to the waist of the human body. The upper body image includes the image areas corresponding to the driver's face, shoulders, hands, arms and head, but does not include the image areas corresponding to the legs. The multiple facial key points include eyebrows, eyes, nose and chin, etc.

[0070] It should also be understood that in order to ensure that the user's upper body image captured by the vehicle camera includes the user's face, the method has requirements for the location and shooting angle of the vehicle camera. In some embodiments, the user is a driver, the vehicle camera is installed in front of the driving seat in the cabin, close to the roof, and the shooting angle of the vehicle camera is greater than a°, which is related to the width between the seats corresponding to the driving seat.

[0071] In the above technical solution, the key points of the face include eyebrows, eyes, nose and chin, etc. There are enough types of key points of the face, so the vehicle controller can determine the accurate facial boundary of the user based on enough key points of the face, and then cut out the image area surrounded by the facial boundary from the upper body image to obtain the accurate facial image of the user. In this way, the vehicle controller can obtain various facial features through the accurate facial image of the user to provide support for the determination process of the emotional state of the user.

[0072] In some embodiments, the vehicle controller determines the facial boundary of the user based on the multiple facial key points, including: the vehicle controller determines the upper boundary of the facial boundary based on the positions of two eyebrows among the multiple facial key points in the upper body image and the first vertical distance between the eyebrows and the forehead hairline; the vehicle controller determines the left and right boundaries of the facial boundary based on the two eyes, the nose, the second vertical distance between the eyes and the hairline, and the third vertical distance between the nose and the hairline; the vehicle controller determines the lower boundary of the facial boundary based on the contour line of the chin among the multiple facial key points, and the facial boundary includes the upper boundary, the left boundary, the right boundary and the lower boundary.

[0073] It should be understood that in the above scheme, "the first vertical distance between the eyebrows and the forehead hairline" refers to the shortest distance between the eyebrows and the forehead hairline in the predicted upper body image, that is, the vertical distance. "The second vertical distance between the human eyes and the temple hairline" refers to the shortest distance between the eyes and the temple hairline in the predicted upper body image, that is, the vertical distance. "The third vertical distance between the nose and the temple hairline" refers to the shortest distance between the nose and the temple hairline in the predicted upper body image, that is, the vertical distance. Among them, the above scheme does not distinguish between the left eyebrow and the right eyebrow, and does not distinguish between the left eye and the right eye.

[0074] In some embodiments, a method for determining a first vertical distance between an eyebrow and a forehead hairline includes: a vehicle controller obtains the resolution, image size, vertical distance between the eyebrow and the forehead hairline in each sample face image, and the resolution and image size of the upper body image of each sample face image in a plurality of sample face images; the vehicle controller determines a plurality of candidate face images that match the resolution and image size of the upper body image from the plurality of sample face images; the vehicle controller averages the vertical distances between the eyebrow and the forehead hairline in the plurality of candidate face images to obtain the first vertical distance.

[0075] It should be understood that the "resolution of the image" in the above solution refers to the density of pixels in the image, which is usually expressed in pixels per centimeter. Resolution is used to determine the clarity of the image. The higher the resolution, the more pixels are contained in the image, and the richer the details of the image. The "image size of the image" refers to the actual physical size of the image, usually in inches or centimeters.

[0076] It should also be understood that the method for determining the "second vertical distance from the human eye to the hairline at the temples" and the method for determining the "third vertical distance from the nose to the hairline at the temples" in the above scheme are based on the same principles as the method for determining the "first vertical distance from the eyebrow to the hairline at the forehead", and will not be repeated here.

[0077] Step 202, when the target vehicle meets the overtaking conditions, the vehicle controller controls the target components in the target vehicle to operate according to the target working mode when the target vehicle overtakes, and the target working mode is used to remind the target vehicle to overtake.

[0078] It should be understood that the "target component" in the above step 202 refers to a vehicle component in the target vehicle that can be in a working state and can be used to remind other vehicles that the target vehicle is overtaking when in operation. In some embodiments, the target component is at least one of a left turn signal, a low beam, a high beam, and a horn.

[0079] It should also be understood that the "target working mode" in the above step 202 refers to the working mode that the target component should follow when working. Usually, the target working mode is set according to the current overtaking demand of the vehicle to ensure that the vehicle can play the best reminder role during the overtaking process. In addition, the "target working mode" in the above step 202 can correspond to the user's current emotional state, specifically refers to the working mode of the target component corresponding to the target working mode is related to the degree of urgency corresponding to the anxious state. Among them, the degree of urgency corresponding to the anxious state refers to the user's degree of urgency (which corresponds to the urgency of the urgent matter).

[0080] It should also be understood that the "target working mode" in the above step 202 is used to indicate the working mode of the target component in each controlled process. In some embodiments, the target component is a horn. The horn can perform multiple controlled processes during the overtaking process, and the horn honks according to the target working mode during each controlled process. Exemplarily, the target working mode is to honk once according to 2s and honk twice according to 1s. The multiple controlled processes are 3 controlled processes. The horn honks and performs 3 controlled processes during the overtaking process. In each controlled process, the horn first honks for 2s, then honks for 1s, and finally honks for 1s. Specifically, the horn honking process during the overtaking process is: first honk for 2s, then honk for 1s, and finally honk for 1s; after the first preset time, first honk for 2s, then honk for 1s, and finally honk for 1s; after the first preset time, first honk for 2s, then honk for 1s, and finally honk for 1s.

[0081] In one possible implementation, the vehicle controller in step 202 controls the target component in the target vehicle to operate according to the target working mode, including: when the headlight currently turned on by the target vehicle is a low beam headlight, the vehicle controller determines the ambient brightness of the driving environment in which the target vehicle is located; when the ambient brightness is lower than a preset brightness, the left turn signal in the target vehicle is controlled to light up according to the target working mode when the target vehicle overtakes; when the ambient brightness is higher than the preset brightness, the target component is controlled to operate according to the target working mode when the target vehicle overtakes.

[0082] It should be understood that in order to provide nighttime lighting, ensure that pedestrians and target vehicles can pass safely at night, and reduce the incidence of traffic accidents, street lights are installed on both sides of some roads, which makes the ambient brightness of the driving environment of the target vehicle higher. However, in some roads where street lights have been installed, the distance between two street lights is still far, which may cause the ambient brightness of the driving environment to be low when the target vehicle is driving on some roads in the target scene, affecting the driver's driving vision. Therefore, some drivers will use low beam or high beam when the target vehicle is in motion to improve their driving vision.

[0083] It should also be understood that when the target vehicle is currently traveling in an environment with low brightness and the target vehicle is overtaking, the light around the target vehicle is weak. At this time, after the target vehicle controls the left turn signal to light up, the front vehicle can quickly be alerted to the overtaking behavior of the target vehicle, and can remind the front vehicle of the overtaking behavior of the target vehicle. Therefore, the target vehicle does not need to control other target components to work. This method can not only remind the target vehicle of the overtaking behavior, but also can overtake reminders with less energy consumption, which can avoid wasting too much vehicle resources. In addition, when the target vehicle is currently traveling in an environment with high brightness, it indicates that the local economy corresponding to the road is good, and there may be a lot of noise around the road. Therefore, in order to ensure that the front vehicle is alerted to the overtaking behavior of the target vehicle in time, the method controls the target component (at least one vehicle component) to work. This can increase the probability that the front vehicle is alerted to the overtaking behavior of the target vehicle and improve the probability that the target vehicle successfully completes the overtaking process.

[0084] In the above technical solution, no matter whether the headlight currently turned on by the target vehicle is a low beam or a high beam, the method will determine the ambient brightness of the driving environment in which the target vehicle is located. When the ambient brightness is low, it indicates that the light around the target vehicle is weak. After the target vehicle controls the left turn signal to light up, the vehicle in front can quickly be alerted to the overtaking behavior of the target vehicle and can remind the vehicle in front of the overtaking behavior of the target vehicle. In other words, when the target vehicle overtakes, the method can realize the overtaking reminder only through the left turn signal. This can not only play the role of overtaking reminder, but also avoid wasting too much vehicle resources. When the ambient brightness is high, the target vehicle may be in a noisy driving area. Therefore, by controlling the target component to work according to the target working mode, it can ensure that the vehicle in front is alerted to the overtaking behavior of the target vehicle in time, and it can also increase the probability of the vehicle in front being alerted to the overtaking behavior of the target vehicle, thereby improving the probability of successfully completing the overtaking process.

[0085] In some embodiments, the preset brightness is lower than the lowest brightness that the left turn signal can be adjusted to.

[0086] In other embodiments, when the target vehicle's currently turned-on lights are low beam lights, the vehicle controller determines whether there are street lights on both sides of the road the target vehicle is currently traveling on; when there are no street lights on both sides of the road, the vehicle controller controls the left turn signal in the target vehicle to light up according to the target working mode; when there are street lights on both sides of the road, the vehicle controller controls the target component to work according to the target working mode when the target vehicle overtakes.

[0087] In one possible implementation, the vehicle controller controls the target component to operate according to the target operating mode, including at least one of the following: the vehicle controller controls the horn in the target vehicle to honk according to the target operating mode when the target vehicle overtakes; the vehicle controller controls the high beam and the low beam in the target vehicle to light up alternately according to the target operating mode when the target vehicle overtakes.

[0088] It should be understood that the above scheme describes that when the brightness of the environment in which the target vehicle is located is high and the low beam is currently turned on, the vehicle controller controls the horn and / or light combination (high beam and low beam) to work according to the target working mode (wherein the horn is specifically honking, and the high beam and low beam are specifically lit alternately). The first method: when the brightness of the environment is high and the low beam is currently turned on, the current driver's driving field of vision is wide, and the horn honking according to the target working mode can be used to indicate that the target vehicle is overtaking. The first method can timely remind the target vehicle to overtake without affecting the driver's driving field of vision and the street lights are very bright. The second method: when the brightness of the environment is high and the low beam is currently turned on, the current driver's driving field of vision is wide, and the high beam and low beam are lit alternately according to the target working mode to indicate that the target vehicle is overtaking. The second method can better attract the attention of surrounding vehicles and more timely remind the target vehicle to overtake without affecting the driver's driving field of vision and the street lights are very bright. The third type: When the ambient brightness is high and the low beam is currently on, honking the horn according to the target working mode and alternating lighting of the high beam and low beam according to the target working mode can be used to indicate that the target vehicle is overtaking.

[0089] In the above technical solution, when the brightness of the environment where the target vehicle is located is high and the current low beam is turned on, the current driver's driving field of vision is wide, and the vehicle controller controls the horn and / or light combination (high beam and low beam) to work according to the target working mode (wherein the horn is specifically honking, and the high beam and low beam are specifically lit alternately). This can timely remind the target vehicle that it is overtaking without affecting the driver's driving field of vision and the noise in the driving area is large. And it can timely remind the target vehicle that it is overtaking without affecting the driver's driving field of vision and the street lights are very bright. Furthermore, without affecting the driver's driving field of vision and the street lights are very bright, it can attract the attention of surrounding vehicles and remind the target vehicle that it is overtaking in a more timely manner.

[0090] In one possible implementation, the target operating mode corresponds to the current emotional state of the user in the target vehicle, and the target operating mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration during each control process. The vehicle controller in step 202 controls the target component in the target vehicle to work according to the target operating mode when the target vehicle overtakes, including: the vehicle controller divides the current emotional state of the user into different levels to obtain the urgency of the emergency; the vehicle controller determines the overtaking distance corresponding to the target overtaking area on the overtaking lane, and the target overtaking area is related to the acceleration performance of the target vehicle; the vehicle controller determines the first number, the second number, the first duration and the second duration based on the urgency and the overtaking distance; the vehicle controller controls the target component to work the first number of times according to the first duration and the second number of times according to the second duration when the target vehicle overtakes.

[0091] It should be understood that the "target working mode" in the above scheme is used to indicate the working mode of the target component in each controlled process, and its working mode includes the target component working a first number of times according to a first duration and working a second number of times according to a second duration. Specifically, the target component first works a first number of times according to the first duration, and then works a second number of times according to the second duration.

[0092] It should also be understood that the "urgency level" in the above solution is used to quantify the intensity, tension and persistence of the user's anxious state, which is a specific division of the degree of the anxious state and quantifies the urgency of the emergency. Generally, the urgency level includes mild urgency, moderate urgency and severe urgency.

[0093] It should also be understood that the "acceleration performance of the target vehicle" in the above scheme refers to the ability of the target vehicle to quickly accelerate from the current speed to a higher speed. The acceleration performance is affected by many factors, including the power and torque output of the engine, the efficiency of the transmission system, the weight distribution of the target vehicle, the current remaining fuel (or the current remaining power), aerodynamic characteristics, and the grip of the tires, etc. Of course, the current acceleration performance of the target vehicle is determined.

[0094] In the above technical solution, when the target working mode is used to indicate that the target component works for the first number of times according to the first duration and the second number of times according to the second duration during each controlled process, the vehicle controller divides the user's emotional state to obtain the urgency of the emergency, and determines the corresponding overtaking distance of the target overtaking area on the overtaking lane. Further, the vehicle controller can adaptively determine the first number, the second number, the first duration and the second duration in the target working mode based on the urgency and the overtaking distance. That is to say, for different urgency and different overtaking distances, the vehicle controller can control the target component to work through the corresponding target working mode to remind the target vehicle to overtake, that is, control the overtaking reminder signal. For example, an anxious driver can complete the overtaking faster and return to the normal lane under appropriate circumstances, and a driver who is not in a hurry will not overtake frequently due to excessive reminders, which can make the entire traffic flow smoother and reduce the possibility of traffic congestion.

[0095] In some embodiments, the emotional state is an anxious state, and the vehicle controller divides the current emotional state of the user into different levels to obtain the urgency of the urgent matter, including at least one of the following: when the anxious state indicates that the user's eyebrows are in a first locked state and / or the number of vertical wrinkles between the two eyebrows is in a first number range, the vehicle controller determines that the urgency is a mild urgency; when the anxious state indicates that the user's speech tone is in a first frequency range and / or the speech voice is in a first trembling state, the vehicle controller determines that the urgency is a mild urgency; when the anxious state indicates that the user's eyebrows are in a second locked state and / or the number of vertical wrinkles between the two eyebrows is in a second number range, the vehicle controller determines that the urgency is a moderate urgency; when the anxious state indicates that the user's speech tone is in a second frequency range and / or the speech voice is in a second trembling state In the case of the second trembling state, the vehicle controller determines that the urgency is moderate; in the case that the anxious state indicates that the muscles of the user's forehead are in the first contracted state and / or the distance between the two eyebrows after being brought together is in the first distance range, the vehicle controller determines that the urgency is moderate; in the case that the anxious state indicates that the muscles of the user's forehead are in the second contracted state and / or the distance between the two eyebrows after being brought together is in the second distance range, the vehicle controller determines that the urgency is severe; in the case that the anxious state indicates that the user's eyebrows are in the third locked state and / or the number of vertical wrinkles between the two eyebrows is in the third number range, the vehicle controller determines that the urgency is severe; in the case that the anxious state indicates that the user's speaking tone is in the third frequency range and / or the speaking voice is in the third trembling state, the vehicle controller determines that the urgency is severe.

[0096] It should be understood that in the above scheme, the eyebrows of the user in the third locked state are more locked than those in the second locked state, and the eyebrows of the user in the second locked state are more locked than those in the first locked state; any quantity value in the first quantity range is smaller than any quantity value in the second quantity range, and any quantity value in the second quantity range is smaller than any quantity value in the third quantity range; any frequency value in the first frequency range is smaller than any frequency value in the second frequency range, and any frequency value in the second frequency range is smaller than any frequency value in the third frequency range; the speaking voice of the user in the third trembling state is more trembling than that of the user in the second trembling state, and the speaking voice of the user in the second trembling state is more trembling than that of the user in the first trembling state; the muscles on the forehead of the user in the second contraction state are more contracted than those in the first contraction state; any distance value in the first distance range is greater than any distance value in the second distance range.

[0097] In some embodiments, the vehicle controller determines the overtaking distance corresponding to the target overtaking area in the overtaking lane, including: the vehicle controller determines a first distance traveled by the target vehicle from the current driving lane to the overtaking lane based on the average driving speed of the preceding vehicle before the target vehicle overtakes, the acceleration time and the average acceleration of the target vehicle from the current driving lane to the overtaking lane; the vehicle controller determines a second distance traveled by the target vehicle in the overtaking lane based on the starting driving speed and driving time of the target vehicle in the overtaking lane, or the vehicle controller determines a second distance traveled by the target vehicle in the overtaking lane based on the starting driving speed and driving time of the target vehicle in the overtaking lane. The second distance traveled by the target vehicle in the overtaking lane is determined by the starting speed and driving time of the lane and the average acceleration of the target vehicle in the overtaking lane; the vehicle controller determines the safe distance between the target vehicle and the leading vehicle when the target vehicle completes overtaking and returns to the current driving lane from the overtaking lane; the vehicle controller determines the third distance traveled by the leading vehicle during the overtaking process of the target vehicle based on the driving time, the acceleration time and the average driving speed of the leading vehicle; the vehicle controller determines the sum of the first distance, the second distance, the safe distance and the third distance as the overtaking distance.

[0098] It should be understood that the "acceleration time" and "driving time" in the above scheme are estimated based on the acceleration performance of the target vehicle and the average driving speed of the preceding vehicle. The "safety distance" in the above scheme is usually 15-60m.

[0099] It should also be understood that in the above scheme, when the target vehicle is in the overtaking lane, the target vehicle may travel at a constant speed at a larger speed, or may start to accelerate at the starting speed. Therefore, the above scheme determines the second distance in two ways. Among them, the first one: the vehicle controller determines the second distance traveled by the target vehicle in the overtaking lane based on the starting speed and driving time of the target vehicle in the overtaking lane, corresponding to the case of uniform speed driving; the vehicle controller determines the second distance traveled by the target vehicle in the overtaking lane based on the starting speed and driving time of the target vehicle in the overtaking lane, and the average acceleration of the target vehicle in the overtaking lane, corresponding to the case of accelerated driving.

[0100] It should also be understood that the "overtaking distance" in the above scheme can be regarded as the full overtaking sight distance, which refers to the shortest distance required for the target vehicle to overtake the front vehicle, from the beginning of leaving the original lane (the current driving lane), to seeing (catching up with) the front vehicle and safely returning to the original lane after overtaking.

[0101] Figure 3 It is a schematic diagram of determining an overtaking distance and a target overtaking area provided in an embodiment of the present application.

[0102] For example, Figure 3 As shown in (a) of FIG. 1 , the process of determining the overtaking distance and the target overtaking area is described by taking vehicle O as the target vehicle. Specifically, when vehicle O is traveling in the current driving lane, if vehicle O needs to overtake, the vehicle controller determines the average speed of the vehicle in front of vehicle O before overtaking. v 1. The acceleration time of vehicle O from the current driving lane to the overtaking lane t 1 and the average acceleration, determine the first distance that the vehicle O travels from the current driving lane to the overtaking lane S 1. The vehicle controller determines the starting speed of vehicle O in the overtaking lane based on the vehicle O's starting speed. v 0 and driving time t 2. Determine the second distance traveled by the vehicle O in the overtaking lane S 2. The vehicle controller determines the safe distance between the vehicle O and the vehicle ahead when the vehicle O has completed overtaking and returns to the current driving lane from the overtaking lane. S a The vehicle controller is based on the driving time. t 2. Acceleration time t 1 and the average speed of the preceding vehicle, determine the third distance traveled by the preceding vehicle during the overtaking process of the vehicle O S 3. The vehicle controller sets the first distance S 1. The second distance S 2. The safe distance S a and the third distanceS 3, the overtaking distance is determined S .

[0103] For example, Figure 3 As shown in (b) in the figure, the vehicle controller determines the area on the overtaking lane corresponding to the overtaking distance as the target overtaking area. R , specifically Figure 3 The shaded area in (b).

[0104] It should be understood that, Figure 3 In (a), after vehicle O has traveled the second distance / 3, vehicle O has just caught up with the vehicle in front. After vehicle O has traveled 2*second distance / 3, the driving process of vehicle O in the overtaking lane has ended, and vehicle O is about to return to the current driving lane.

[0105] It should also be understood that Figure 3 (a) shows the safety distance for example only. S a and the third distance S 3.

[0106] In a possible implementation, the vehicle controller determines the first number, the second number, the first duration and the second duration based on the urgency and the overtaking distance, including: the vehicle controller determines the overtaking duration of the target vehicle during the overtaking process based on the overtaking distance; the vehicle controller determines the ratio between the overtaking duration and the preset working number of the target component as the reference duration, and the preset working number is used to indicate the number of times the target component executes the control process corresponding to the preset working mode within the overtaking duration; the vehicle controller determines the first number and the second number based on the urgency; the vehicle controller allocates the target duration based on the proportion of the first number and the second number in the total number, and obtains the second duration and the first duration, the target duration is less than the reference duration, and the total number is the sum of the first number and the second number.

[0107] It should be understood that the "preset number of working times of the target component" in the above scheme is related to the acceleration performance of the target vehicle and the driving skills of the driver (which may be the user), and is weakly related to the overtaking time. In some embodiments, the acceleration performance of the target vehicle is poor, the driving skills of the driver are poor, and the preset number of working times is large during the entire overtaking time.

[0108] It should also be understood that in the above scheme, the product of the first duration and the first number is the first product, the product of the second duration and the second number is the second product, and the sum of the first product and the second product is the target duration.

[0109] In the above technical solution, the ratio between the overtaking time of the target vehicle and the preset working times of the target component is determined as the reference time, and based on the urgency, the first number and the second number are determined, which fully considers the urgency of the emergency, makes the control process of the target component more personalized, and can improve the overall riding experience of the user. Further, based on the proportion of the first number and the second number in the total number, the target time is allocated to obtain the second time and the first time. Among them, the target time is less than the reference time, the total number is the sum of the first number and the second number, and the sum of the first product and the second product is the target time. This can avoid the working time of the target component being greater than the overtaking time, and the target component continues to be controlled to work after the target vehicle has completed overtaking, resulting in unnecessary energy consumption of the target vehicle.

[0110] In some embodiments, the vehicle controller determines the overtaking time of the target vehicle during the overtaking process based on the overtaking distance, including: the vehicle controller determines the ratio between the safety distance in the overtaking distance and the average driving speed of the target vehicle when traveling the safe distance as the safe driving time; the vehicle controller determines the ratio between the third distance in the overtaking distance and the average driving speed of the front vehicle as the overtaken driving time of the front vehicle; the vehicle controller determines the sum of the driving time, the acceleration time, the safe driving time and the overtaken driving time as the overtaking time.

[0111] In some embodiments, the vehicle controller allocates the target duration based on the proportion of the first number and the second number in the total number of times to obtain the second duration and the first duration, including: the vehicle controller determines the second duration and the first duration based on the following formula (1) and formula (2);

[0112] (1)

[0113] (2)

[0114] in, For the first duration, For the first number, For the second number, For the target duration, For the second duration, is the total number of times.

[0115] In one possible implementation, the vehicle controller determines the first number and the second number based on the degree of urgency, including: when the degree of urgency is greater than a preset degree, the vehicle controller determines the first preset number as the first number, and determines the second preset number as the second number, and the first preset number is less than the second preset number; when the degree of urgency is less than or equal to the preset degree, the vehicle controller determines the third preset number as the first number, and determines the fourth preset number as the second number, and the third preset number is greater than or equal to the fourth preset number.

[0116] It should be understood that the "preset level" in the above scheme is usually moderate urgency.

[0117] In some embodiments, the first preset number is equal to the third preset number, and the second preset number is equal to the fourth preset number. Exemplarily, the first preset number is 1, and the second preset number is 2.

[0118] In the above technical solution, when the urgency is greater than the preset degree, that is, when the user is in a hurry, the vehicle components are first controlled to work with a small number of times, so that the length of time that the vehicle components do not work between the switching of the number of times is reduced, and it is relatively easy to make the front vehicle and even the rear vehicle detect the overtaking behavior of the target vehicle in time. Then, the vehicle components are controlled to work with a large number of times, so that the front vehicle and even the rear vehicle can detect the acceleration performance of the target vehicle in the overtaking process. In this way, when the user is in a hurry, the vehicle controller can maximize the use of the target components to more easily attract the attention of surrounding vehicles. When the urgency is less than or equal to the preset degree, that is, when the user is not in a hurry, the vehicle components are first controlled to work with a large number of times, so that the length of time that the vehicle components do not work between the switching of the number of times is reduced. Then, the vehicle components are controlled to work with a small number of times. This can make the surrounding vehicles detect the overtaking behavior of the target vehicle when the user is not in a hurry, and will not consume more energy of the target vehicle.

[0119] Figure 4 This is a schematic diagram for determining a first number, a second number, a first duration, and a second duration provided in an embodiment of the present application.

[0120] For example, the overtaking distance is 200m, the overtaking time is 10s, the target component is a horn, the preset working times of the horn is 2 times (including the first preset working times and the second preset working times), and the urgency of the emergency is greater than the medium urgency, and the determination process of the first number, the second number, the first duration and the second duration is described. Specifically, Figure 4As shown, the vehicle controller determines the ratio between the overtaking time and the preset working times as the reference time of 5s. Based on the urgency, the vehicle controller determines the first number to be 1 and the second number to be 2. The vehicle controller uses formula (1) and formula (2) to calculate the target time ( The first duration is 3s) to obtain the first duration 2s and the second duration 1s.

[0121] In some embodiments, the vehicle controller determines the first number and the second number based on the urgency, including: the vehicle controller determines the amplitude deviation of the actual driving experience of the driver of the target vehicle relative to the target actual driving experience of multiple drivers; the vehicle controller determines the fifth preset number and the sixth preset number based on the amplitude deviation; when the urgency is greater than the preset level and / or the amplitude deviation is a positive value, the vehicle controller determines the smaller of the fifth preset number and the sixth preset number as the first number, and determines the larger of the fifth preset number and the sixth preset number as the second number; when the urgency is less than or equal to the preset level and / or the amplitude deviation is a negative value, the vehicle controller determines the larger of the fifth preset number and the sixth preset number as the first number, and determines the smaller of the fifth preset number and the sixth preset number as the second number.

[0122] It should be understood that the "actual driving years" in the above scheme is not the number of years the driver has a driver's license, but the number of years the driver has actually driven. The "target actual driving years of multiple drivers" in the above scheme refers to the average of the actual driving years of all drivers so far.

[0123] It should also be understood that when the amplitude deviation is a positive value, it indicates that the driver has a high driving experience. Therefore, a smaller first number and a larger second number can be determined. When the amplitude deviation is a negative value, it indicates that the driver has a low driving experience.

[0124] In some embodiments, the vehicle controller determines the magnitude deviation of the actual driving years of the driver of the target vehicle relative to the target actual driving years of multiple drivers, including: the vehicle controller determines the magnitude deviation based on the following formula (3);

[0125] (3)

[0126] in, is the amplitude deviation, is the driver’s actual driving experience, Actual driving years for this goal.

[0127] In some embodiments, the vehicle controller determines the fifth preset number and the sixth preset number based on the amplitude deviation, including: the vehicle controller determines a first difference between the preset value and the absolute value of the amplitude deviation, and denormalizes the first difference to obtain the fifth preset number; the vehicle controller denormalizes the absolute value of the amplitude deviation to obtain the sixth preset number.

[0128] It should be understood that the preset value is 0.5.

[0129] Exemplarily, the actual driving experience of the driver is 2 years, and the target actual driving experience of the multiple drivers is 3 years. Based on the actual driving experience and the target actual driving experience, the vehicle controller determines the amplitude deviation to be -0.3 by formula (3). The vehicle controller determines the first difference to be 0.2. After the vehicle controller performs a denormalization process on the first difference, the fifth preset number may be 2. After the vehicle controller performs a denormalization process on the absolute value of the amplitude deviation, the sixth preset number may be 3.

[0130] Figure 5 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0131] For example, Figure 5 As shown, the device 500 includes:

[0132] A determination module 501 is used to determine whether the target vehicle has an overtaking condition when the target vehicle is traveling in a target scene, and the visibility of the target scene is lower than a preset visibility;

[0133] The control module 502 is used to control the target components in the target vehicle to operate according to the target working mode when the target vehicle overtakes, when the target vehicle meets the overtaking condition. The target working mode is used to remind the target vehicle that it is overtaking.

[0134] Optionally, the determination module 501 is specifically used to: when the target vehicle is traveling in the target scene, determine whether the emotional state of the user in the target vehicle is a preset state, and the preset state is used to indicate that the user is encountering an emergency; when the emotional state is the preset state, determine whether the target vehicle has the overtaking conditions.

[0135] Optionally, the determination module 501 is further specifically used to: perform feature extraction on the user's facial image to obtain facial features, wherein the facial features include at least one of eye features, eyebrow features, mouth features, and facial muscle features on the user's face; when the eye features indicate that the user's pupils are dilated and / or the eyebrow features indicate that the user's eyebrows are in a locked state and / or the mouth features indicate that the user's mouth is in a closed state and / or the facial muscle features indicate that the user's facial muscles are in a contracted state, determine that the emotional state is the preset state; or, when a voice signal of the user is detected, perform feature extraction on the voice signal to obtain an acoustic feature of the voice signal, wherein the acoustic feature includes at least one of a tone feature, a speech rate feature, a volume feature, a voiceprint feature, and a semantic feature; when the tone feature indicates that the user's tone is rising and / or the speech rate feature indicates that the user's speech rate is accelerating and / or the volume feature indicates that the user's volume is increasing and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, determine that the emotional state is the preset state.

[0136] Optionally, the device 500 also includes: an acquisition module, used to acquire the upper body image of the user through a vehicle-mounted camera; the determination module 501 is specifically used to: mark multiple facial key points in the upper body image; determine the facial boundary of the user based on the multiple facial key points; crop out the image area surrounded by the facial boundary in the upper body image, and determine the image area as the facial image.

[0137] Optionally, the determination module 501 is further specifically used to: determine whether the acceleration of the preceding vehicle is less than a preset acceleration when the first driving speed of the target vehicle is greater than the second driving speed of the preceding vehicle of the target vehicle; determine whether there is an obstacle in a target overtaking area on the overtaking lane where the target vehicle is to travel when the acceleration is less than the preset acceleration; determine whether the distance between the target vehicle and the preceding vehicle is greater than a preset distance when there is no obstacle in the target overtaking area; determine that the target vehicle has overtaking conditions when the distance is greater than the preset distance; and determine that the target vehicle does not have overtaking conditions when the distance is less than or equal to the preset distance.

[0138] Optionally, the determination module 501 is further specifically used to determine the ambient brightness of the driving environment of the target vehicle when the target vehicle's currently turned-on headlights are low beams; the control module 502 is specifically used to: when the ambient brightness is lower than a preset brightness, control the left turn signal in the target vehicle to light up according to the target working mode; when the ambient brightness is higher than the preset brightness, control the target component to work according to the target working mode when the target vehicle overtakes.

[0139] Optionally, the control module 502 is also specifically used for at least one of the following: controlling the horn in the target vehicle to honk according to the target working mode when the target vehicle overtakes; controlling the high beam and the low beam in the target vehicle to light up alternately according to the target working mode when the target vehicle overtakes.

[0140] Optionally, the target operating mode corresponds to the current emotional state of the user in the target vehicle, and the target operating mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration during each control process. The determination module 501 is further specifically used to: divide the emotional state of the user into degrees to obtain the urgency of the emergency matter; determine the overtaking distance corresponding to the target overtaking area on the overtaking lane, and the target overtaking area is related to the acceleration performance of the target vehicle; determine the first number, the second number, the first duration and the second duration based on the urgency and the overtaking distance; the control module 502 is further specifically used to control the target component to work the first number of times according to the first duration and the second number of times according to the second duration when the target vehicle overtakes.

[0141] Optionally, the determination module 501 is further specifically used to: determine the overtaking time of the target vehicle during the overtaking process based on the overtaking distance; determine the ratio between the overtaking time and the preset working number of the target component as a reference time, and the preset working number is used to indicate the number of times the target component executes the control process corresponding to the preset working mode within the overtaking time; determine the first number and the second number based on the urgency; allocate the target time based on the proportion of the first number and the second number in the total number, and obtain the second time and the first time, the target time is less than the reference time, and the total number is the sum of the first number and the second number.

[0142] Optionally, the determination module 501 is further specifically used to: when the urgency level is greater than a preset level, determine the first preset number as the first number, and determine the second preset number as the second number, and the first preset number is less than the second preset number; when the urgency level is less than or equal to the preset level, determine the third preset number as the first number, and determine the fourth preset number as the second number, and the third preset number is greater than or equal to the fourth preset number.

[0143] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0144] For example, Figure 6As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 603, and the processor 602 is used to call and execute the executable program code 603 to perform a vehicle control method.

[0145] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0146] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0147] In the case of dividing each functional module according to each function, the device may further include a determination module, a control module, an acquisition module, etc. It should be noted that all relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0148] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0149] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related executable program codes, etc.

[0150] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0151] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0152] This embodiment also provides a computer-readable storage medium, in which executable program code is stored. When the executable program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above embodiment.

[0153] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0154] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0155] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0156] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determining whether the target vehicle has an overtaking condition when the target vehicle is traveling in a target scene, wherein the visibility of the target scene is lower than a preset visibility; When the target vehicle meets the overtaking condition, controlling the target component in the target vehicle to operate according to the target working mode when the target vehicle overtakes, the target working mode is used to remind the target vehicle to overtake; Wherein, when the target vehicle is traveling in the target scene, determining whether the target vehicle has the overtaking condition includes: When the target vehicle is traveling in the target scene, determining whether the emotional state of a user in the target vehicle is a preset state, the preset state being used to indicate that the user is encountering an emergency; When the emotional state is a preset state, determining whether the target vehicle has an overtaking condition; The working mode of the target component corresponding to the target working mode corresponds to the current emotional state of the user, the target working mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration in each controlled process, and when the target vehicle has the overtaking condition, controlling the target component in the target vehicle to work according to the target working mode when the target vehicle overtakes, includes: When the target vehicle meets the overtaking conditions and the emotional state is in a preset state, the current emotional state of the user is classified into different levels to obtain the urgency of the emergency matter; Determine a target overtaking area on the overtaking lane where the target vehicle is to travel and a corresponding overtaking distance on the overtaking lane, wherein the target overtaking area is related to the acceleration performance of the target vehicle; Determining the first number, the second number, the first duration, and the second duration based on the urgency and the overtaking distance; The target component is controlled to operate the first number of times according to the first duration when the target vehicle overtakes, and to operate the second number of times according to the second duration.

2. The method according to claim 1, characterized in that The method for determining that the emotional state is a preset state includes: Extracting features from the user's facial image to obtain facial features, wherein the facial features include at least one of eye features, eyebrow features, mouth features, and facial muscle features on the user's face; In the case where the eye feature indicates that the user's pupil is dilated and / or the eyebrow feature indicates that the user's eyebrows are in a locked state and / or the mouth feature indicates that the user's mouth is in a closed state and / or the facial muscle feature indicates that the user's facial muscles are in a contracted state, determining that the emotional state is the preset state; or, When a voice signal of the user is detected, feature extraction is performed on the voice signal to obtain an acoustic feature of the voice signal, where the acoustic feature includes at least one of a tone feature, a speech rate feature, a volume feature, a voiceprint feature, and a semantic feature; When the tone feature indicates that the user's tone is rising and / or the speaking rate feature indicates that the user's speaking rate is accelerating and / or the volume feature indicates that the user's volume is increasing and / or the voiceprint feature indicates that the user's voice is trembling and / or the semantic feature indicates that the user is repeating the same sentence, the emotional state is determined to be the preset state.

3. The method according to claim 2, characterized in that The method for determining the user's facial image includes: Acquire an upper body image of the user through a vehicle-mounted camera; Marking a plurality of facial key points in the upper body image; Determining a facial boundary of the user based on the multiple facial key points; An image region surrounded by the facial boundary is cropped out from the upper body image, and the image region is determined as the facial image.

4. The method according to claim 1, characterized in that: The determining whether the target vehicle meets the overtaking condition comprises: In a case where the first driving speed of the target vehicle is greater than the second driving speed of the preceding vehicle of the target vehicle, determining whether the acceleration of the preceding vehicle is less than a preset acceleration; In a case where the acceleration is less than the preset acceleration, determining whether there is an obstacle in a target overtaking area on the overtaking lane where the target vehicle is to travel; In the case where there is no obstacle in the target overtaking area, determining whether the distance between the target vehicle and the preceding vehicle is greater than a preset distance; When the distance is greater than the preset distance, determining that the target vehicle meets the overtaking condition; When the distance is less than or equal to the preset distance, it is determined that the target vehicle does not meet the overtaking condition.

5. The method according to any one of claims 1 to 4, characterized in that The controlling the target component in the target vehicle to operate according to the target operating mode when the target vehicle overtakes includes: When the headlight currently turned on by the target vehicle is a low beam headlight, determining the ambient brightness of the driving environment of the target vehicle; When the ambient brightness is lower than a preset brightness, controlling the left turn signal lamp in the target vehicle to light up according to the target working mode when the target vehicle overtakes; In a case where the ambient brightness is higher than the preset brightness, the target component is controlled to operate according to the target operating mode when the target vehicle overtakes.

6. The method according to claim 5, characterized in that The controlling the target component to operate according to the target operating mode when the target vehicle overtakes includes at least one of the following: Controlling the horn in the target vehicle to honk according to the target working mode when the target vehicle overtakes; The high beam and the low beam in the target vehicle are controlled to light up alternately according to the target working mode when the target vehicle overtakes.

7. The method according to claim 1, characterized in that The determining the first number, the second number, the first duration, and the second duration based on the urgency and the overtaking distance includes: Determining the overtaking time of the target vehicle during the overtaking process based on the overtaking distance; Determine the ratio between the overtaking time and the preset working times of the target component as the reference time, wherein the preset working times are used to indicate the number of times the target component executes the control process corresponding to the preset working mode within the overtaking time; Based on the urgency level, determining the first number and the second number; Based on the proportion of the first number of times and the second number of times in the total number of times, the target duration is allocated to obtain the second duration and the first duration, the target duration is less than the reference duration, and the total number of times is the sum of the first number of times and the second number of times.

8. The method according to claim 7, characterized in that The determining the first number and the second number based on the urgency level includes: In the case where the urgency level is greater than a preset level, a first preset number of times is determined as the first number of times, and a second preset number of times is determined as the second number of times, and the first preset number of times is less than the second preset number of times; When the urgency level is less than or equal to the preset level, the third preset number is determined as the first number, and the fourth preset number is determined as the second number, and the third preset number is greater than or equal to the fourth preset number.

9. A vehicle control device, characterized in that: The device comprises: a determination module, for determining whether the target vehicle has an overtaking condition when the target vehicle is traveling in a target scene, and the visibility of the target scene is lower than a preset visibility; A control module, for controlling a target component in the target vehicle to operate according to a target working mode when the target vehicle is overtaking, the target working mode being used to remind the target vehicle to overtake; The determination module is specifically used for: When the target vehicle is traveling in the target scene, determining whether the emotional state of a user in the target vehicle is a preset state, the preset state being used to indicate that the user is encountering an emergency; When the emotional state is a preset state, determining whether the target vehicle has an overtaking condition; The working mode of the target component corresponding to the target working mode corresponds to the current emotional state of the user, and the target working mode is used to indicate that the target component works a first number of times according to the first duration and a second number of times according to the second duration in each controlled process. The control module is specifically used to: When the target vehicle meets the overtaking conditions and the emotional state is in a preset state, the current emotional state of the user is classified into different levels to obtain the urgency of the emergency matter; Determine a target overtaking area on the overtaking lane where the target vehicle is to travel and a corresponding overtaking distance on the overtaking lane, wherein the target overtaking area is related to the acceleration performance of the target vehicle; Determining the first number, the second number, the first duration, and the second duration based on the urgency and the overtaking distance; The target component is controlled to operate the first number of times according to the first duration when the target vehicle overtakes, and to operate the second number of times according to the second duration.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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