Vehicle control method and device, computer equipment, readable storage medium and vehicle

Abstract

The invention provides a vehicle control method and device, computer equipment, a readable storage medium and a vehicle. The method comprises the steps that vehicle taking-over intention information of a driver and emotional state information of the driver in an automatic driving mode are obtained; judging whether the takeover intention corresponding to the takeover intention information is valid or not according to the emotional state information of the driver; and if the takeover intention is invalid, maintaining the automatic driving mode. According to the method, the effectiveness of the takeover intention of the driver is judged according to the emotional state information of the driver, that is, whether the takeover state of the driver is reasonable or not is judged, the safety problem caused when the driver takes over the vehicle under the abnormal emotional states such as excitation and distraction is avoided, the takeover reliability of the driver is improved, and the driving safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle control method, a vehicle control device, a computer device, a readable storage medium, and a vehicle. Background Art

[0002] At present, when various automatic driving assistance functions are activated, they consider the driver's intention to take priority, and will regard the driver's steering, pressing the accelerator, etc. as a state of takeover, thereby exiting the automatic driving state.

[0003] That is to say, the vehicle control in the related art is based on the driver's operation first, but sometimes the driver's operation is unreliable, and controlling the vehicle based on the unreliable driving operation will affect driving safety. Summary of the invention

[0004] In view of this, the present application provides a vehicle control method, a vehicle control device, a computer device, a readable storage medium and a vehicle, which can judge the rationality of the driver's takeover status and improve the reliability of takeover.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0006] Acquiring information about the driver's intention to take over the vehicle and the driver's emotional state in the automatic driving mode;

[0007] Determining whether the takeover intention corresponding to the takeover intention information is valid according to the emotional state information of the driver;

[0008] If the takeover intention is invalid, the automatic driving mode is maintained.

[0009] In this technical solution, when the vehicle is operating in the automatic driving mode, information about the driver's intention to take over the vehicle and information about the driver's current emotional state are obtained.

[0010] The driver's current emotional state information is used to judge the takeover intention corresponding to the takeover intention information, and whether the takeover intention is a valid takeover intention issued by the driver in a stable emotional state. If the driver's takeover intention is determined to be invalid, the takeover intention is ignored, the driver's takeover of the vehicle is rejected, and the automatic driving mode is continued.

[0011] In the embodiment of the present application, the effectiveness of the driver's takeover intention is judged through the driver's emotional state information, that is, whether the driver's takeover state is reasonable is judged, so as to avoid safety problems caused by the driver taking over the vehicle in abnormal emotional states such as excitement and distraction, improve the reliability of the driver's takeover, and ensure driving safety.

[0012] According to the above method of the embodiment of the present application, the following additional technical features may also be provided:

[0013] In the above technical solution, optionally, the method also includes: if the takeover intention is valid, exiting the automatic driving mode, and controlling the vehicle according to the takeover intention information.

[0014] In this technical solution, if it is determined that the driver's intention to take over is a valid intention to take over issued by the driver in a stable emotional state, the automatic driving mode is exited and the vehicle operation is controlled according to the driver's takeover intention information, thereby improving the reliability of the driver's takeover and meeting the driver's driving needs.

[0015] In any of the above technical solutions, optionally, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information specifically includes: comparing the driver's takeover intention information with a preset takeover intention threshold; if the takeover intention information reaches the preset takeover intention threshold, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information.

[0016] In this technical solution, before judging the validity of the takeover intention corresponding to the takeover intention information according to the driver's emotional state information, it is judged whether the driver's takeover intention is a false action. Specifically, the driver's takeover intention information is compared with a preset takeover intention threshold. If the takeover intention information reaches the preset takeover intention threshold, it indicates that the driver's takeover intention has a large action degree, and it is not a false action of the driver, then the validity of the takeover intention is judged according to the driver's emotional state information; if the takeover intention information does not reach the preset takeover intention threshold, it indicates that the driver's takeover intention has a small action degree, which may be a false action of the driver, and the takeover intention information is ignored at this time.

[0017] Through the above method, it is possible to determine whether the driver's intention to take over is a false action, thereby avoiding identifying some of the driver's unconscious and minor actions as driving intentions, which may affect automatic driving.

[0018] In any of the above technical solutions, optionally, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information specifically includes: comparing the driver's emotional state information with a preset emotional state threshold; if the emotional state information reaches the preset emotional state threshold, determining that the takeover intention corresponding to the takeover intention information is invalid; if the emotional state information does not reach the preset emotional state threshold, determining that the takeover intention corresponding to the takeover intention information is valid.

[0019] In this technical solution, the driver's current emotional state information is compared with the preset emotional state threshold. If the emotional state information reaches the preset emotional state threshold, it is determined that the driver is in an abnormal emotional state. The abnormal emotional state includes at least one of the following: excitement, fatigue, distraction, and the driver's takeover intention in the abnormal emotional state is an invalid takeover intention. If the emotional state information does not reach the preset emotional state threshold, it is determined that the driver is in a stable emotional state, and the driver's takeover intention in the stable emotional state is a valid takeover intention.

[0020] The embodiment of the present application can use the driver's emotional state to judge the effectiveness of his takeover intention, and only allow takeover when the takeover intention is valid, otherwise continue automatic driving, thereby improving the reliability of the driver's takeover of the vehicle.

[0021] In any of the above technical solutions, optionally, the method also includes: obtaining the driving level information of the driver, and determining the preset emotional state threshold based on the driving level information of the driver; wherein, the higher the driving level of the driver, the higher the preset emotional state threshold, and the lower the driving level of the driver, the lower the preset emotional state threshold.

[0022] In this technical solution, the driver's driving level information is obtained, and then the preset emotional state threshold for determining whether the takeover intention is valid is determined. Specifically, the lower the driver's driving level, the lower the preset emotional state threshold is set; the higher the driver's driving level, the higher the preset emotional state threshold is set.

[0023] Through the above method, the effectiveness of the takeover intention of drivers with low driving skills can be judged more strictly, and the driving safety of drivers with little driving experience can be better guaranteed.

[0024] In any of the above technical solutions, optionally, the emotional state information includes the driver's facial expression and / or line of sight direction; the method of obtaining the driver's emotional state information includes: obtaining the driver's head image, and identifying the head image, to obtain the driver's facial expression and / or line of sight direction; and / or, the emotional state information includes the driver's voice volume; the method of obtaining the driver's emotional state information includes: obtaining the driver's voice information, and identifying the voice information, to obtain the driver's voice volume; and / or, the emotional state information includes the driver's physiological information, and the physiological information includes at least one of the following: blood pressure, body temperature, heart rate.

[0025] In this technical solution, the driver's emotional state information includes but is not limited to facial expressions, sight direction, voice volume, physiological information, etc. Through the above emotional state information, it is possible to accurately determine whether the driver's emotional state is stable or abnormal, thereby accurately judging the effectiveness of his takeover intention.

[0026] In any of the above technical solutions, optionally, obtaining the driver's emotional state information includes: obtaining the driver's emotional state information at a first moment, or obtaining the driver's emotional state information within a preset time period before the first moment; wherein, the first moment is the moment when the takeover intention information is obtained.

[0027] In this technical solution, the driver's emotional state information can be the emotional state information when the driver issues the takeover intention. In addition, in order to more accurately determine the driver's emotional state, the driver's emotional state information within a period of time before issuing the takeover intention can also be obtained.

[0028] In any of the above technical solutions, optionally, the method further includes: if the takeover intention is invalid, issuing a prompt message that the takeover intention is invalid and / or an abnormal emotional state warning message.

[0029] In this technical solution, if it is determined that the driver's takeover intention is invalid, a prompt message indicating that the takeover intention is invalid and / or an abnormal emotional state warning message is issued, thereby informing the driver that his takeover intention is not allowed, the vehicle is not operating according to his takeover intention, and informing the driver the reason why his takeover intention is not allowed, that is, reminding the driver that his emotional state is abnormal, so that the driver can adjust his emotions in time to ensure driving safety.

[0030] In any of the above technical solutions, optionally, if the takeover intention is invalid, the automatic driving mode is maintained, which specifically includes: if the takeover intention is invalid, issuing pending confirmation information on whether to maintain the automatic driving mode; if the driver's confirmation information on maintaining the automatic driving mode is obtained, the automatic driving mode is maintained.

[0031] In this technical solution, if it is determined that the driver's takeover intention is invalid, a query message (i.e., confirmation information) is sent to the driver to ask whether to maintain the automatic driving mode, and the driver's feedback information is received. If the feedback information is confirmation information to maintain the automatic driving mode, the automatic driving mode is maintained; if the feedback information is to operate according to the takeover intention information, the vehicle is controlled according to the driver's takeover intention information, that is, the manual driving mode is performed.

[0032] In the embodiment of the present application, the driver's intention to take over is further confirmed based on the driver's feedback, thereby determining the final driving mode to meet the driver's driving needs.

[0033] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0034] An acquisition module, used to acquire information about the driver's intention to take over the vehicle in the automatic driving mode and information about the driver's emotional state;

[0035] A judgment module, used for judging whether the takeover intention corresponding to the takeover intention information is valid according to the emotional state information of the driver;

[0036] A control module is used to maintain the automatic driving mode if the takeover intention is invalid.

[0037] In a third aspect, an embodiment of the present application provides a computer device comprising at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and wherein the program or instruction, when executed by the processor, implements the steps of the vehicle control method of the first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of the first aspect.

[0039] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising a vehicle control device as in the second aspect.

[0040] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0042] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present application is shown;

[0043] Figure 2 A structural block diagram of a vehicle control device according to an embodiment of the present application is shown;

[0044] Figure 3 A structural block diagram of a computer device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0046] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] The vehicle control method, vehicle control device, computer equipment, readable storage medium and vehicle provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0048] The present application embodiment provides a vehicle control method, such as Figure 1 As shown, the method includes:

[0049] The present application provides a vehicle control method, including:

[0050] Step 101, obtaining information about the driver's intention to take over the vehicle in the automatic driving mode and information about the driver's emotional state.

[0051] In this step, the vehicle is running in the automatic driving mode, and the driver's takeover intention information of the vehicle is obtained. The takeover intention information may include throttle depth, throttle rate, brake depth, brake rate, steering wheel angle, etc. Correspondingly, the takeover intention corresponding to the takeover intention information includes stepping on the accelerator, stepping on the brake or steering, etc. In addition, the driver's current emotional state information is obtained, wherein the driver's emotional state includes excitement, fatigue, distraction, concentration, etc.

[0052] In one embodiment of the present application, the emotional state information includes the driver's facial expression and / or line of sight direction; a method for obtaining the driver's emotional state information includes: obtaining a head image of the driver, and identifying the head image, to obtain the driver's facial expression and / or line of sight direction; and / or, the emotional state information includes the driver's voice volume; a method for obtaining the driver's emotional state information includes: obtaining the driver's voice information, and identifying the voice information, to obtain the driver's voice volume; and / or, the emotional state information includes the driver's physiological information, and the physiological information includes at least one of the following: blood pressure, body temperature, heart rate.

[0053] In this embodiment, the driver's emotional state information includes but is not limited to facial expressions, sight direction, voice volume, physiological information, etc.

[0054] The driver's facial expressions and / or line of sight direction can be obtained by collecting and identifying the driver's head image, and the image acquisition device can be a camera installed on the vehicle; the driver's voice volume can be obtained by collecting and identifying the driver's voice information, and the voice acquisition device can be a recording device installed on the vehicle or the driver's terminal; the driver's physiological information can be obtained through an external device (for example, a wearable device) that is communicatively connected to the vehicle.

[0055] Through the above-mentioned emotional state information, it is possible to accurately judge whether the driver's emotional state is stable or abnormal, thereby accurately judging the effectiveness of his takeover intention.

[0056] However, it should be noted that the acquisition of the driver's emotional state information is carried out with the driver's authorization to protect the driver's personal privacy.

[0057] In one embodiment of the present application, obtaining the emotional state information of the driver includes: obtaining the emotional state information of the driver at a first moment, or obtaining the emotional state information of the driver within a preset time period before the first moment; wherein, the first moment is the moment when the takeover intention information is obtained.

[0058] In this embodiment, the driver's emotional state information may be the emotional state information when the driver issues the takeover intention. In addition, the driver's emotional state information for a period of time before the driver issues the takeover intention may also be obtained. For example, for an emotional state such as distraction, the line of sight direction information for a period of time is required to accurately determine the driver's emotional state, thereby being able to more accurately determine the driver's emotional state.

[0059] Step 102, judging whether the takeover intention corresponding to the takeover intention information is valid based on the emotional state information of the driver, if the takeover intention is invalid, proceeding to step 103, if the takeover intention is valid, proceeding to step 104.

[0060] In this step, the driver's current emotional state information is used to judge the takeover intention corresponding to the takeover intention information, and to judge whether the driver's takeover intention is a valid takeover intention issued by the driver in a stable emotional state.

[0061] Among them, stable emotional states include concentration; unstable emotional states, that is, abnormal emotional states, include excitement, fatigue, distraction, etc.

[0062] In one embodiment of the present application, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information specifically includes: comparing the driver's takeover intention information with a preset takeover intention threshold; if the takeover intention information reaches the preset takeover intention threshold, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information.

[0063] In this embodiment, before judging the validity of the takeover intention corresponding to the takeover intention information according to the driver's emotional state information, it is judged whether the driver's takeover intention is a false action. Specifically, the driver's takeover intention information is compared with a preset takeover intention threshold. If the takeover intention information reaches the preset takeover intention threshold, it indicates that the driver's takeover intention has a large action degree and is not a false action of the driver. Then, the validity of the takeover intention is judged according to the driver's emotional state information; if the takeover intention information does not reach the preset takeover intention threshold, it indicates that the driver's takeover intention has a small action degree and may be a false action of the driver. At this time, the takeover intention information is ignored.

[0064] For example, the driver's takeover intention is to step on the accelerator, the takeover intention information is the accelerator depth, and the preset takeover intention threshold includes the preset accelerator threshold. Then, it is determined whether the accelerator depth is greater than or equal to the preset accelerator threshold. If it is greater than or equal to, it indicates that the driver's accelerator action is large and the accelerator action is not a driver's erroneous action. Then, the effectiveness of the takeover intention is further determined based on the driver's emotional state information; if it is less than, it indicates that the driver's accelerator action is small and the accelerator action is a driver's erroneous action. Then, the driver's accelerator action is ignored.

[0065] Through the above method, it is possible to determine whether the driver's intention to take over is a false action, thereby avoiding identifying some of the driver's unconscious and minor actions as driving intentions, which may affect automatic driving.

[0066] In one embodiment of the present application, judging whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information specifically includes: comparing the driver's emotional state information with a preset emotional state threshold; if the emotional state information reaches the preset emotional state threshold, determining that the takeover intention corresponding to the takeover intention information is invalid; if the emotional state information does not reach the preset emotional state threshold, determining that the takeover intention corresponding to the takeover intention information is valid.

[0067] In this embodiment, the driver's current emotional state information is compared with a preset emotional state threshold. If the emotional state information reaches the preset emotional state threshold, it is determined that the driver is in an abnormal emotional state, and the abnormal emotional state includes at least one of the following: excitement, fatigue, and distraction. The driver's takeover intention in an abnormal emotional state is an invalid takeover intention. If the emotional state information does not reach the preset emotional state threshold, it is determined that the driver is in a stable emotional state, and the driver's takeover intention in a stable emotional state is a valid takeover intention.

[0068] Exemplarily, the driver's emotional state information includes but is not limited to facial expressions, sight direction, voice volume, physiological information, etc. The preset emotional state threshold includes a similarity threshold. When the driver's current facial expression is similar to the frightened facial expression to a similarity threshold, the driver is determined to be in a frightened (i.e., excited) emotional state; the preset emotional state threshold includes a preset time threshold. When the driver's sight direction has deviated from the normal driving direction for 30 seconds and exceeds the preset time threshold, the driver is determined to be in a distracted emotional state; the preset emotional state threshold includes a preset volume threshold. When the driver's voice volume is greater than or equal to the preset volume threshold, the driver is determined to be in a frightened (i.e., excited) emotional state; the preset emotional state threshold includes a preset heart rate threshold. When the driver's heart rate is greater than or equal to the preset heart rate threshold, the driver is determined to be in a frightened (i.e., excited) emotional state.

[0069] The embodiment of the present application can use the driver's emotional state to judge the effectiveness of his takeover intention, and only allow takeover when the takeover intention is valid, otherwise continue automatic driving, thereby improving the reliability of the driver's takeover of the vehicle.

[0070] In one embodiment of the present application, the method also includes: obtaining the driving level information of the driver, and determining the preset emotional state threshold based on the driving level information of the driver; wherein, the higher the driving level of the driver, the higher the preset emotional state threshold, and the lower the driving level of the driver, the lower the preset emotional state threshold.

[0071] In this embodiment, the driver's driving level information is obtained, and then the preset emotional state threshold for determining whether the takeover intention is valid is determined. Specifically, the lower the driver's driving level, the lower the preset emotional state threshold is set; the higher the driver's driving level, the higher the preset emotional state threshold is set.

[0072] The driving level can be determined based on the self-assessment information of the driver, the driver's driving mileage, the length of the driver's license, etc. In addition, if the vehicle is an online car-hailing vehicle, its driving level can also be determined based on the evaluation information of the driver by the passengers.

[0073] Through the above method, the effectiveness of the takeover intention of drivers with low driving skills can be judged more strictly, and the driving safety of drivers with little driving experience can be better guaranteed.

[0074] Step 103, maintaining the automatic driving mode.

[0075] In this step, if it is determined that the driver's takeover intention is invalid, the takeover intention is ignored, the driver's takeover of the vehicle is rejected, and the automatic driving mode continues to be executed.

[0076] In one embodiment of the present application, the method further includes: if the takeover intention is invalid, issuing a prompt message indicating that the takeover intention is invalid and / or an abnormal emotional state warning message.

[0077] In this embodiment, if it is determined that the driver's takeover intention is invalid, a prompt message indicating that the takeover intention is invalid and / or an abnormal emotional state warning message is issued, thereby informing the driver that his takeover intention is not allowed, the vehicle is not operating according to his takeover intention, and informing the driver the reason why his takeover intention is not allowed, that is, reminding the driver that his emotional state is abnormal, so that the driver can adjust his emotions in time to ensure driving safety.

[0078] In one embodiment of the present application, if the takeover intention is invalid, the automatic driving mode is maintained, which specifically includes: if the takeover intention is invalid, issuing pending confirmation information on whether to maintain the automatic driving mode; if confirmation information from the driver to maintain the automatic driving mode is obtained, the automatic driving mode is maintained.

[0079] In this embodiment, if it is determined that the driver's takeover intention is invalid, a query message (i.e., confirmation information) is sent to the driver to ask whether to maintain the automatic driving mode, and the driver's feedback information is received. If the feedback information is confirmation information to maintain the automatic driving mode, the automatic driving mode is maintained; if the feedback information is to operate according to the takeover intention information, the vehicle is controlled according to the driver's takeover intention information, that is, the manual driving mode is performed.

[0080] In the embodiment of the present application, the driver's intention to take over is further confirmed based on the driver's feedback, thereby determining the final driving mode to meet the driver's driving needs.

[0081] Step 104, exit the automatic driving mode, and control the vehicle according to the takeover intention information.

[0082] In this step, if it is determined that the driver's intention to take over is a valid intention to take over issued by the driver in a stable emotional state, the automatic driving mode is exited, and the vehicle operation is controlled according to the driver's takeover intention information, thereby meeting the driver's driving needs.

[0083] In the embodiment of the present application, the effectiveness of the driver's takeover intention is judged through the driver's emotional state information, that is, whether the driver's takeover state is reasonable is judged, so as to avoid safety problems caused by the driver taking over the vehicle in abnormal emotional states such as excitement and distraction, improve the reliability of the driver's takeover, and ensure driving safety.

[0084] In addition, in one embodiment, when the vehicle is operating in manual driving mode, the driver's intention to take over the vehicle and the driver's emotional state information can also be obtained, and then the validity of the driver's intention to take over can be judged based on the driver's emotional state information. If it is determined that the intention to take over is valid, the vehicle can be controlled according to the takeover intention information.

[0085] Furthermore, as a specific implementation of the above vehicle control method, an embodiment of the present application provides a vehicle control device. Figure 2 As shown, the vehicle control device 200 includes: an acquisition module 201 , a judgment module 202 and a control module 203 .

[0086] The acquisition module 201 is used to acquire the driver's intention to take over the vehicle and the driver's emotional state information in the automatic driving mode;

[0087] A judgment module 202, configured to judge whether the takeover intention corresponding to the takeover intention information is valid according to the emotional state information of the driver;

[0088] The control module 203 is used to maintain the automatic driving mode if the takeover intention is invalid.

[0089] In the embodiment of the present application, the effectiveness of the driver's takeover intention is judged through the driver's emotional state information, that is, whether the driver's takeover state is reasonable is judged, so as to avoid safety problems caused by the driver taking over the vehicle in abnormal emotional states such as excitement and distraction, improve the reliability of the driver's takeover, and ensure driving safety.

[0090] Furthermore, the control module 203 is also used to exit the automatic driving mode if the takeover intention is valid, and control the vehicle according to the takeover intention information.

[0091] Furthermore, the judgment module 202 is specifically used to: compare the driver's takeover intention information with a preset takeover intention threshold; if the takeover intention information reaches the preset takeover intention threshold, determine whether the takeover intention corresponding to the takeover intention information is valid based on the driver's emotional state information.

[0092] Furthermore, the judgment module 202 is specifically used to: compare the driver's emotional state information with a preset emotional state threshold; if the emotional state information reaches the preset emotional state threshold, determine that the takeover intention corresponding to the takeover intention information is invalid; if the emotional state information does not reach the preset emotional state threshold, determine that the takeover intention corresponding to the takeover intention information is valid.

[0093] Furthermore, the acquisition module 201 is also used to obtain the driving level information of the driver, and determine the preset emotional state threshold according to the driving level information of the driver; wherein, the higher the driving level of the driver, the higher the preset emotional state threshold, and the lower the driving level of the driver, the lower the preset emotional state threshold.

[0094] Furthermore, the emotional state information includes the driver's facial expression and / or line of sight direction; the acquisition module 201 is specifically used to acquire the driver's head image, and identify the head image to obtain the driver's facial expression and / or line of sight direction; and / or, the emotional state information includes the driver's voice volume; the acquisition module 201 is specifically used to acquire the driver's voice information, and identify the voice information to obtain the driver's voice volume; and / or, the emotional state information includes the driver's physiological information, and the physiological information includes at least one of the following: blood pressure, body temperature, heart rate.

[0095] Furthermore, the acquisition module 201 is specifically used to obtain the emotional state information of the driver at a first moment, or to obtain the emotional state information of the driver within a preset time period before the first moment; wherein, the first moment is the moment when the takeover intention information is obtained.

[0096] Furthermore, the control module 203 is also used to issue a prompt message indicating that the takeover intention is invalid and / or an abnormal emotional state warning message if the takeover intention is invalid.

[0097] Furthermore, the control module 203 is specifically used to: if the takeover intention is invalid, issue a pending confirmation message on whether to maintain the automatic driving mode; if the driver's confirmation information on maintaining the automatic driving mode is obtained, maintain the automatic driving mode.

[0098] The vehicle control device 200 in the embodiment of the present application may be a computer device, or a component in the computer device, such as an integrated circuit or a chip. The computer device may be a terminal, or other devices other than a terminal.

[0099] The vehicle control device 200 provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented in the vehicle control method embodiment will not be described here.

[0100] The present application also provides a computer device, such as Figure 3 As shown, the computer device 300 includes a processor 301 and a memory 302. The memory 302 stores programs or instructions that can be executed on the processor 301. When the program or instruction is executed by the processor 301, the various steps of the above-mentioned vehicle control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0101] The memory 302 can be used to store software programs and various data. The memory 302 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 302 may include a volatile memory or a non-volatile memory, or the memory 302 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 302 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0102] The processor 301 may include one or more processing units; optionally, the processor 301 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 301.

[0103] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned vehicle control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0104] An embodiment of the present application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0105] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0106] An embodiment of the present application also provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0107] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0108] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: Acquiring information about the driver's intention to take over the vehicle and the driver's emotional state in the automatic driving mode; Determining whether the takeover intention corresponding to the takeover intention information is valid according to the emotional state information of the driver; If the takeover intention is invalid, the automatic driving mode is maintained.

2. The method according to claim 1, characterized in that Also includes: If the takeover intention is valid, the automatic driving mode is exited and the vehicle is controlled according to the takeover intention information.

3. The method according to claim 1, characterized in that The determining, according to the driver's emotional state information, whether the takeover intention corresponding to the takeover intention information is valid specifically includes: Comparing the driver's takeover intention information with a preset takeover intention threshold; If the takeover intention information reaches the preset takeover intention threshold, whether the takeover intention corresponding to the takeover intention information is valid is determined based on the driver's emotional state information.

4. The method according to claim 1, characterized in that: The determining, according to the driver's emotional state information, whether the takeover intention corresponding to the takeover intention information is valid specifically includes: comparing the driver's emotional state information with a preset emotional state threshold; If the emotional state information reaches the preset emotional state threshold, determining that the takeover intention corresponding to the takeover intention information is invalid; If the emotional state information does not reach the preset emotional state threshold, it is determined that the takeover intention corresponding to the takeover intention information is valid.

5. The method according to claim 4, characterized in that Also includes: Acquiring the driving level information of the driver, and determining the preset emotional state threshold according to the driving level information of the driver; Among them, the higher the driving level of the driver, the higher the preset emotional state threshold, and the lower the driving level of the driver, the lower the preset emotional state threshold.

6. The method according to claim 1, characterized in that The emotional state information includes the driver's facial expression and / or sight direction; the method of obtaining the driver's emotional state information includes: obtaining the driver's head image, and recognizing the head image to obtain the driver's facial expression and / or sight direction; and / or, The emotional state information includes the voice volume of the driver; the method of obtaining the emotional state information of the driver includes: obtaining the voice information of the driver, and identifying the voice information to obtain the voice volume of the driver; and / or, The emotional state information includes physiological information of the driver, and the physiological information includes at least one of the following: blood pressure, body temperature, and heart rate.

7. The method according to any one of claims 1 to 6, characterized in that Acquiring the driver's emotional state information, including: Acquiring emotional state information of the driver at a first moment, or acquiring emotional state information of the driver within a preset time period before the first moment; The first moment is the moment when the takeover intention information is obtained.

8. The method according to any one of claims 1 to 6, characterized in that Also includes: If the takeover intention is invalid, a prompt message indicating that the takeover intention is invalid and / or an abnormal emotional state warning message is issued.

9. The method according to any one of claims 1 to 6, characterized in that If the takeover intention is invalid, maintaining the automatic driving mode specifically includes: If the takeover intention is invalid, a pending confirmation message is issued as to whether to maintain the automatic driving mode; If confirmation information from the driver to maintain the automatic driving mode is obtained, the automatic driving mode is maintained.

10. A vehicle control device, characterized in that: include: An acquisition module, used to acquire information about the driver's intention to take over the vehicle in the automatic driving mode and information about the driver's emotional state; A judgment module, used for judging whether the takeover intention corresponding to the takeover intention information is valid according to the emotional state information of the driver; A control module is used to maintain the automatic driving mode if the takeover intention is invalid.

11. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

12. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

13. A vehicle, characterized in that: Comprising the vehicle control device as claimed in claim 10.

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