Vehicle control method, device and equipment based on driver state and storage medium

Abstract

The invention discloses a vehicle control method, device and equipment based on the driver state and a storage medium, and relates to the technical field of vehicles, and the vehicle control method based on the driver state comprises the steps that the target driver state is determined according to the driver eye state and the driver behavior state; and when the target driver state is the target dangerous driving state, performing safe parking control of the vehicle according to current vehicle associated data. Whether the safe parking action is carried out or not is judged according to the eye state and behavior ability of the driver, safe parking is guaranteed under the condition that the driver does not have the ability to take over the vehicle (unconsciously), and the problem that accidents happen under the condition that the driver does not have the ability to take over the vehicle is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment and storage medium based on driver status. Background Art

[0002] With the development of autonomous driving technology, autonomous driving technology is becoming more and more mature. It can realize autonomous driving of vehicles in urban and high-speed conditions. However, while bringing convenience, it puts forward higher requirements on the safety of system control, that is, how to achieve safe parking of autonomous driving. The existing autonomous driving technology does not have specific conditions to trigger safe parking, and mainly responds to the road environment outside the vehicle without considering the driver's status. There is also the problem that the system may misjudge and exit the function when the driver has no operation. Therefore, how to solve the accident caused by the driver's inability to take over the vehicle has become an urgent problem to be solved. Summary of the invention

[0003] The main purpose of the present application is to provide a vehicle control method, device, equipment and storage medium based on the driver's status, aiming to solve the technical problem of accidents caused by the driver's inability to take over the vehicle.

[0004] To achieve the above objectives, the present application proposes a vehicle control method based on a driver state, the vehicle control method based on a driver state comprising:

[0005] Determine the target driver state according to the driver's eye state and the driver's behavior state;

[0006] When the target driver state is a target dangerous driving state, safe parking control of the vehicle is performed according to current vehicle-related data.

[0007] In one embodiment, the step of determining the target driver state according to the driver's eye state and the driver's behavior state includes:

[0008] When the driver's eye state is an eye-out state, obtaining a first state duration corresponding to the eye-out state;

[0009] When the driver behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0010] The target driver state is determined based on the first state duration and the second state duration.

[0011] In one embodiment, the step of determining the target driver state according to the first state duration and the second state duration includes:

[0012] When the duration of the first state is greater than or equal to a first duration threshold and the duration of the second state is greater than or equal to a second duration threshold, generating target vehicle warning information;

[0013] Perform dangerous driving alarm according to the target vehicle alarm information and obtain the target completion time;

[0014] When the target completion time is greater than or equal to the alarm completion time threshold, detecting driver takeover information;

[0015] When the driver takeover information is not detected, the target driver state is determined to be a target dangerous driving state.

[0016] In one embodiment, the step of determining the target driver state according to the driver's eye state and the driver's behavior state includes:

[0017] When the driver's eye state is an eye-out state and the driver's behavior state is a normal behavior state, obtaining a first state duration corresponding to the eye-out state;

[0018] When the duration of the first state is greater than or equal to a first duration threshold, generating target vehicle warning information;

[0019] The target driver status is determined according to the target vehicle alarm information.

[0020] In one embodiment, the step of determining the target driver state according to the driver's eye state and the driver's behavior state includes:

[0021] When the driver's eye state is a normal eye state and the driver's behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0022] When the duration of the first state is greater than or equal to a second duration threshold, generating target vehicle warning information;

[0023] The target driver status is determined according to the target vehicle alarm information.

[0024] In one embodiment, when the target driver state is a target dangerous driving state, the step of performing safe parking control of the vehicle according to the current vehicle-related data includes:

[0025] When the target driver state is a target dangerous driving state, performing parking path planning according to current vehicle-related data to determine target parking path information;

[0026] The vehicle is safely parked according to the target parking path information, and a target vehicle distress signal is generated.

[0027] In one embodiment, after the step of performing safe parking control of the vehicle according to the current vehicle-related data when the target driver state is the target dangerous driving state, the method further includes:

[0028] When controlling the vehicle to park safely, detect brake pedal information, accelerator pedal information, driver behavior status, and target driving function information;

[0029] The target vehicle takeover state is determined according to at least one of the brake pedal information, the accelerator pedal information, the driver behavior state, and the target driving function information.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device based on the driver's state, and the vehicle control device based on the driver's state includes:

[0031] A processing module, used for determining a target driver state according to the driver's eye state and the driver's behavior state;

[0032] The control module is used to perform safe parking control of the vehicle according to current vehicle-related data when the target driver state is a target dangerous driving state.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device based on driver status, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle control method based on driver status as described above.

[0034] 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 vehicle control method based on the driver status as described above are implemented.

[0035] 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 vehicle control method based on the driver status as described above.

[0036] This application determines the target driver state according to the driver's eye state and the driver's behavior state; when the target driver state is the target dangerous driving state, the vehicle is safely parked according to the current vehicle-related data. By judging whether to perform a safe parking action based on the driver's eye state and behavior ability, and ensuring safe parking when the driver is unable (unconscious) to take over the vehicle, the problem of accidents caused by the driver's inability to take over the vehicle is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] 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.

[0039] Figure 1 A flowchart diagram of a first embodiment of a vehicle control method based on a driver's state provided in the present application;

[0040] Figure 2 A flow chart of a second embodiment of a vehicle control method based on a driver's state provided in the present application;

[0041] Figure 3 This is a schematic diagram of the module structure of a vehicle control device based on the driver status according to an embodiment of the present application;

[0042] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method based on the driver status in the embodiment of the present application.

[0043] 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

[0044] 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.

[0045] 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.

[0046] The main solution of the embodiment of the present application is: determine the target driver state according to the driver's eye state and the driver's behavior state; when the target driver state is a target dangerous driving state, perform safe parking control of the vehicle according to the current vehicle-related data.

[0047] With the development of autonomous driving technology, autonomous driving technology is becoming more and more mature. It can realize autonomous driving of vehicles in urban and high-speed conditions. However, while bringing convenience, it puts forward higher requirements on the safety of system control, that is, how to achieve safe parking of autonomous driving. The existing autonomous driving technology does not have specific conditions to trigger safe parking, and mainly responds to the road environment outside the vehicle without considering the driver's status. There is also the problem that the system may misjudge and exit the function when the driver has no operation. Therefore, how to solve the accident caused by the driver's inability to take over the vehicle has become an urgent problem to be solved.

[0048] This application determines the target driver state based on the driver's eye state and the driver's behavior state; when the target driver state is the target dangerous driving state, the vehicle is safely parked according to the current vehicle-related data. By judging whether to perform a safe parking action based on the driver's eye state and behavior ability, and ensuring safe parking when the driver is unable (unconscious) to take over the vehicle, the problem of accidents caused by the driver's inability to take over the vehicle is solved.

[0049] It should be noted that the execution subject of this embodiment may 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 a vehicle control device based on the driver's state that can realize the above functions, etc. The following takes the vehicle control device based on the driver's state as the execution subject as an example to illustrate this embodiment and the following embodiments.

[0050] Based on this, the embodiment of the present application provides a vehicle control method based on the driver state, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle control method based on the driver status of the present application.

[0051] In this embodiment, the vehicle control method based on the driver state includes steps S10 to S20:

[0052] Step S10, determining a target driver state according to the driver's eye state and the driver's behavior state;

[0053] It should be noted that this embodiment uses the on-board DMS (Driver Monitoring System), HOD (Hands on Detection / Hand Off Detection, the sensor technology on the steering wheel is used to detect whether the driver's hands are on the steering wheel), accelerator pedal, brake pedal, on-board external camera, radar, lidar, intelligent driving domain controller and other modules to judge whether to perform a safe parking action based on the driver's mental (eye) state and behavioral ability; and when the driver is unable (unconscious) to take over the vehicle, safe parking is ensured to solve the problem of accidents caused by the driver's inability to take over the vehicle. Among them, the DMS continuously monitors the driver's mental state, and the HOD monitors whether the driver has taken his hands off the vehicle; the intelligent driving domain controller determines whether a safe parking action is to be performed at present; when the system determines that the driver is unable to take over, the system controls the vehicle to perform a safe parking action; and performs a safe parking action and takes over.

[0054] It can be understood that the driver's eye state refers to whether the driver's line of sight deviates obviously from the road, the driver's behavior state refers to whether the driver's hands are completely off the steering wheel, and the target driver state refers to whether the driver has the ability to take over the vehicle.

[0055] In a specific implementation, by detecting whether the driver's line of sight obviously deviates from the road and whether the driver's hands are completely off the steering wheel, the state of whether the driver's line of sight obviously deviates from the road and the state of whether the driver's hands are completely off the steering wheel can be obtained, and then based on the state of whether the driver's line of sight obviously deviates from the road and the state of whether the driver's hands are completely off the steering wheel, it is judged whether the driver has the ability to take over the vehicle, that is, the target driver state.

[0056] It should be noted that the DMS and HOD sensors need to monitor the driver's mental state and whether he or she has taken his or her hands off the car in real time. The judgment conditions can be output based on the sensor's own threshold, but at least it can ensure the output of whether the driver is in an eyes-off state and in a hands-off state.

[0057] Step S20, when the target driver state is a target dangerous driving state, performing safe parking control of the vehicle according to current vehicle-related data.

[0058] It can be understood that the target dangerous driving state refers to the driving state in which the driver is unable to take over the vehicle. The current vehicle-related data includes on-board cameras, radars, lidars and chassis-related data.

[0059] In the specific implementation, when the target driver state is a driving state in which the driver has no ability to take over the vehicle, it indicates that the intelligent driving domain controller is required to take over the vehicle and control the vehicle to park safely, and then control the vehicle to park safely based on the on-board camera, radar, lidar and chassis-related data and through the intelligent driving domain controller.

[0060] In a feasible implementation, step S20 may include steps A21 to A22:

[0061] Step A21, when the target driver state is a target dangerous driving state, parking path planning is performed according to current vehicle association data to determine target parking path information;

[0062] It should be noted that the target parking path information refers to the planned path information for controlling the safe parking of the vehicle.

[0063] In the specific implementation, when the target driver state is a driving state in which the driver is unable to take over the vehicle, the on-board camera, radar, lidar and chassis-related data are input into the intelligent driving domain controller for parking path planning, and then the planned path information for controlling the safe parking of the vehicle is determined based on the planning results, that is, the target parking path information.

[0064] Step A22, performing safe parking control of the vehicle according to the target parking path information, and generating a target vehicle distress signal.

[0065] It can be understood that the target vehicle distress signal refers to the vehicle emergency distress signal, which controls the chassis system to brake the vehicle on the emergency lane according to the planned path information for controlling the safe parking of the vehicle, so as to achieve safe parking of the vehicle and generate a vehicle emergency distress signal, that is, dial the ICALL (in-vehicle emergency call system) distress system, wherein the ICALL distress system allows the driver or passenger to quickly contact the rescue service in an emergency.

[0066] It should be noted that in this embodiment, the vehicle-mounted camera, radar, lidar and chassis-related data are input into the intelligent driving domain controller, and the vehicle's running trajectory and control parameters are generated according to the preset algorithm model. The chassis system is then controlled to stop the vehicle in the emergency lane and call the ICALL rescue system at the same time.

[0067] In a feasible implementation manner, step S20 may include steps B21 to B22:

[0068] Step B21, when controlling the vehicle to park safely, detecting brake pedal information, accelerator pedal information, driver behavior status, and target driving function information;

[0069] It can be understood that the brake pedal information refers to the information of pressing the brake pedal, the accelerator pedal information refers to the information of pressing the accelerator pedal, and the target driving function information refers to the information of the intelligent driving function button.

[0070] In the specific implementation, when controlling the vehicle for safe parking, in order to determine whether the driver has taken over the vehicle, the information of pressing the brake pedal, the information of pressing the accelerator pedal, whether the driver's hands are completely off the steering wheel, and the information of the intelligent driving function buttons are detected.

[0071] Step B22, determining the target vehicle takeover state according to at least one of the brake pedal information, the accelerator pedal information, the driver behavior state and the target driving function information.

[0072] It can be understood that the target vehicle takeover status refers to the status of whether the driver has taken over the vehicle.

[0073] In a specific implementation, the state of whether the driver has taken over the vehicle, i.e. the takeover state of the target vehicle, is determined based on at least one of the detected information of the brake pedal being pressed, the accelerator pedal being pressed, whether the driver's hands are completely off the steering wheel, and the information of the intelligent driving function buttons.

[0074] It should be noted that when the system controls the vehicle to perform a safe parking, the driver can take over the vehicle by pressing the brake pedal, holding the steering wheel + accelerator pedal, holding the steering wheel + brake pedal or the smart driving function button.

[0075] This embodiment determines the target driver state according to the driver's eye state and the driver's behavior state; when the target driver state is the target dangerous driving state, the vehicle is safely parked according to the current vehicle-related data. By judging whether to perform a safe parking action based on the driver's eye state and behavior ability, and ensuring safe parking when the driver is unable (unconscious) to take over the vehicle, the problem of accidents caused by the driver's inability to take over the vehicle is solved.

[0076] 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 , the vehicle control method based on the driver state in step S10 further includes steps S11 to S13:

[0077] Step S11, when the driver's eye state is an eye-out state, obtaining a first state duration corresponding to the eye-out state;

[0078] It can be understood that the out-of-eye state refers to a state in which the driver's line of sight deviates significantly from the road, and the first state duration refers to the duration of the out-of-eye state.

[0079] In a specific implementation, when the driver's eye state is a state where the driver's line of sight deviates obviously from the road, in order to accurately determine whether the driver has the ability to take over the vehicle, the duration of the out-of-eye state, that is, the first state duration, is obtained.

[0080] Step S12, when the driver's behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0081] It can be understood that the hands-off state refers to a state in which the driver's hands are completely off the steering wheel, and the first state duration refers to the duration of the hands-off state.

[0082] In a specific implementation, when the driver's behavior state is that the driver's hands are completely off the steering wheel, in order to accurately determine whether the driver has the ability to take over the vehicle, the duration of the hands-off state, that is, the second state duration, is obtained.

[0083] Step S13, determining the target driver state according to the first state duration and the second state duration.

[0084] In specific implementations, when this embodiment determines that the driver's line of sight has obviously deviated from the road and the driver's hands are completely off the steering wheel, it determines the corresponding target driver state based on the duration of the eyes-off state and the duration of the hands-off state.

[0085] In a feasible implementation, step S13 may include steps A131 to A134:

[0086] Step A131, when the duration of the first state is greater than or equal to a first duration threshold and the duration of the second state is greater than or equal to a second duration threshold, generating target vehicle alarm information;

[0087] It can be understood that the first time threshold refers to the critical value of the time when the driver takes his eyes off the car, which is used to determine whether the driver has the ability to take over; the second time threshold refers to the critical value of the time when the driver takes his hands off the car, which is used to determine whether the driver has the ability to take over; the target vehicle alarm information refers to multi-level acoustic combined with optical alarm information, for example, first, second, and third level in-vehicle acoustic + optical alarm information.

[0088] In a specific implementation, when the duration of the eyes-off state is greater than or equal to the eyes-off state critical time value used to judge whether the driver has the ability to take over, and the duration of the hands-off state is greater than or equal to the hands-off state critical time value used to judge whether the driver has the ability to take over, it indicates that the vehicle needs to be reminded of dangerous driving, and then the first, second, and third level in-vehicle acoustic + optical alarm information are respectively issued, that is, the target vehicle alarm information.

[0089] Step A132, issuing a dangerous driving alarm according to the target vehicle alarm information, and obtaining the target completion time;

[0090] It is understandable that the target completion time refers to the completion time of the three-level acoustic + optical alarm prompt.

[0091] In the specific implementation, based on the generated first-level, second-level, and third-level in-vehicle acoustic + optical alarm information, graded alarm prompts are then issued, and the completion time of the alarm prompts, that is, the target completion time, is detected to accurately determine whether the driver has the ability to take over.

[0092] Step A133, when the target completion time is greater than or equal to the alarm completion time threshold, detecting the driver takeover information;

[0093] It can be understood that the alarm completion time threshold refers to the critical value of the completion time used to determine whether the driver has the ability to take over, and the driver's takeover information includes information such as not taking eyes off the car, not taking hands off the car, and taking over actions.

[0094] In specific implementations, when the completion time of the third-level acoustic + optical alarm prompt is greater than or equal to the critical value of the completion time used to determine whether the driver has the ability to take over, it indicates that it is necessary to detect whether the driver performs takeover actions such as keeping his eyes on the car, keeping his hands on the car, and taking over, that is, the driver takeover information.

[0095] Step A134, when the driver takeover information is not detected, determining the target driver state as a target dangerous driving state.

[0096] It can be understood that when takeover information such as non-eyes-off, non-hands-off and taking over action is not detected, it indicates that the driver still has not performed takeover information such as non-eyes-off, non-hands-off and taking over action after multiple levels of alarm prompts, which means that it is determined that the driver has no ability to take over the vehicle, that is, the target dangerous driving state.

[0097] In a feasible implementation manner, step S13 may include steps B131 to B133:

[0098] Step B131, when the driver's eye state is an eye-out state and the driver's behavior state is a normal behavior state, obtaining a first state duration corresponding to the eye-out state;

[0099] It can be understood that the normal behavior state refers to a state in which the driver's hands are stably placed on the steering wheel.

[0100] In a specific implementation, when the driver's eye state is that the driver's line of sight obviously deviates from the road, and the driver's behavior state is that the driver's hands are stably placed on the steering wheel, it indicates that it is necessary to judge whether the driver has the ability to take over based on the duration of the out-of-eye state, and then obtain the duration of the out-of-eye state, that is, the duration of the first state.

[0101] Step B132, when the duration of the first state is greater than or equal to a first duration threshold, generating target vehicle alarm information;

[0102] In the specific implementation, the duration of the eyes-away state is compared with the critical value of the eyes-away state used to judge whether the driver has the ability to take over. When the duration of the eyes-away state is greater than or equal to the critical value of the eyes-away state used to judge whether the driver has the ability to take over, multi-level acoustic combined with optical alarm information is generated.

[0103] Step B133, determining the target driver status according to the target vehicle alarm information.

[0104] In a specific implementation, based on the generated first-level, second-level, and third-level in-vehicle acoustic + optical alarm information, alarm prompts are graded and the completion time of the alarm prompts is detected. When the completion time of the third-level acoustic + optical alarm prompt is greater than or equal to the critical value of the completion time for judging whether the driver has the ability to take over, and no takeover information such as keeping the eyes off, keeping the hands off, and taking over actions is detected, it indicates that the driver still has not performed takeover information such as keeping the eyes off, keeping the hands off, and taking over actions after multiple levels of alarm prompts, which means that the driver is determined to be incapable of taking over the vehicle, that is, the target dangerous driving state.

[0105] In a feasible implementation, step S13 may include steps C131 to C133:

[0106] Step C131, when the driver's eye state is a normal eye state and the driver's behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0107] It can be understood that the normal eye state refers to a state in which the driver's eyes are focused on the road ahead.

[0108] In a specific implementation, when the driver's eye state is that the driver's eyes are looking at the road ahead, and the driver's behavior state is that the driver's hands are completely off the steering wheel, it indicates that it is necessary to judge whether the driver has the ability to take over based on the duration of the hands-off state, and then obtain the duration of the hands-off state, that is, the second state duration.

[0109] Step C132, when the duration of the first state is greater than or equal to a second duration threshold, generating target vehicle alarm information;

[0110] It can be understood that the duration of the hands-off state is compared with the critical value of the hands-off time used to determine whether the driver has the ability to take over. When the duration of the hands-off state is greater than or equal to the critical value of the hands-off time used to determine whether the driver has the ability to take over, multi-level acoustic combined with optical warning information is generated.

[0111] Step C133, determining the target driver status according to the target vehicle alarm information.

[0112] In a specific implementation, based on the generated first-level, second-level, and third-level in-vehicle acoustic + optical alarm information, alarm prompts are graded and the completion time of the alarm prompts is detected. When the completion time of the third-level acoustic + optical alarm prompt is greater than or equal to the critical value of the completion time for judging whether the driver has the ability to take over, and no takeover information such as keeping the eyes off, keeping the hands off, and taking over actions is detected, it indicates that the driver still has not performed takeover information such as keeping the eyes off, keeping the hands off, and taking over actions after multiple levels of alarm prompts, which means that the driver is determined to be incapable of taking over the vehicle, that is, the target dangerous driving state.

[0113] It should be noted that in this embodiment, the intelligent driving domain controller determines whether to perform a safe parking action at present, including: when the DMS outputs the eyes-off state for a period of time, and the HOD outputs the hands-off state for a period of time, the driver is respectively given the first, second, and third level in-vehicle acoustic + optical alarm information. After 5 seconds after the third level acoustic + optical alarm prompt is completed, if the driver has not performed the non-eyes-off, non-hands-off, and takeover actions, the system determines that the driver is incapable of taking over at this time, and the system will perform a safe parking action; when the DMS outputs the eyes-off state for a period of time, and the HOD outputs the non-hands-off state, the driver is respectively given the first, second, and third level in-vehicle acoustic + optical alarm information. The system will issue the first, second and third level in-vehicle acoustic + optical alarm information. If the driver has not taken the eyes off or taken over action 5s after the third level acoustic + optical alarm prompt is completed, the system will determine that the driver is unable to take over at this time, and the system will perform a safe parking action; when the DMS outputs the eyes off state, and the HOD continuously outputs the hands off state for a period of time, the first, second and third level in-vehicle acoustic + optical alarm information will be issued to the driver respectively. If the driver has not taken the hands off or taken over action 5s after the third level acoustic + optical alarm prompt is completed, the system will determine that the driver is unable to take over at this time, and the system will perform a safe parking action.

[0114] This embodiment obtains the first state duration corresponding to the eye-off state when the driver's eye state is the eye-off state; obtains the second state duration corresponding to the hand-off state when the driver's behavior state is the hand-off state; and determines the target driver state according to the first state duration and the second state duration. Through the on-board DMS, HOD, accelerator pedal, brake pedal, on-board external camera, radar, laser radar, intelligent driving domain controller and other modules, it accurately determines whether the driver has the ability to take over the vehicle, ensuring the safe driving of the autonomous driving vehicle.

[0115] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle control method based on the driver status of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0116] This application also provides a vehicle control device based on the driver's state, please refer to Figure 3 , the vehicle control device based on the driver state includes:

[0117] The processing module 10 is used to determine the target driver state according to the driver's eye state and the driver's behavior state;

[0118] The control module 20 is used to perform safe parking control of the vehicle according to current vehicle-related data when the target driver state is a target dangerous driving state.

[0119] Optionally, the processing module 10 is used to:

[0120] When the driver's eye state is an eye-out state, obtaining a first state duration corresponding to the eye-out state;

[0121] When the driver behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0122] The target driver state is determined based on the first state duration and the second state duration.

[0123] Optionally, the processing module 10 is used to:

[0124] When the duration of the first state is greater than or equal to a first duration threshold and the duration of the second state is greater than or equal to a second duration threshold, generating target vehicle warning information;

[0125] Perform dangerous driving alarm according to the target vehicle alarm information and obtain the target completion time;

[0126] When the target completion time is greater than or equal to the alarm completion time threshold, detecting driver takeover information;

[0127] When the driver takeover information is not detected, the target driver state is determined to be a target dangerous driving state.

[0128] Optionally, the processing module 10 is used to:

[0129] When the driver's eye state is an eye-out state and the driver's behavior state is a normal behavior state, obtaining a first state duration corresponding to the eye-out state;

[0130] When the duration of the first state is greater than or equal to a first duration threshold, generating target vehicle warning information;

[0131] The target driver status is determined according to the target vehicle alarm information.

[0132] Optionally, the processing module 10 is used to:

[0133] When the driver's eye state is a normal eye state and the driver's behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state;

[0134] When the duration of the first state is greater than or equal to a second duration threshold, generating target vehicle warning information;

[0135] The target driver status is determined according to the target vehicle alarm information.

[0136] Optionally, the control module 20 is used to:

[0137] When the target driver state is a target dangerous driving state, performing parking path planning according to current vehicle-related data to determine target parking path information;

[0138] The vehicle is safely parked according to the target parking path information, and a target vehicle distress signal is generated.

[0139] Optionally, the control module 20 is used to:

[0140] When controlling the vehicle to park safely, detect brake pedal information, accelerator pedal information, driver behavior status, and target driving function information;

[0141] The target vehicle takeover state is determined according to at least one of the brake pedal information, the accelerator pedal information, the driver behavior state, and the target driving function information.

[0142] The vehicle control device based on the driver's state provided by the present application adopts the vehicle control method based on the driver's state in the above-mentioned embodiment, and can solve the technical problem of accidents caused by the driver's inability to take over the vehicle. Compared with the prior art, the beneficial effects of the vehicle control device based on the driver's state provided by the present application are the same as the beneficial effects of the vehicle control method based on the driver's state provided by the above-mentioned embodiment, and the other technical features of the vehicle control device based on the driver's state are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0143] The present application provides a vehicle control device based on driver status, and the vehicle control device based on driver status 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 vehicle control method based on driver status in the above-mentioned embodiment one.

[0144] Reference below Figure 4 , which shows a schematic diagram of the structure of a vehicle control device based on the driver's state suitable for implementing the embodiment of the present application. The vehicle control device based on the driver's state 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 4 The driver status-based vehicle control device shown is merely an example and should not bring any limitation to the functionality and scope of use of the embodiments of the present application.

[0145] like Figure 4As shown, the vehicle control device based on the driver's state may include a processing device 1001 (e.g., 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 vehicle control device based on the driver's state 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 vehicle control device based on the driver's state to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle control device based on the driver's state 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 instead.

[0146] 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.

[0147] The vehicle control device based on the driver's state provided by the present application adopts the vehicle control method based on the driver's state in the above embodiment, which can solve the technical problem of accidents caused by the driver's inability to take over the vehicle. Compared with the prior art, the beneficial effects of the vehicle control device based on the driver's state provided by the present application are the same as the beneficial effects of the vehicle control method based on the driver's state provided by the above embodiment, and the other technical features of the vehicle control device based on the driver's state are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0148] 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.

[0149] 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.

[0150] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the vehicle control method based on the driver status in the above-mentioned embodiment.

[0151] 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.

[0152] The above-mentioned computer-readable storage medium may be included in the vehicle control device based on the driver's state; or it may exist independently without being assembled into the vehicle control device based on the driver's state.

[0153] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by a vehicle control device based on the driver state, the vehicle control device based on the driver state: determines the target driver state according to the driver's eye state and the driver's behavior state; and when the target driver state is a target dangerous driving state, performs safe parking control of the vehicle according to current vehicle-related data.

[0154] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0155] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0156] 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.

[0157] 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 vehicle control method based on the driver's state, and can solve the technical problem of accidents caused by the driver's inability to take over the vehicle. 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 vehicle control method based on the driver's state provided by the above-mentioned embodiment, and will not be repeated here.

[0158] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle control method based on the driver status when executed by a processor.

[0159] The computer program product provided by the present application can solve the technical problem of accidents caused by the driver's inability to take over the vehicle. 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 vehicle control method based on the driver's state provided by the above embodiment, which will not be repeated here.

[0160] 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 vehicle control method based on driver status, characterized in that: The vehicle control method based on the driver state includes: Determine the target driver state according to the driver's eye state and the driver's behavior state; When the target driver state is a target dangerous driving state, safe parking control of the vehicle is performed according to current vehicle-related data.

2. The method according to claim 1, characterized in that The step of determining the target driver state according to the driver's eye state and the driver's behavior state comprises: When the driver's eye state is an eye-out state, obtaining a first state duration corresponding to the eye-out state; When the driver behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state; The target driver state is determined based on the first state duration and the second state duration.

3. The method according to claim 2, characterized in that The step of determining the target driver state according to the first state duration and the second state duration comprises: When the duration of the first state is greater than or equal to a first duration threshold and the duration of the second state is greater than or equal to a second duration threshold, generating target vehicle warning information; Perform dangerous driving alarm according to the target vehicle alarm information and obtain the target completion time; When the target completion time is greater than or equal to the alarm completion time threshold, detecting driver takeover information; When the driver takeover information is not detected, the target driver state is determined to be a target dangerous driving state.

4. The method according to claim 1, characterized in that The step of determining the target driver state according to the driver's eye state and the driver's behavior state comprises: When the driver's eye state is an eye-out state and the driver's behavior state is a normal behavior state, obtaining a first state duration corresponding to the eye-out state; When the duration of the first state is greater than or equal to a first duration threshold, generating target vehicle warning information; The target driver status is determined according to the target vehicle alarm information.

5. The method according to claim 1, characterized in that The step of determining the target driver state according to the driver's eye state and the driver's behavior state comprises: When the driver's eye state is a normal eye state and the driver's behavior state is a hands-off state, obtaining a second state duration corresponding to the hands-off state; When the duration of the first state is greater than or equal to a second duration threshold, generating target vehicle warning information; The target driver status is determined according to the target vehicle alarm information.

6. The method according to claim 1, characterized in that The step of performing safe parking control of the vehicle according to current vehicle-related data when the target driver state is a target dangerous driving state comprises: When the target driver state is a target dangerous driving state, performing parking path planning according to current vehicle-related data to determine target parking path information; The vehicle is safely parked according to the target parking path information, and a target vehicle distress signal is generated.

7. The method according to any one of claims 1 to 6, characterized in that After the step of performing safe parking control of the vehicle according to the current vehicle-related data when the target driver state is the target dangerous driving state, the method further includes: When controlling the vehicle to park safely, detect brake pedal information, accelerator pedal information, driver behavior status, and target driving function information; The target vehicle takeover state is determined according to at least one of the brake pedal information, the accelerator pedal information, the driver behavior state, and the target driving function information.

8. A vehicle control device based on driver status, characterized in that: The device comprises: A processing module, used for determining a target driver state according to the driver's eye state and the driver's behavior state; The control module is used to perform safe parking control of the vehicle according to current vehicle-related data when the target driver state is a target dangerous driving state.

9. A vehicle control device based on driver status, 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 vehicle control method based on the driver status as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method based on the driver status as described in any one of claims 1 to 7 are implemented.

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