Method and system for safe parking of driver without driving ability

Abstract

The invention belongs to the field of intelligent driving, and provides a safe parking method and system for a driver without driving ability, and the method comprises the steps: collecting the behavior data of the driver in an intelligent driving state; when the behavior data of the driver is abnormal and is not recovered to normal after being continuously monitored for a preset time length, judging that the driver is incapable of mastering the vehicle behavior; and under the behavior that the driver is incapable of mastering the vehicle, perceptual fusion is performed on vehicle external perceptual data, and safe parking is completed based on perceptual fusion. According to the technical scheme, through multiple means of multi-sensor fusion, fine anomaly detection, timely safety intervention, an intelligent decision-making mechanism, remote monitoring and emergency response and the like, the driving safety of a driver without driving ability is effectively improved. And meanwhile, the applicability and the expansibility are relatively high, and various complex driving scenes can be dealt with. By applying the technical scheme, traffic accidents caused by fatigue, distraction and the like of the driver are expected to be obviously reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving, and in particular to a method and system for safe parking after a driver loses driving ability. Background Art

[0002] Intelligent driving systems have become the core content of research and development in the automotive industry. This system not only represents the cutting-edge development of automotive technology, but also attracts much attention due to its multiple advantages. Among them, safety, convenience and the ability to significantly reduce the driver's energy loss during long-distance driving are the most prominent features of intelligent driving systems. These features enable drivers to receive effective assistance in some special scenarios, such as highway driving, urban congested roads and parking, thereby greatly alleviating the pressure during driving.

[0003] In the operation of the intelligent driving system, driver monitoring is a crucial part. The system detects the driver's driving behavior in real time through multiple devices such as steering wheel sensors, DMS cameras (driver monitoring system cameras) and front-view cameras. These devices together form a comprehensive monitoring network that can ensure that the driver always maintains a high degree of concentration and correct driving posture during driving.

[0004] Specifically, if the system detects unsafe behaviors such as the driver's eyes not focusing on the road for a long time, hands off the steering wheel for a long time, or the vehicle deviating from or running over the lane line during driving, the system will immediately issue an alarm and even take corresponding corrective measures in some cases. Timely detection and intervention of these unsafe marginal behaviors are important means for intelligent driving systems to ensure driving safety.

[0005] However, the current technical solutions on the market still have certain limitations. For example, when the driver turns on the intelligent driving function, if the system detects behaviors such as hands-off or inability to effectively supervise the vehicle, the safe parking function will intervene and perform safe parking operations. However, in the context of the driver not turning on the intelligent driving function, even if similar unsafe behaviors occur, the safe parking function will not intervene. This situation may lead to greater safety hazards, because the driver may cause traffic accidents due to fatigue, distraction, etc. without the assistance of the system. Summary of the invention

[0006] The object of the present invention is to provide a method and system for safely parking a vehicle after a driver loses driving ability, so as to solve the above-mentioned problem.

[0007] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a method for safely parking a vehicle after a driver becomes incapable of driving, comprising: Collect driver behavior data in intelligent driving state; When the driver's behavior data is abnormal and does not return to normal after a preset period of continuous monitoring, it is determined that the driver is unable to control the vehicle's behavior; When the driver is unable to control the vehicle's behavior, the vehicle's external perception data is fused and safe parking is completed based on perception fusion.

[0008] Optionally, driver behavior data in the intelligent driving state is collected, including: The driver's behavior is detected through the front-view camera, DMS camera, and steering wheel hands-off sensor; the front-view camera monitors the vehicle's deviation, lane crossing, and deviation from the lane line in the absence of clear turn signal signals; the DMS camera monitors the driver's eye movements; and the steering wheel hands-off sensor monitors the driver's grip status.

[0009] Optionally, when the driver behavior data is abnormal, specifically: The trajectory of the current lane deviates and the vehicle is judged to be at risk of losing control. The DMS camera is activated. When the DMS camera or the hands-on steering sensor detects that the driver is not paying attention to the intelligent driving behavior, it is judged that the driver's behavior data is abnormal.

[0010] Optionally, if the vehicle fails to return to normal after continuous monitoring for a preset period of time, it is determined that the driver is unable to control the vehicle behavior, including: The sound, light, and vibration modules strongly remind the driver to resume holding the steering wheel. After the set time, the hands-free state machine is released to the TBOX integrated gateway, and the cockpit continues to judge: During the prompt period, the driver continues not to hold the steering wheel; After the set time is prompted, the steering wheel detection module continues to detect the status; The driver still did not hold the steering wheel; Determine that the driver is currently incapable of maintaining a safe driving state.

[0011] Optionally, when the driver is unable to control the vehicle's behavior, the vehicle's external perception data is fused and safe parking is completed based on the perception fusion, including: The external camera data stream and millimeter-wave radar detection results are perceived and fused on the AI ​​chip SOC side inside the intelligent driving controller, and the perception results are input to the microcontroller unit MCU side inside the intelligent driving controller for strategy judgment: The perception fusion end collects the corresponding target distances in front, behind, left and right of the vehicle; Perception fusion inputs environmental results to the MCU for strategic judgment; The MCU determines whether the distance to the surrounding vehicles meets the safety conditions for automatic lane change; After receiving the driver's FAIL state machine transparent transmission, the MCU outputs a deceleration command to the vehicle control unit VCU / body stability system ESP VCU / ESP maintains slow deceleration, and the control algorithm strategy determines whether the surrounding environment meets the conditions for safe lane change; To meet the safety lane change environment, the MCU outputs the lateral control angle to the EPS, and the EPS performs lateral swing. After the lane change is successfully executed, it changes lanes to the rightmost roadside for parking.

[0012] Optionally, if the lane change exceeds the set time and the safety lane change is not met, the function is downgraded, the lane change action is suppressed, the vehicle is decelerated to a stop in the current lane, and the hazard warning lights are kept on; after the vehicle stops, the intelligent driving controller feeds back the corresponding state machine to the remote monitoring integrated gateway TBOX, and after the remote monitoring integrated gateway TBOX receives the state machine for the completion of the safe pulling over function, it makes an SOS call.

[0013] Optionally, after a single lane change is completed, the front-view camera continues to determine whether it is the rightmost lane. If not, repeat the above actions to continue changing lanes. If it is the rightmost lane, the vehicle resumes double flashing and performs speed reduction. After the vehicle stops steadily, the remote monitoring integrated gateway TBOX receives the state machine of the safe side-pull function completion and executes the SOS call.

[0014] In a second aspect, the present invention provides a system for safely parking a vehicle after a driver loses driving ability in an intelligent driving state, comprising: A data collection module, used to collect driver behavior data in the intelligent driving state; The behavior judgment module is used to judge that the driver is unable to control the vehicle behavior when the driver's behavior data is abnormal and does not return to normal after continuous monitoring for a preset period of time; The safe parking module is used to perform perception fusion of the vehicle's external perception data when the driver is unable to control the vehicle's behavior, and complete safe parking based on perception fusion.

[0015] In a third aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for safely parking the vehicle after the driver becomes incapable of driving are implemented.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for safely parking the vehicle after the driver loses the ability to drive.

[0017] Compared with the prior art, the present invention has the following technical effects: The multi-sensor fusion of the present invention: through multiple sensors such as the front-view camera, DMS camera, and steering wheel hands-off sensor, the driver's behavior is monitored in all directions and in multiple dimensions. This multi-sensor fusion method greatly improves the comprehensiveness and accuracy of data collection, and can more accurately judge the driver's driving status. When the driver's behavior data is abnormal, the system can quickly identify it, such as vehicle deviation, driver's lack of attention to driving, etc., providing the possibility of timely intervention measures.

[0018] When the system detects that the driver is unable to control the vehicle, the system will first remind the driver through the sound, light, and vibration modules. If the driver does not respond, the system will further take safe parking measures. This hierarchical warning and intervention mechanism effectively improves driving safety.

[0019] Through the perception fusion of external camera data streams and millimeter-wave radar, as well as the strategy judgment of the AI ​​chip SOC and microcontroller unit MCU inside the intelligent driving controller, the system can intelligently evaluate the surrounding environment and select the safest parking method, such as automatically changing lanes to the rightmost lane and then parking.

[0020] When attempting to change lanes, the system will continuously evaluate the surrounding environment. If the safe lane change conditions are not met, it will downgrade the process, suppress the lane change action, and decelerate to a stop in the lane while keeping the hazard warning lights on. This intelligent decision-making mechanism ensures safety while avoiding unnecessary risks.

[0021] Remote monitoring and emergency response: After the vehicle stops, the intelligent driving controller will feedback the status to the remote monitoring integrated gateway TBOX and automatically make an SOS call. This remote monitoring and emergency response mechanism provides additional safety protection for the driver.

[0022] Even when the intelligent driving function is not activated, the system can continuously monitor the driver's behavior and determine whether the driver has the supervision capability, which greatly expands the scope of application and safety of the system.

[0023] After a single lane change is completed, the front-view camera will continue to determine whether it is the rightmost lane. If not, it will repeat the above actions to continue changing lanes. This logical design ensures that the vehicle can eventually stop safely on the roadside.

[0024] This technical solution effectively improves the driving safety of drivers who are unable to drive through multiple means such as multi-sensor fusion, sophisticated anomaly detection, timely safety intervention, intelligent decision-making mechanism, remote monitoring and emergency response. At the same time, it is also highly applicable and scalable, and can cope with a variety of complex driving scenarios. The application of this technical solution is expected to significantly reduce traffic accidents caused by driver fatigue, distraction and other reasons, and provide strong support for the development of intelligent transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the present invention.

[0026] Figure 2 This is a logic block diagram of the present invention.

[0027] Figure 3 The figure is a flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings: Example 1, please refer to Figure 1 The present invention provides a method for safely parking a vehicle after the driver is unable to drive, comprising: Collect driver behavior data in intelligent driving state; When the driver's behavior data is abnormal and does not return to normal after a preset period of continuous monitoring, it is determined that the driver is unable to control the vehicle's behavior; When the driver is unable to control the vehicle's behavior, the vehicle's external perception data is fused and safe parking is completed based on perception fusion.

[0029] Example 2, please refer to Figure 2 The present invention provides a method for safely parking a vehicle after the driver is unable to drive, which specifically includes: During normal driving, the front-view camera monitors that the vehicle deviates, runs over the lane line, deviates from the lane line, etc. without clear signals such as turn signals. If there is a large deviation from the current lane direction, the vehicle determines that there is a risk of loss of control, and the internal detection signal logic such as the DMS camera is activated.

[0030] When the DMS camera or the hands-off steering wheel sensor detects that the driver is not paying attention to the intelligent driving behavior, the user is prompted to resume vehicle control through sound and light. If the driver continues to fail to resume normal driving, and the driver detection sensor continues to detect that the driver has no awareness or initiative to resume vehicle control, the system determines that it is necessary to actively arouse the ADAS system to drive the vehicle off the current main road and complete the pull-over to wait for the driver or external personnel to intervene. Ensure cycle safety. The execution process involves perception, execution, and vehicle coordination.

[0031] When it is detected that the driver has no interference behavior or ability, the vehicle safety program is activated, the double flash is automatically turned on, and the intelligent driving system function performs a slow deceleration. During the deceleration process, the front view, rear view, side view, and four-corner millimeter wave radars are used to determine whether the surrounding environment meets the lane change conditions. If so, the vehicle double flash automatically switches to the right turn signal, and the vehicle changes lanes to the right. After a single lane change is completed, the front camera continues to determine whether it is the rightmost lane. If not, repeat the above actions to continue changing lanes. If it is the rightmost lane, the vehicle resumes double flash and performs deceleration behavior, and automatically dials the SOS emergency number after the vehicle stops.

[0032] The present invention detects the driver's behavior through the front-view camera, DMS, and steering wheel sensor. If it is detected that the driver is not paying attention to the intelligent driving action, the cockpit, instrument, and HUD prompt the driver to resume attention. If the driver continues to be inattentive (prompted for 10S), and the system continues to detect for more than 30S without recovery, it is determined that the driver is unable to control the vehicle's behavior and starts the safe side-pull procedure (during the process, the driver can use the accelerator or brake and steering wheel intervention to restore vehicle control). After the vehicle starts the program, the vehicle is controlled to slow down and actively complete the continuous right lane change function until it pulls over to the rightmost side through vision and control algorithms. After pulling over, the deceleration action is completed to stop the vehicle, and the SOS phone is dialed.

[0033] Figure 2 RRM: Vehicle Infotainment Head Unit T-BOX: Remote Monitoring Integrated Gateway BCM: Body Domain Controller MCU: Microcontroller unit inside the intelligent driving controller SOC: AI chip inside the intelligent driving controller ESP: Vehicle Stability Program VCU: Vehicle Control Unit Example 3, please refer to Figure 3 In the present invention, when the driver uses intelligent driving and loses the ability to control the vehicle autonomously, the intelligent driving system triggers the safe side-pull function to ensure the driver's driving safety. The specific implementation plan is as follows: (I) During the intelligent driving process, if the driver does not hold the steering wheel as required, the steering wheel hands-off sensor will send the corresponding state machine message to the cockpit host through the CAN channel 1 minute after the driver takes his hands off the steering wheel.

[0034] (II) After the cockpit host receives the hands-free state machine, the sound, light, and vibration modules begin to strongly remind the driver to resume holding the steering wheel. After 10 seconds of the prompt, the hands-free state machine is released to the TBOX integrated gateway, and the cockpit continues to judge: 1. The driver continues to not hold the steering wheel within a 10-second period. 2. After the prompt is given for 10 seconds, the steering wheel detection module continues to detect the status for 15 seconds 3. The driver still does not hold the steering wheel within 15 seconds 4. Determine that the driver is currently unable to maintain a safe driving state 5. RRM releases the corresponding state machine to TBOX (III) After receiving the signal that the driver is unable to maintain a safe driving state, TBOX forwards the corresponding signal to the public CAN line where the intelligent driving domain is located; at the same time, it forwards the state machine to the vehicle body and controller: 1. The intelligent driving controller receives the driver's FAIL state machine and executes the emergency safety parking application algorithm. The driver's manual intervention can interrupt the execution of this function during the process. 2. BCM receives the driver's FAIL status machine and automatically turns on the hazard warning lights (double flash) (IV) Inside the intelligent driving controller, the camera data stream and millimeter-wave radar detection results are sensed and fused at the SOC end, and the perception results are input to the MCU end for strategy judgment, and the intelligent driving function maintains control of the vehicle.

[0035] 1. The perception fusion end collects the corresponding target distances in front, behind, left and right of the vehicle 2. Perception fusion inputs environmental results to the MCU for strategic judgment 3. MCU determines whether the distance to surrounding vehicles meets the safety conditions for automatic lane change 4. After receiving the driver's FAIL state machine transparent transmission, the MCU outputs a deceleration command to the VCU / ESP (V) VCU / ESP maintains slow deceleration, and the control algorithm strategy determines whether the surrounding environment meets the conditions for safe lane change.

[0036] 1. To meet the safety lane change environment, the MCU outputs the lateral control angle to the EPS, and the EPS performs lateral swing 2. Safe lane change is not met continuously, and the function is degraded (VI) After the lane change is successfully executed, the vehicle will change lanes to the rightmost roadside and stop. If the lane change fails to meet the safety requirement within 30 seconds, the function will be downgraded, the lane change action will be suppressed, and the vehicle will slow down to a stop in the lane with the hazard warning lights on. (VII) After the vehicle stops, the intelligent driving controller feeds back the corresponding state machine to TBOX (VIII) After TBOX receives the status machine of the safe pull-over function completion, it makes an SOS call to seek help from the outside world In yet another embodiment of the present invention, a system for safely parking a vehicle after a driver is incapable of driving in an intelligent driving state is provided, which can be used to implement the above-mentioned method for safely parking a vehicle after a driver is incapable of driving. Specifically, the system includes: A data collection module, used to collect driver behavior data in the intelligent driving state; The behavior judgment module is used to judge that the driver is unable to control the vehicle behavior when the driver's behavior data is abnormal and does not return to normal after continuous monitoring for a preset period of time; The safe parking module is used to perform perception fusion of the vehicle's external perception data when the driver is unable to control the vehicle's behavior, and complete safe parking based on perception fusion.

[0037] The division of modules in the embodiments of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention may be integrated into one processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0038] In another embodiment of the present invention, a computer device is provided, the computer device comprising a processor and a memory, the memory being used to store a computer program, the computer program comprising program instructions, and the processor being used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, and are specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of the method of safe parking after the driver loses the ability to drive.

[0039] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the method for safe parking after the driver loses the ability to drive in the above embodiment.

[0040] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0041] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0042] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0043] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for safely parking a vehicle after the driver is incapable of driving, characterized in that: include: Collect driver behavior data while driving; When the driver's behavior data is abnormal and does not return to normal after a preset period of continuous monitoring, it is determined that the driver is unable to control the vehicle's behavior; When the driver is unable to control the vehicle's behavior, the vehicle's external perception data is fused and safe parking is completed based on perception fusion.

2. The method for safe parking after the driver is incapable of driving according to claim 1, characterized in that: Collect driver behavior data while driving, including: The driver's behavior is detected through the front-view camera, DMS camera, and steering wheel hands-off sensor; the front-view camera monitors the vehicle's deviation, lane crossing, and deviation from the lane line in the absence of clear turn signal signals; the DMS camera monitors the driver's eye movements; and the steering wheel hands-off sensor monitors the driver's grip status.

3. The method for safe parking after the driver is incapable of driving according to claim 1, characterized in that: When the driver behavior data is abnormal, specifically: The trajectory of the current lane deviates and the vehicle is judged to be at risk of losing control. The DMS camera is activated. When the DMS camera or the hands-on steering sensor detects that the driver is not paying attention to the intelligent driving behavior, it is judged that the driver's behavior data is abnormal.

4. The method for safe parking after the driver is incapable of driving according to claim 1, characterized in that: If the vehicle fails to return to normal after continuous monitoring for a preset period of time, the driver is deemed to be unable to control the vehicle's behavior, including: The sound, light, and vibration modules strongly remind the driver to resume holding the steering wheel. After the set time, the hands-free state machine is released to the TBOX integrated gateway, and the cockpit continues to judge: During the prompt period, the driver continues not to hold the steering wheel; After the set time is prompted, the steering wheel detection module continues to detect the status; The driver still did not hold the steering wheel; Determine that the driver is currently incapable of maintaining a safe driving state.

5. The method for safe parking after the driver is incapable of driving according to claim 1, characterized in that: When the driver is unable to control the vehicle's behavior, the vehicle's external perception data is fused and safe parking is completed based on perception fusion, including: The external camera data stream and millimeter-wave radar detection results are perceived and fused on the AI ​​chip SOC side inside the intelligent driving controller, and the perception results are input to the microcontroller unit MCU side inside the intelligent driving controller for strategy judgment: The perception fusion end collects the corresponding target distances in front, behind, left and right of the vehicle; Perception fusion inputs environmental results to the MCU for strategic judgment; The MCU determines whether the distance to the surrounding vehicles meets the safety conditions for automatic lane change; After receiving the driver's FAIL state machine transparent transmission, the MCU outputs a deceleration command to the vehicle control unit VCU / body stability system ESP VCU / ESP maintains slow deceleration, and the control algorithm strategy determines whether the surrounding environment meets the conditions for safe lane change; To meet the safety lane change environment, the MCU outputs the lateral control angle to the EPS, and the EPS performs lateral swing. After the lane change is successfully executed, it changes lanes to the rightmost roadside for parking.

6. The method for safe parking after the driver is incapable of driving according to claim 6, characterized in that: If the lane change exceeds the set time and fails to meet the safety lane change requirements, the function is downgraded, the lane change action is suppressed, the vehicle is decelerated to a stop in the current lane, and the hazard warning lights are kept on; after the vehicle stops, the intelligent driving controller feeds back the corresponding state machine to the remote monitoring integrated gateway TBOX, and after the remote monitoring integrated gateway TBOX receives the state machine for the safe pullover function completion, it makes an SOS call.

7. The method for safe parking after the driver is incapable of driving according to claim 6, characterized in that: After a single lane change is completed, the front-view camera continues to determine whether it is the rightmost lane. If not, the above actions are repeated to continue changing lanes. If it is the rightmost lane, the vehicle resumes double flashing and executes speed reduction. After the vehicle stops steadily, the remote monitoring integrated gateway TBOX receives the state machine of the safe pull-over function completion and executes the SOS call.

8. A system for safely parking the vehicle after the driver becomes incapacitated, characterized in that: include: A data collection module, used to collect driver behavior data in the intelligent driving state; The behavior judgment module is used to judge that the driver is unable to control the vehicle behavior when the driver's behavior data is abnormal and does not return to normal after continuous monitoring for a preset period of time; The safe parking module is used to perform perception fusion of the vehicle's external perception data when the driver is unable to control the vehicle's behavior, and complete safe parking based on perception fusion.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for safely parking after the driver becomes incapable of driving as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for safely parking after the driver is incapable of driving as claimed in any one of claims 1 to 7 are implemented.

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