Automobile driving safety intelligent control method, equipment, medium and product

Abstract

The invention discloses an intelligent control method and device for automobile driving safety, a medium and a product, and relates to the technical field of intelligent traffic control, and the method comprises the steps: firstly, according to the motion characteristics of a moving object in an environment, judging the motion track of the moving object, and then according to the motion track of the moving object, judging whether the automobile will collide with the moving object or not; and when the vehicle collides with the moving object, a driver is reminded, and the speed of the vehicle is controlled in real time, so that the vehicle is prevented from colliding with the moving object. According to the invention, the trajectory prediction technology based on the motion characteristics of the moving object is adopted, behavior analysis and motion trajectory pre-judgment are carried out on the moving object in the environment, and collision evaluation is carried out in combination with the motion state of the vehicle, so that intelligent management and safety improvement of curve passage of the parking lot are realized; and the probability of occurrence of a pedestrian-vehicle collision accident in a pedestrian-vehicle mixed road environment is obviously reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving control technology, and in particular to methods, equipment, media and products for intelligent control of automobile driving safety. Background Art

[0002] With the acceleration of urbanization, the road traffic environment is becoming increasingly complex, especially on roads with mixed traffic of pedestrians and vehicles. Traffic conflicts between pedestrians, non-motor vehicles and other moving objects and motor vehicles are frequent. How to ensure driving safety has become an important issue that needs to be solved urgently. In this context, automobile safety assistance systems have been widely used and developed.

[0003] Current automotive safety assistance systems mainly use sensors such as cameras and radars to detect the environment around the vehicle. These systems collect the location information of surrounding objects through sensors, and combine the preset safety distance threshold to issue an alarm when an object is detected entering the warning area. At the same time, some systems will actively brake in an emergency to avoid a collision by reducing the speed of the vehicle.

[0004] However, due to the uncertainty of the movement of moving objects, relying solely on location information and simple safety distance threshold judgment for early warning and control is prone to false alarms or missed alarms. In complex environments such as urban roads, the movement trajectories of pedestrians and non-motor vehicles often show irregular changes, which makes it difficult for the system to accurately predict potential collision risks. In addition, the early warning and control measures taken by the system may be too abrupt, affecting driving comfort and road traffic efficiency. Summary of the invention

[0005] The main purpose of this application is to provide a method, device, medium and product for intelligent control of automobile driving safety, aiming to solve the technical problem of human-vehicle collision in a mixed road environment.

[0006] To achieve the above objectives, the present application proposes a method for intelligent control of automobile driving safety, the method comprising:

[0007] Determine the motion trajectory of the moving object based on the motion characteristics of the moving object in the environment;

[0008] Determine whether the vehicle will collide with the moving object according to the moving trajectory of the moving object;

[0009] When the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time, thereby avoiding the collision between the vehicle and the moving object.

[0010] In one embodiment, the step of determining whether the vehicle will collide with the moving object according to the motion trajectory of the moving object specifically includes:

[0011] Calculating an intersection point of the motion trajectory of the moving object and the motion trajectory of the vehicle according to the motion trajectory of the moving object and the motion trajectory of the vehicle;

[0012] Calculate a first duration for the vehicle to move to the intersection and a second duration for the moving object to move to the intersection according to the position of the intersection, the real-time moving speed of the vehicle and the real-time moving speed of the moving object;

[0013] When the first time duration is equal to the second time duration, it is determined that the vehicle will collide with the moving object;

[0014] When the first time duration is less than the second time duration, calculating a third time duration for the vehicle to reach the intersection and completely pass the intersection;

[0015] When the sum of the first time duration and the third time duration is equal to the second time duration, it is determined that the vehicle will collide with the moving object.

[0016] In one embodiment, when the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time to avoid the collision between the vehicle and the moving object, specifically comprising:

[0017] When the vehicle is about to collide with the moving object, the driver is prompted and a preset deceleration is calculated based on the preset safety speed, the real-time moving speed of the vehicle, the real-time moving speed of the moving object and the position information of the moving object;

[0018] The vehicle is controlled to decelerate at the preset deceleration until the vehicle is at a preset safe speed.

[0019] In one embodiment, controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safety speed step specifically includes:

[0020] When the vehicle is controlled to decelerate at the preset deceleration rate, if the real-time moving speed of the vehicle is greater than or equal to the preset safety speed and the moving object is about to enter the driving path of the vehicle, the vehicle is controlled to decelerate at the preset deceleration rate until the vehicle stops moving;

[0021] When the vehicle is controlled to decelerate at the preset deceleration, if the real-time moving speed of the vehicle is less than the preset safety speed and the moving object is about to follow the driving route of the vehicle, the preset deceleration is recalculated according to the position information of the moving object, and the vehicle is controlled to decelerate at the recalculated preset deceleration until the vehicle is at the preset safety speed.

[0022] In one embodiment, the process of controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safety speed step comprises:

[0023] Detecting the driving speed of the vehicle and the distance between the vehicle and the vehicle ahead; when the driving speed of the vehicle is greater than a preset speed threshold and / or the distance between the vehicle and the vehicle ahead is less than a preset threshold, reminding the driver to slow down;

[0024] Acquiring the acceleration change rate of the vehicle in real time, and judging whether the driver performs a deceleration operation according to the acceleration change rate;

[0025] When the driver does not perform the deceleration operation, the pedal opening is controlled to reduce the vehicle's running speed to the preset speed threshold.

[0026] In one embodiment, the step of determining whether the motion trajectory of the moving object intersects with the driving route of the vehicle according to the motion characteristics of the moving object comprises:

[0027] Conducting temperature and behavior monitoring on the driver;

[0028] When the driver's body temperature exceeds a first preset temperature or the driver's behavior meets a preset dangerous driving condition, a warning is given to the driver.

[0029] In one embodiment, the step of monitoring the driver's body temperature and behavior further includes:

[0030] When the body temperature of the driver or the temperature of a part of the driver's body rises to a second preset temperature within a first preset time period, the vehicle is controlled to stop moving and a rescue call is made;

[0031] Within the second preset time period, upon receiving the driver's instruction to stop calling for help, stop calling for help.

[0032] In addition, to achieve the above-mentioned objectives, the present application also proposes a vehicle driving safety intelligent control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle driving safety intelligent control method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automobile driving safety intelligent control method as described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the automobile driving safety intelligent control method as described above.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] The present application first determines the motion trajectory of the moving object according to the motion characteristics of the moving object in the environment, and then determines whether the vehicle will collide with the moving object according to the motion trajectory of the moving object. Then, when the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time to avoid a collision between the vehicle and the moving object.

[0037] Specifically, in this application, due to the use of trajectory prediction technology based on the motion characteristics of moving objects, the behavior analysis and motion trajectory prediction of moving objects in the environment are carried out, and the collision assessment is carried out in combination with the motion state of the vehicle, so it is possible to accurately predict whether the moving object will collide with the vehicle, effectively solving the problem of inaccurate warning caused by the traditional system relying only on position information and simple safety distance threshold. By timely reminding the driver and controlling the vehicle speed in real time, the effective avoidance of the vehicle and the moving object is achieved, thereby solving the problem that the traditional system is prone to collision accidents in complex sections such as mixed traffic of people and vehicles, and the mechanical rigidity of the control strategy and the traffic efficiency, making the entire safety control process more intelligent, and solving the technical problem of human-vehicle collision in mixed road environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 A flowchart of the first embodiment of the intelligent control method for automobile driving safety provided in the present application;

[0041] Figure 2 A flow chart of the second embodiment of the intelligent control method for automobile driving safety provided in this application;

[0042] Figure 3 A flowchart of the third embodiment of the intelligent control method for automobile driving safety provided in this application;

[0043] Figure 4 Another flow chart provided for the third embodiment of the intelligent control method for automobile driving safety of the present application;

[0044] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the intelligent control method for automobile driving safety in the embodiment of the present application.

[0045] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0047] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0048] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the automobile driving safety intelligent control system as an example to illustrate this embodiment and the following embodiments.

[0049] Based on this, the embodiment of the present application provides a method for intelligent control of automobile driving safety, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the intelligent control method for automobile driving safety of the present application.

[0050] Step S10, determining the motion trajectory of the moving object according to the motion characteristics of the moving object in the environment;

[0051] Among them, moving objects refer to various objects moving in the vehicle's surrounding environment, including but not limited to pedestrians, non-motor vehicles, other motor vehicles, etc.; motion features refer to the kinematic characteristics of moving objects during movement, such as current position, speed, acceleration, direction of movement and other parameters; motion trajectory refers to the possible movement path of moving objects in the future, including predicted position sequence, speed change and direction change. For example, when a pedestrian is accelerating to cross the road, its motion features include information such as increased acceleration and movement direction perpendicular to the lane.

[0052] This step is continuously executed during the driving process of the vehicle, and is used to monitor and analyze the motion status of various moving objects in the environment in real time. Specifically, the system first collects real-time data of moving objects in the environment through the millimeter-wave radar and lidar installed on the front of the vehicle to obtain basic information such as their position coordinates, movement speed and direction. Then, the system analyzes and processes this basic information to extract the motion characteristics of the moving objects. Based on the extracted motion characteristics, combined with historical data and preset behavior models, the system predicts and judges the motion trajectory of the moving object in the next few seconds to form a complete trajectory prediction result.

[0053] In some embodiments, the motion trajectory of a moving object can be determined in a variety of ways:

[0054] Optionally, a prediction method based on Kalman filtering can be used. First, the motion state equation of the moving object is constructed, and the collected position, speed and other information are input into the filter as observation quantities. Through the iterative process of prediction-update, the optimal estimate of the future state of the moving object is obtained, and then the motion trajectory is calculated;

[0055] Optionally, a prediction method based on deep learning can be used. By establishing a recurrent neural network model, the historical motion data and current action features of the moving object are input, and the model predicts the possible future motion trajectory of the moving object by learning the motion laws in the historical data.

[0056] It is understandable that other trajectory prediction algorithms may also be used to determine the motion trajectory of a moving object, which is not limited here.

[0057] Step S20, judging whether the vehicle will collide with the moving object according to the moving trajectory of the moving object;

[0058] Among them, the vehicle refers to the main vehicle equipped with this safety control system; the moving object motion trajectory refers to the predicted future motion path of the target object; collision judgment refers to the process of determining whether the vehicle and the moving object intersect by calculating the time-space intersection point between the vehicle and the moving object. For example, when the predicted motion trajectories of the vehicle and the turning bicycle in front intersect at the same time, it indicates that the two may collide.

[0059] This step is performed after the moving object trajectory prediction is completed to evaluate the potential risk of collision. Specifically. The system first calculates the movement trajectory of the vehicle in the future based on a series of parameters such as the vehicle's current speed, acceleration, steering angle, etc. Then, the vehicle's trajectory is compared with the predicted moving object trajectory to calculate the intersection point of the two trajectories and the arrival time of the moving object and the vehicle. If the two trajectories have an intersection point, and the time when the vehicle and the moving object arrive at the point is the same or meets the preset conditions, it is determined that a collision will occur.

[0060] In some embodiments, collision determination can be implemented in a variety of ways:

[0061] Optionally, a trajectory interpolation method may be used, which first interpolates the predicted trajectories of the vehicle and the moving object at time points, then calculates the spatial positions of the two at each time point, and finally determines whether a collision will occur by judging whether the position interval is less than a safety threshold;

[0062] Optionally, a trajectory equation solving method may be used to first establish the motion trajectory equations of the vehicle and the moving object, then solve the intersection of the equations to obtain the intersection position and time, and finally determine whether a collision will occur based on the intersection time difference.

[0063] It is understandable that other trajectory analysis methods may also be used to implement collision judgment, which is not limited here.

[0064] Step S30, when the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time, thereby avoiding the collision between the vehicle and the moving object;

[0065] Among them, reminder refers to the warning information sent to the driver, including sound and light alarms, vibration prompts, etc.; real-time control refers to the speed adjustment measures taken on the vehicle; collision avoidance refers to the process of keeping the vehicle at a safe distance from moving objects through warning and control. For example, when it is determined that a collision will occur, the system will remind the driver through a combination of warning methods and perform deceleration control at the same time.

[0066] This step is executed immediately after it is determined that a collision will occur, and is used to provide timely warning and control the vehicle speed. Specifically, the system first selects the appropriate warning method and intensity based on the distance between the vehicle and the moving object, the relative speed and other parameters, and warns the driver through a combination of warning forms. At the same time, the system calculates the target speed required to avoid a collision, and determines the optimal speed adjustment plan based on factors such as the current vehicle speed and the movement of pedestrians. Through the coordinated control of the engine and the braking system, the vehicle speed is smoothly adjusted to ensure driving smoothness while avoiding collisions.

[0067] In some embodiments, early warning and control can be achieved in a variety of ways:

[0068] Optionally, a hierarchical warning control strategy can be adopted, which first prompts the driver to pay attention through sound and light alarms, triggers seat vibration warnings when the driver does not respond in time, and finally performs automatic deceleration control when necessary;

[0069] Optionally, a smooth control strategy may be used, which first calculates the target deceleration and speed adjustment curve, then coordinates the control of the engine torque output and the braking force, and finally ensures a smooth control process through feedback adjustment.

[0070] It is understandable that other warning and control methods may also be used to achieve collision avoidance, which is not limited here.

[0071] The present application first determines the motion trajectory of the moving object according to the motion characteristics of the moving object in the environment, and then determines whether the vehicle will collide with the moving object according to the motion trajectory of the moving object. Then, when the vehicle will collide with the moving object, the driver is reminded, and the speed of the vehicle is controlled in real time, thereby avoiding the collision between the vehicle and the moving object. Specifically, in the present application, since the trajectory prediction technology based on the motion characteristics of the moving object is adopted, the behavior analysis and motion trajectory prediction of the moving objects in the environment are performed, and the collision assessment is performed in combination with the motion state of the vehicle, it is possible to accurately predict whether the moving object will collide with the vehicle, effectively solving the problem that the traditional system only relies on position information and a simple safety distance threshold to cause inaccurate warning. By timely reminding the driver and controlling the speed in real time, the effective avoidance of the vehicle and the moving object is achieved, thereby solving the technical problems that the traditional system is prone to collision accidents in complex sections such as mixed traffic of people and vehicles, and the control strategy is mechanically rigid, affecting driving comfort and traffic efficiency, making the entire safety control process more intelligent, and solving the technical problem of collision between people and vehicles in mixed road environments.

[0072] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 Based on the first embodiment, this embodiment provides a more specific intelligent control method for automobile driving safety, as follows:

[0073] Step S201, determining the motion trajectory of the moving object according to the motion characteristics of the moving object in the environment;

[0074] This step may refer to step S10 and will not be described in detail here.

[0075] Step S202, calculating the intersection point of the motion trajectory of the moving object and the motion trajectory of the vehicle according to the motion trajectory of the moving object and the motion trajectory of the vehicle;

[0076] Among them, the motion trajectory of a moving object refers to the predicted motion path of the target object in the future time period; the motion trajectory of the vehicle refers to the expected driving path of the vehicle in the current state; the intersection point refers to the position coordinates where two motion trajectories intersect in space. For example, when the vehicle is driving in a straight line and the pedestrian is crossing the road diagonally, the motion trajectories of the two will form an intersection at the crosswalk.

[0077] This step is performed after obtaining the motion trajectory of the moving object and the vehicle to determine the potential collision location. Specifically, the system first obtains the spatial coordinates and motion parameters of the current position of the moving object and the vehicle. Then, based on their respective motion states, the position sequence of the moving object and the vehicle in the future is predicted. By comparing the spatial distances of the two sets of position sequences at the same time point, when the distance is less than the preset safety threshold, the position point is recorded as the intersection point. If there are multiple position points that meet the conditions within the predicted time period, the system will record the coordinate information of all intersection points to prepare for the subsequent time difference calculation.

[0078] In some embodiments, the calculation of the intersection point can be implemented in a variety of ways:

[0079] Optionally, a discrete point search method can be used, where the two trajectories are first discretized into a spatial point sequence, and then the distances between the two sets of point sequences are traversed and compared, and finally the point pairs with a distance less than a threshold are selected as intersection points;

[0080] Alternatively, an analytical solution method can be used, where the two trajectories are first expressed in the form of parametric equations, then the simultaneous equations are solved for the parameter values, and finally the coordinates of the intersection point are obtained by substituting them into the equations.

[0081] It is understandable that other mathematical methods may also be used to calculate the trajectory intersection point, which is not limited here.

[0082] Step S203, calculating a first duration for the vehicle to move to the intersection and a second duration for the moving object to move to the intersection according to the position of the intersection, the real-time moving speed of the vehicle and the real-time moving speed of the moving object;

[0083] Among them, the intersection point position represents the calculated spatial coordinates of the intersection point of the trajectories; the real-time speed of the vehicle refers to the current speed of the vehicle; the real-time speed of the moving object represents the current speed of the moving object; the first duration and the second duration represent the time required for the vehicle and the moving object to reach the intersection point, respectively. For example, when the vehicle is traveling at a speed of 30 km / h and is 60 meters away from the intersection point, it can be calculated that it takes 7.2 seconds to reach the intersection point.

[0084] This step is performed after the intersection point is determined, and is used to calculate the time difference between the two parties reaching the intersection point. Specifically, the system first calculates the spatial distance from the current position of the vehicle and the moving object to the intersection point. Then, based on their respective current movement speeds and distances, the first time duration for the vehicle to reach the intersection point and the second time duration for the moving object to reach the intersection point are calculated. During the calculation process, the system will consider factors such as speed changes and acceleration to improve the accuracy of time prediction.

[0085] Step S204, when the first time length is equal to the second time length, determining that the vehicle will collide with the moving object;

[0086] This step is performed after the first duration and the second duration are calculated, and is used to determine the collision situation of arriving at the intersection at the same time. Specifically, the system first accurately compares the first duration and the second duration, taking into account the time error tolerance. Then, when the two durations are equal, the possibility of spatial overlap is further verified by combining the volume size of the vehicle and the moving object. Finally, it is determined whether a collision will occur based on the verification result, and the result is passed to the subsequent control module.

[0087] Step S205, when the first time duration is less than the second time duration, calculating a third time duration for the vehicle to reach the intersection and completely pass the intersection;

[0088] The third duration indicates the time required for the vehicle to pass through the intersection; and completely passing through refers to the process of the entire vehicle leaving the intersection. For example, when the length of the vehicle is 4.5 meters and the speed is 36 km / h, it takes 0.45 seconds to completely pass through the intersection.

[0089] This step is executed when it is found that the first duration is less than the second duration, and is used to calculate the complete time for the vehicle to pass through the intersection. Specifically, the system first obtains the body size parameters and current movement speed of the vehicle. Then, based on the body length and real-time speed, the time required for the vehicle to enter and completely leave the intersection is calculated. Finally, the calculated passing time is used as the third duration for subsequent collision risk judgment.

[0090] Step S206, when the sum of the first time length and the third time length is equal to the second time length, it is determined that the vehicle will collide with the moving object;

[0091] This step is executed after the third duration is calculated, and is used to determine the collision risk during the vehicle's passage. Specifically, the system first adds the first duration and the third duration to obtain the total time for the vehicle to completely pass the intersection. Then, the total time is compared with the second duration to determine whether the moving object will reach the intersection during the vehicle's passage. Finally, if the time is equal, it is determined that there is a collision risk, and the corresponding warning and control measures are triggered.

[0092] Step S207: when the vehicle is about to collide with the moving object, the driver is prompted, and a preset deceleration is calculated based on the preset safety speed, the real-time moving speed of the vehicle, the real-time moving speed of the moving object, and the position information of the moving object;

[0093] This embodiment provides a calculation formula for the preset deceleration, as follows:

[0094] abrake =v safe 2 / 2(d1-v c ·τ+v ρ ·T ρ -d0);

[0095] In the formula, a brake is the preset deceleration; v safe is the safe speed; τ is the time lag between vehicle detection and braking coordination; d1 is the longitudinal distance between pedestrian and vehicle when predicting the change of pedestrian trajectory; v c is the real-time moving speed of the vehicle; v ρ is the speed of the pedestrian parallel to the direction of vehicle travel; T ρ This section refers to the longitudinal walking time of pedestrians; d0 is the distance between pedestrians and vehicles after parking.

[0096] Among them, the preset safety speed represents the threshold of safe driving speed in the current scenario; the real-time speed of the vehicle refers to the current speed of the vehicle; the real-time speed of the moving object represents the current speed of the target; the position information of the moving object refers to the spatial position data of the target relative to the vehicle; the preset deceleration represents the calculated target deceleration value; the time lag of the detection link and the braking coordination link refers to the response delay time from detection to braking; the longitudinal distance between people and vehicles represents the distance between the vehicle and the pedestrian in the driving direction; the distance between people and vehicles after parking refers to the minimum safe distance between the vehicle and the pedestrian after stopping. For example, when the vehicle is traveling at 40km / h and needs to decelerate to a safe speed of 20km / h, the system will calculate the required deceleration value based on the current scenario.

[0097] This step is performed after confirming the existence of a collision risk, and is used to calculate the deceleration required for safe deceleration. Specifically, the system first issues a collision warning prompt to the driver, which may include various forms such as sound and light alarms and seat vibration. Then, the system collects various parameters of the current scene, including the time lag between the vehicle detection link and the braking coordination link, the longitudinal distance between the pedestrian and the vehicle when predicting the change of pedestrian trajectory, the real-time movement speed of the vehicle, the speed of the pedestrian parallel to the direction of travel of the vehicle, the longitudinal walking time of the pedestrian in the deceleration link, and the distance between the pedestrian and the vehicle after parking; finally, these parameters are substituted into the preset deceleration calculation formula to obtain the target deceleration value that can ensure safety. The calculation process will take into account multiple influencing factors such as system response delay and changes in the distance between people and vehicles to ensure the safety and reliability of the deceleration process.

[0098] Step S208, controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safe speed;

[0099] Among them, the preset deceleration refers to the calculated target deceleration value; controlling the vehicle refers to the automatic adjustment process of the vehicle braking system; the deceleration process refers to the dynamic change process of the vehicle speed from the current value to the target value; the preset safety speed refers to the target speed value determined according to the scenario. For example, when the calculation shows that the deceleration needs to be reduced to 20km / h at 2m / s2, the system will control the braking system to perform the corresponding deceleration operation.

[0100] This step is performed after the preset deceleration is obtained, and is used to achieve safe deceleration of the vehicle. Specifically, the system first converts the calculated preset deceleration into a control signal for the braking system. Then, a smooth deceleration process is achieved by coordinating the control of the engine output torque and the braking force. During the deceleration process, the system monitors the vehicle speed changes in real time and ensures the accuracy of the deceleration through feedback adjustment. When the vehicle speed drops to the preset safety speed, the system will maintain the speed until the situation is resolved.

[0101] Specifically, this embodiment provides a more specific method for controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safety speed, as follows:

[0102] Step S209, when the vehicle is controlled to decelerate at the preset deceleration, if the real-time moving speed of the vehicle is greater than or equal to the preset safety speed and the moving object is about to enter the driving path of the vehicle, the vehicle is controlled to decelerate at the preset deceleration until the vehicle stops moving;

[0103] Among them, the preset deceleration refers to the target deceleration value calculated by the system; the real-time speed of the vehicle refers to the current driving speed of the vehicle; the preset safety speed refers to the safety speed threshold set for the current scene; the driving route of the vehicle refers to the expected driving trajectory of the vehicle; and the stop movement refers to the complete stop state of the vehicle. For example, when the vehicle speed is 30km / h, the preset safety speed is 20km / h, and a pedestrian is detected about to cross the road, the system will control the vehicle to stop completely.

[0104] This step is performed during the vehicle deceleration process and is used to respond to emergency braking in high-risk scenarios. Specifically, the system first continuously monitors the vehicle speed and the motion state of moving objects. Then, when it is found that the vehicle speed is still higher than the safe speed and the moving object has a tendency to enter the driving route and may collide with the vehicle, the system determines that the current situation is highly dangerous. Finally, the system maintains the preset deceleration rate unchanged and controls the vehicle to continue to decelerate until it stops completely to ensure the safety of pedestrians.

[0105] Step S210, when the vehicle is decelerated by controlling the preset deceleration, if the real-time moving speed of the vehicle is less than the preset safety speed and the moving object is about to follow the driving route of the vehicle, the preset deceleration is recalculated according to the position information of the moving object, and the vehicle is controlled to decelerate by the recalculated preset deceleration until the vehicle is at the preset safety speed;

[0106] Among them, the preset deceleration refers to the target deceleration value calculated by the system; the real-time speed of the vehicle refers to the current speed of the vehicle; the preset safe speed refers to the safe speed threshold in the current scenario; the moving object position information refers to the spatial position data of the target object relative to the vehicle; and recalculation refers to the updated calculation of the deceleration based on the latest status. For example, when the vehicle speed drops to 15km / h, which is lower than the safe speed of 20km / h, the system will re-evaluate the deceleration demand based on the latest position of the pedestrian.

[0107] This step is performed during the vehicle deceleration process and is used to dynamically adjust the deceleration strategy. Specifically, the system first determines whether the current vehicle speed is lower than the preset safe speed. Then, if the vehicle speed has dropped to a safe range but a moving object may still enter the driving route and may collide with the vehicle, the system will re-collect the position information of the moving object. Next, the appropriate deceleration is recalculated based on the updated position information and the current state. Finally, the new deceleration value is used to control the vehicle to keep it running at the preset safe speed.

[0108] In general, in this embodiment, the system uses an intelligent algorithm to perform real-time analysis on the motion trajectories of the moving object and the vehicle. First, the intersection position of the motion trajectories of both parties is calculated, and then the time to reach the intersection is calculated based on their respective real-time speeds. The system will judge two possible collision situations: one is that both parties arrive at the intersection at the same time, and the other is that the moving object arrives when the vehicle arrives first but has not completely left the intersection. When it is determined that there is a risk of collision, the system will immediately start the collision avoidance plan, first issue an early warning prompt to the driver, and calculate the optimal deceleration based on parameters such as the preset safe speed, the real-time speed of both parties, and the position of the moving object. During the deceleration process, the system will continuously monitor the position and behavior of the moving object, and dynamically adjust the deceleration strategy according to the situation: if it is detected that the moving object is about to enter the driving route and the speed is still higher than the safety value, the system will control the vehicle to continue to decelerate until it stops; if the speed is lower than the safety value but there is still a risk, it will recalculate and execute a more reasonable deceleration plan to ensure that the vehicle always remains within the safe speed range to avoid collision.

[0109] In this embodiment, due to the use of an intelligent collision avoidance algorithm based on motion trajectory intersection analysis, combined with dynamic deceleration control and adaptive safety strategies, it is possible to accurately predict collision risks and respond in a timely manner, effectively solving technical problems such as inaccurate prediction, delayed response, and fixed control strategies of traditional collision avoidance systems, thereby achieving smarter and more reliable collision avoidance protection. The system not only takes into account conventional simultaneous collision situations, but also innovatively adds collision risk analysis when the vehicle has not completely left the intersection, significantly improving the comprehensiveness of protection. At the same time, the dynamic deceleration control strategy adopted by the system not only ensures driving safety, but also avoids traffic congestion caused by excessive deceleration, truly achieving a balance between safety and practicality.

[0110] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can be referred to the above introduction, and will not be described in detail later. Figure 3 and Figure 4 This embodiment provides a real-time monitoring control scheme for the vehicle speed and following distance and a safe driving control scheme based on the driver's state, as follows:

[0111] This embodiment implements a real-time monitoring and control scheme for the vehicle speed and following distance of the vehicle. Figure 3 ,as follows:

[0112] Step S301, detecting the driving speed of the vehicle and the distance between the vehicle and the preceding vehicle; when the driving speed of the vehicle is greater than a preset speed threshold and / or the distance between the vehicle and the preceding vehicle is less than a preset threshold, reminding the driver to slow down;

[0113] Among them, the vehicle speed refers to the current speed of the vehicle; the distance between the vehicle and the vehicle in front refers to the longitudinal distance between the vehicle and the vehicle in front; the preset speed threshold refers to the maximum safe speed limit set by the system; the preset threshold refers to the minimum safe vehicle distance pre-set by the system; reminding the driver means issuing warning information to the driver in various ways. For example, when the vehicle is traveling at a speed of 90km / h and the distance to the vehicle in front is only 20 meters, the system will issue a deceleration reminder.

[0114] This step is continuously executed during normal vehicle driving to monitor the driving status and promptly remind the driver. Specifically, the system first collects the vehicle speed information in real time through the vehicle speed sensor, and continuously measures the distance to the vehicle in front through sensors such as millimeter wave radar. Then, the collected data is compared with the preset speed and distance thresholds. When the speed threshold is exceeded or less than the distance threshold, the system will issue a deceleration warning to the driver through various methods such as sound and light warnings, instrument panel prompts or head-up displays.

[0115] Step S302, acquiring the acceleration change rate of the vehicle in real time, and judging whether the driver performs a deceleration operation according to the acceleration change rate;

[0116] Among them, the acceleration change rate indicates the degree of change of vehicle acceleration over time; real-time acquisition refers to the process of continuously collecting data; deceleration operation refers to the deceleration control action performed by the driver through the brake pedal. For example, when the system detects that the acceleration change rate is negative and the amplitude is large, it indicates that the driver is performing a deceleration operation.

[0117] This step is executed after the deceleration reminder is issued, and is used to determine the driver's response. Specifically, the system first collects the vehicle acceleration data through the acceleration sensor and calculates its rate of change over time. Then, by analyzing the direction and amplitude of the acceleration change rate, it is determined whether the driver has taken a deceleration action. If the acceleration change rate shows a significant negative change, it means that the driver has performed a deceleration operation; if the acceleration change rate remains unchanged or does not change significantly (less than the preset value), it is determined that the driver has not performed a deceleration operation.

[0118] Step S303, when the driver does not perform the deceleration operation, controlling the pedal opening to reduce the vehicle speed to the preset speed threshold;

[0119] Among them, the pedal opening refers to the position of the accelerator pedal; the control pedal opening refers to the system's automatic adjustment of the engine output power; the preset speed threshold refers to the target safety speed set by the system. For example, when the vehicle speed needs to be reduced from 90km / h to the preset speed threshold of 80km / h, the system will gradually reduce the pedal opening.

[0120] This step is performed after confirming that the driver has not performed a deceleration operation, and is used to achieve automatic system intervention. Specifically, the system first confirms that the driver has not taken effective deceleration actions within the specified time. Then, the system takes over the control of the vehicle and gradually reduces the pedal opening through the electronic throttle system. During the reduction process, the system will dynamically adjust the rate of change of the pedal opening according to real-time speed feedback to ensure a smooth deceleration process. Finally, when the vehicle speed drops to the preset speed threshold, the system will maintain the corresponding pedal opening to stabilize the vehicle speed at the target value.

[0121] refer to Figure 4 , this embodiment is based on the driver's state of safe driving control scheme, refer to Figure 4 ,as follows:

[0122] Step S304, monitoring the driver's body temperature and behavior;

[0123] Among them, body temperature monitoring refers to the real-time detection process of the driver's body temperature; behavior monitoring refers to the continuous tracking of the driver's facial expression, head posture, eye state and other driving behavior characteristics; the driver refers to the actual operator of the vehicle; monitoring refers to the continuous data collection and analysis process. For example, the system detects that the driver's body temperature is 37.8℃ through the infrared sensor, and observes the driver's frequent yawning behavior characteristics through the camera.

[0124] This step is executed continuously after the vehicle is started and is used to evaluate the driver's physical condition and driving status. Specifically, the system first performs non-contact body temperature detection on the driver through the infrared temperature sensor installed in the car, and the frequency of data collection is usually multiple times per second. At the same time, the driver's facial image and behavior data are collected through a high-definition camera installed on the steering column or dashboard. The system will process this data in real time and establish a feature model of the driver's status for subsequent status judgment and early warning.

[0125] In some embodiments, driver status monitoring can be achieved in a variety of ways:

[0126] Optionally, a multi-sensor fusion solution can be used, first collecting body temperature data through infrared sensors, then using depth cameras to collect three-dimensional behavioral features, and finally collecting physiological indicators such as heart rate through physiological sensors;

[0127] Optionally, an intelligent visual analysis solution can be used to first capture the driver's image through a high-speed camera, then use a computer vision algorithm to extract key feature points, and finally analyze the driving behavior pattern through a deep learning model.

[0128] It is understandable that other methods may be used to implement driver status monitoring, which are not limited here.

[0129] Step S305, when the driver's body temperature exceeds a first preset temperature or the driver's behavior meets a preset dangerous driving condition, a warning is given to the driver;

[0130] Among them, the first preset temperature represents the temperature warning threshold set by the system; the preset dangerous driving condition refers to the set of dangerous driving behavior characteristics predefined by the system; the warning prompt refers to various forms of warning information issued by the system to the driver; and the behavior compliance refers to the detected driver behavior matching the preset conditions. For example, when the system detects that the driver's body temperature reaches 38.5℃, or meets the preset dangerous driving conditions (such as any hand leaving the steering wheel for more than 10 seconds or the driver's head swings up and down by more than 45° or left and right by more than 60° for more than 2 times within 10 seconds), a warning prompt will be triggered.

[0131] This step is executed when an abnormal state is detected, and is used to promptly remind the driver to pay attention to safety. Specifically, the system first compares the real-time collected body temperature data with the preset temperature threshold, and matches the extracted behavioral features with the preset dangerous driving feature library. When abnormal body temperature or abnormal behavior is found, the system will immediately activate a multi-level warning mechanism. The warning method can include sound prompts, seat vibrations, dashboard displays, and other forms, and the intensity and frequency of the warning will be adjusted according to the degree of abnormality.

[0132] Step S306, when the body temperature of the driver or the body temperature of a part of the driver's body rises to a second preset temperature within the first preset time period, the vehicle is controlled to stop moving and a rescue is called;

[0133] Among them, body parts refer to specific areas of the driver's body such as the forehead, wrist and other key temperature measurement locations; the first preset duration refers to the temperature monitoring time window set by the system; the second preset temperature refers to the temperature rise warning value set by the system; controlling the vehicle to stop movement means that the system automatically takes over and makes the vehicle stop safely; calling for help means that the system automatically sends a request for help to the rescue agency. For example, when the driver's forehead temperature rises from 37.5℃ to 38.5℃ within 5 minutes, the system will start the emergency disposal procedure.

[0134] This step is executed when an abnormal increase in the driver's body temperature is detected, and is used to respond to possible medical emergencies. Specifically, the system first continuously records the driver's body temperature change curve. When it is found that the body temperature rises above the set threshold within the preset time window, the emergency plan is immediately activated. The system will evaluate the current driving environment, select a suitable road section, control the vehicle to slow down and safely park in the emergency lane or safe area. At the same time, the system will automatically send a request for help to the nearest medical rescue agency, including key information such as vehicle location and driver condition.

[0135] Step S307, when receiving the driver's instruction to stop calling for help within the second preset time period, stop calling for help.

[0136] The second preset time indicates the maximum waiting time that the system allows the driver to cancel the rescue; the stop call for rescue command refers to the driver sending a signal to cancel the rescue through the vehicle system; the received command means that the system receives and confirms the driver's cancellation request. For example, within 2 minutes after the rescue call is issued, the driver can cancel the rescue request through the touch screen or voice command.

[0137] This step is executed after the system issues a rescue call to avoid unnecessary waste of rescue resources. Specifically, the system will start a timer after issuing a rescue call and continuously listen for the driver's cancellation command within a preset time window. If the driver is detected to issue a cancellation command through any preset interactive method during this period, the system will immediately send a cancellation message to the relevant rescue agency. At the same time, the system will record this cancellation operation for subsequent system optimization and statistical analysis.

[0138] During the operation of the vehicle, the system of Example 2 first continuously monitors the speed of the vehicle and the distance to the vehicle in front through the vehicle speed sensor and radar. When the speed is too fast or the distance is too close, the driver is immediately warned to slow down. The system determines whether the driver has performed a deceleration operation by the rate of change of acceleration. If not, the pedal opening is automatically controlled to achieve deceleration. At the same time, the system monitors the driver's body temperature and behavior through infrared sensors and cameras. When abnormal body temperature or dangerous driving behavior is found, the system will issue a warning prompt in time. If the driver's body temperature rises rapidly within a specific time, the system will activate the emergency plan, control the vehicle to stop safely and automatically call for rescue. The driver can cancel the rescue request within a preset time. The entire system forms a complete closed-loop control process from early warning, monitoring, intervention to emergency disposal.

[0139] In this embodiment, due to the adoption of a driver response judgment mechanism based on the acceleration change rate, combined with a multi-sensor fusion driver status monitoring system, and an intelligent hierarchical warning and intervention strategy, it is possible to fully respect the driver's autonomy while ensuring driving safety, effectively solving the technical problems of the traditional assisted driving system, such as single judgment conditions, delayed response, high misjudgment rate, and single intervention measures, thereby achieving a dual improvement in driving safety and user experience. The system establishes a complete set of early warning-judgment-intervention-rescue mechanisms by monitoring the driver's physiological state and driving behavior in real time, which can not only detect and prevent dangerous driving conditions in a timely manner, but also take reasonable response measures in emergency situations, significantly improving driving safety. At the same time, the system's multi-level early warning mechanism and revocable rescue call function avoid the decline in driving experience caused by excessive intervention, fully reflecting the people-oriented design concept.

[0140] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the intelligent control method for automobile driving safety of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0141] The present application provides an intelligent control device for automobile driving safety, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the intelligent control method for automobile driving safety in the above-mentioned embodiment one.

[0142] Reference below Figure 5 , which shows a schematic diagram of the structure of an intelligent control device for automobile driving safety suitable for implementing the embodiment of the present application. The intelligent control device for automobile driving safety in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The automobile driving safety intelligent control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0143] like Figure 5As shown, the automobile driving safety intelligent control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automobile driving safety intelligent control device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automobile driving safety intelligent control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an automobile driving safety intelligent control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0144] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0145] The automobile driving safety intelligent control device provided by the present application adopts the automobile driving safety intelligent control method in the above embodiment, which can solve the technical problem of human-vehicle collision in a road environment where people and vehicles are mixed. Compared with the prior art, the beneficial effects of the automobile driving safety intelligent control device provided by the present application are the same as the beneficial effects of the automobile driving safety intelligent control method provided by the above embodiment, and the other technical features in the automobile driving safety intelligent control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0146] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0147] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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.

[0148] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automobile driving safety intelligent control method in the above-mentioned embodiment.

[0149] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0150] The computer-readable storage medium may be included in the automobile driving safety intelligent control device; or may exist independently without being assembled into the automobile driving safety intelligent control device.

[0151] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0152] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned intelligent control method for automobile driving safety, and can solve the technical problem of human-vehicle collision in a road environment where people and vehicles are mixed. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the intelligent control method for automobile driving safety provided by the above-mentioned embodiment, and will not be repeated here.

[0153] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned automobile driving safety intelligent control method when executed by a processor.

[0154] The computer program product provided by the present application can solve the technical problem of human-vehicle collision in a road environment with mixed human and vehicle environments. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the automobile driving safety intelligent control method provided by the above embodiment, and will not be elaborated here.

[0155] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for intelligent control of automobile driving safety, characterized in that: The automobile driving safety intelligent control method comprises: Determine the motion trajectory of the moving object based on the motion characteristics of the moving object in the environment; Determine whether the vehicle will collide with the moving object according to the moving trajectory of the moving object; When the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time, thereby avoiding the collision between the vehicle and the moving object.

2. The method according to claim 1, characterized in that The step of judging whether the vehicle will collide with the moving object according to the moving trajectory of the moving object specifically includes: Calculating an intersection point of the motion trajectory of the moving object and the motion trajectory of the vehicle according to the motion trajectory of the moving object and the motion trajectory of the vehicle; Calculate a first duration for the vehicle to move to the intersection and a second duration for the moving object to move to the intersection according to the position of the intersection, the real-time moving speed of the vehicle and the real-time moving speed of the moving object; When the first time duration is equal to the second time duration, it is determined that the vehicle will collide with the moving object; When the first time duration is less than the second time duration, calculating a third time duration for the vehicle to reach the intersection and completely pass the intersection; When the sum of the first time duration and the third time duration is equal to the second time duration, it is determined that the vehicle will collide with the moving object.

3. The method according to claim 2, characterized in that When the vehicle is about to collide with the moving object, the driver is reminded and the speed of the vehicle is controlled in real time to avoid the collision between the vehicle and the moving object, specifically comprising: When the vehicle is about to collide with the moving object, the driver is prompted and a preset deceleration is calculated based on the preset safety speed, the real-time moving speed of the vehicle, the real-time moving speed of the moving object and the position information of the moving object; The vehicle is controlled to decelerate at the preset deceleration until the vehicle is at a preset safe speed.

4. The method according to claim 3, characterized in that The step of controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safety speed step specifically includes: When the vehicle is controlled to decelerate at the preset deceleration rate, if the real-time moving speed of the vehicle is greater than or equal to the preset safety speed and the moving object is about to enter the driving path of the vehicle, the vehicle is controlled to decelerate at the preset deceleration rate until the vehicle stops moving; When the vehicle is controlled to decelerate at the preset deceleration, if the real-time moving speed of the vehicle is less than the preset safety speed and the moving object is about to follow the driving route of the vehicle, the preset deceleration is recalculated according to the position information of the moving object, and the vehicle is controlled to decelerate at the recalculated preset deceleration until the vehicle is at the preset safety speed.

5. The method according to claim 1, characterized in that The process of controlling the vehicle to decelerate at the preset deceleration until the vehicle is at a preset safety speed step includes: Detecting the driving speed of the vehicle and the distance between the vehicle and the vehicle ahead; when the driving speed of the vehicle is greater than a preset speed threshold and / or the distance between the vehicle and the vehicle ahead is less than a preset threshold, reminding the driver to slow down; Acquiring the acceleration change rate of the vehicle in real time, and judging whether the driver performs a deceleration operation according to the acceleration change rate; When the driver does not perform the deceleration operation, the pedal opening is controlled to reduce the vehicle's running speed to the preset speed threshold.

6. The method according to any one of claims 1 to 5, characterized in that: The step of determining whether the motion trajectory of the moving object intersects with the driving route of the vehicle according to the motion characteristics of the moving object comprises: Conducting temperature and behavior monitoring on the driver; When the driver's body temperature exceeds a first preset temperature or the driver's behavior meets a preset dangerous driving condition, a warning is given to the driver.

7. The method according to claim 6, characterized in that The step of monitoring the driver's body temperature and behavior may further include: When the body temperature of the driver or the temperature of a part of the driver's body rises to a second preset temperature within a first preset time period, the vehicle is controlled to stop moving and a rescue call is made; Within the second preset time period, upon receiving the driver's instruction to stop calling for help, stop calling for help.

8. An intelligent control device for automobile driving safety, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automobile driving safety intelligent control method as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the automobile driving safety intelligent control method as claimed in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle driving safety intelligent control method as claimed in any one of claims 1 to 6 are implemented.

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