Vehicle sliding control method and device, vehicle and storage medium

Abstract

The embodiment of the invention is suitable for the technical field of vehicles, and provides a vehicle sliding control method and device, a vehicle and a storage medium, and the method comprises the steps that when the vehicle is static, the driving state of a driver in the vehicle is determined; if the driving state is a distraction state, detecting the vehicle speed of the vehicle and preset vehicle information related to the vehicle speed; and if the vehicle speed changes and it is determined that the driver does not control the vehicle according to preset vehicle information, the vehicle is locked. By means of the method, the vehicle can be locked when it is accurately judged that the vehicle slides.

Description

Technical Field

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

[0002] When the vehicle is on a slope or waiting for a red light, the driver usually uses the automatic parking function (AutoHold) or adjusts the gear to N gear to control the vehicle to stop temporarily. However, during the temporary parking process, it is usually easy to cause the vehicle to slip. Specifically, during the temporary parking process, due to insufficient braking force of the vehicle, the vehicle may move, causing harm to pedestrians and buildings around it.

[0003] Currently, when judging whether a vehicle is slipping, it is usually determined based on whether the vehicle speed changes.

[0004] However, the above judgment method is single, so that it is impossible to accurately identify whether the vehicle is slipping and intervene in the vehicle in time. Summary of the invention

[0005] The embodiments of the present application provide a vehicle rolling control method, device, vehicle and storage medium, which can solve the problem that the prior art cannot accurately identify whether the vehicle is rolling and intervene in the vehicle in a timely manner.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle sliding, the method comprising:

[0007] When the vehicle is stationary, determining the driving state of the driver in the vehicle;

[0008] If the driving state is a distracted state, detecting the vehicle speed and preset vehicle information related to the vehicle speed;

[0009] If the vehicle speed changes and it is determined based on preset vehicle information that the driver is not in control of the vehicle, the vehicle is locked.

[0010] In a second aspect, an embodiment of the present application provides a vehicle slip control device, the device comprising:

[0011] A driving state determination module, used to determine the driving state of a driver in the vehicle when the vehicle is stationary;

[0012] A preset vehicle information monitoring module is used to detect the vehicle speed and preset vehicle information related to the vehicle speed if the driving state is a distracted state;

[0013] The locking module is used to lock the vehicle if the vehicle speed changes and it is determined based on preset vehicle information that the driver is not in control of the vehicle.

[0014] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of the first aspect described above is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle, enables the vehicle to execute the method of the first aspect.

[0017] Compared with the prior art, the embodiments of the present application have the following beneficial effects: when the vehicle is stationary, the driving state of the driver in the vehicle can be determined first. After that, the vehicle speed and preset vehicle information related to the vehicle speed are detected to determine whether the reason for the change in speed is caused by the driver controlling the vehicle based on the preset vehicle information. Finally, when it is determined based on the preset vehicle information that the driver does not control the vehicle, it can be considered that the vehicle is slipping, and then the vehicle is locked to prevent the vehicle from causing harm. In this way, since it is predetermined that the driver is in a distracted state, it can be preliminarily considered that the driver is not driving the vehicle. At the same time, if it is also determined based on the preset vehicle information related to the vehicle speed that the driver does not control the vehicle when the speed changes, it can be further considered that the vehicle is slipping at this time. Based on this, the accuracy of judging whether the vehicle is slipping can be improved by combining the driver's state and the preset vehicle information, and then the vehicle can be locked in time when it is accurately judged that the vehicle is slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flow chart of an implementation of a sliding vehicle control method provided in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of an implementation method for determining a driving state in a vehicle rolling control method provided in an embodiment of the present application;

[0021] Figure 3 1 is a schematic diagram of an application scenario for realizing a gaze range in a sliding vehicle control method provided in an embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of an application scenario of a vehicle sliding control method provided in an embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of a sliding vehicle control device provided in one embodiment of the present application;

[0024] Figure 6 It is a structural schematic diagram of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] When the vehicle is on a slope or waiting for a red light, the driver usually uses the automatic parking function (AutoHold) or adjusts the gear to N gear to control the vehicle to stop temporarily.

[0029] However, during temporary parking, the vehicle is often prone to slipping. Specifically, during temporary parking, due to insufficient braking force (the driver does not pull the handbrake, or does not step on the brake pedal), the vehicle may move, causing damage to surrounding pedestrians and buildings.

[0030] The automatic parking function refers to the function that allows the vehicle to stop in the D gear state. After the automatic parking function is turned on, the vehicle will stop temporarily, and then the driver can drive directly when he steps on the accelerator pedal again. In addition, the N gear is the neutral gear and can also be used to control the vehicle to stop temporarily.

[0031] At present, when judging whether a vehicle is slipping, it is usually determined based on whether the vehicle speed changes under temporary parking conditions. However, this judgment method is relatively simple and cannot accurately identify whether the vehicle is slipping.

[0032] Based on this, in order to accurately identify whether the vehicle is slipping and intervene in the vehicle in a timely manner, the embodiment of the present application provides a slipping control method, which can be applied to a controller in the vehicle or a driver monitoring system (DMS), without limitation. Exemplarily, the above controller includes but is not limited to a central controller, a vehicle controller, and an electronic parking brake controller, without limitation.

[0033] See also Figure 1 , Figure 1 The following is a flowchart of a method for controlling a vehicle sliding according to an embodiment of the present application. The method comprises the following steps:

[0034] S101. When a vehicle is stationary, determine a driving state of a driver in the vehicle.

[0035] In one embodiment, based on the above explanation of the rolling behavior, it can be known that the vehicle is prone to rolling behavior when it is temporarily parked on a slope or a slippery road. Specifically, when the vehicle is on a slope, the vehicle is prone to slide down the slope due to inertia, and when the vehicle is on a slippery road in rainy and snowy weather, the friction coefficient between the wheels and the road is small, and the vehicle is also prone to rolling behavior. Further, when the vehicle is on a slippery slope, it is very easy to roll.

[0036] In one embodiment, the driving state includes a distracted state and a normal driving state. In the distracted state, it can be considered that the driver's attention is attracted by other objects, and at this time it can be considered that the driver has no intention to drive the vehicle. The normal driving state can be that the driver's attention is focused on the preset driving gaze area to prepare to start the vehicle.

[0037] Before starting the vehicle, you usually need to pay attention to the driving environment around the vehicle (whether there are pedestrians or obstacles behind or in front of the vehicle). Based on this, it can be considered that the above-mentioned driving attention area includes but is not limited to the rearview mirror area of ​​the vehicle, the front windshield area, etc., and this is not limited.

[0038] In one embodiment, the Figure 2 The steps S201-S203 shown determine the driving state of the driver, as detailed below:

[0039] S201, detecting the driver's sight range.

[0040] In one embodiment, the driver's sight range can be determined based on the driver's face orientation and eyeball position. Specifically, an image containing the driver's face can be collected by an image sensor in the vehicle, and then the image can be input into a preset image recognition model to identify the image position of the driver's eyeball in the image and the face orientation. Afterwards, based on the conversion relationship between the preset image coordinate system and the world coordinate system, the image position is converted to obtain the eyeball position in the world coordinate system, so as to determine the sight range based on the eyeball position and face orientation.

[0041] Among them, the image recognition model can be a convolutional neural network model or a residual neural network model, without limitation.

[0042] In a specific embodiment, the correspondence between the facial orientation, the eyeball position, and the visual gaze range can be pre-established. Exemplarily, with the front of the vehicle as a reference, the relative deviation angle between the facial orientation and the front of the vehicle can be determined. And, based on the eyeball position, the interval distance between it and the preset position is determined. For example, the interval distance between the eyeball and the preset middle position of the main driving seat can be determined. Among them, the above-mentioned interval distance is mainly the distance in the vertical direction.

[0043] Exemplarily, when the angle of deviation of the facial orientation to the right is between [0°, 20°], and the interval distance corresponding to the eye position is between (60cm, 80cm], the visual gaze range can be considered to be the front windshield area in the preset driving gaze area. When the angle of deviation of the facial orientation to the right is between [20°, 45°], and the interval distance corresponding to the eye position is between (60cm, 80cm], the visual gaze range can be considered to be the rearview mirror area in the preset driving gaze area. And, when the angle of deviation of the facial orientation to the right is between [45°, 90°], and the interval distance corresponding to the eye position is between (60cm, 80cm], the visual gaze range can be considered to be the right window area.

[0044] Specifically, refer to Figure 3 , Figure 3 The following is a schematic diagram of an application scenario for realizing the gaze range in a vehicle slipping control method provided by an embodiment of the present application. After the eyeball position is identified, the vertical distance H between the eyeball position and the preset position A can be determined according to the existing distance calculation formula. Then, the driver's gaze range is determined based on the facial orientation and the pre-established correspondence between the facial orientation, the eyeball position (or the distance H corresponding to the eyeball position), and the gaze range. For example, reference can be made to the following. Figure 3 The eye gaze range shown.

[0045] The various numerical values ​​in the above embodiment are merely examples. In this embodiment, the method for determining the gaze range based on the face orientation and the eyeball position is not limited.

[0046] S202: If the sight gaze range does not include the preset driving gaze area, it is determined that the driving state is a distracted state.

[0047] S203: If the sight gaze range includes a preset driving gaze area, determining that the driving state is a normal driving state.

[0048] In one embodiment, when it is determined that the sight line gaze range includes a preset driving gaze area, it can be considered that the driver has the intention to drive the vehicle. At this time, it can be considered that the driver will regain control of the vehicle, so it can be determined that the driver is in a normal driving state.

[0049] However, when it is determined that the sight gazing range does not include the preset driving gazing area, it can be considered that the driver does not have the intention to drive the vehicle. At this time, because the driver's attention is not focused on the vehicle, it can be determined that the driver is in a distracted state.

[0050] It should be noted that in order to further accurately determine the driving state of the driver, a first preset number of images containing the driver's face can also be obtained. Then, each image is identified separately to determine the sight gaze range corresponding to each image. After that, the total number of images whose sight gaze range does not include the preset driving gaze area is counted. Finally, when the total number of images is greater than the second preset number, the driving state is determined to be a distracted state. And, when the total number of images is less than or equal to the second preset number, the driving state is determined to be a normal driving state.

[0051] The first preset number and the second preset number can be set according to actual conditions and are not limited thereto.

[0052] S102: If the driving state is a distracted state, the vehicle speed and preset vehicle information related to the vehicle speed are detected.

[0053] In one embodiment, the above-mentioned preset vehicle information includes but is not limited to various information such as the vehicle's accelerator pedal opening, gear position, and steering wheel angle, and is not limited to this.

[0054] It is understandable that the change of the accelerator pedal opening and the gear position will directly affect the speed of the vehicle. Therefore, it can be considered that the accelerator pedal opening and the gear position are related to the vehicle speed. In addition, the speed is usually a vector, which includes not only the magnitude of the speed but also the direction of the speed. In this embodiment, since the steering wheel angle will affect the direction of the vehicle (i.e., the direction of the speed), it can also be considered that the steering wheel angle is also related to the vehicle speed.

[0055] Among them, the vehicle speed can be obtained based on the speed sensor, the accelerator pedal opening can be detected based on the accelerator sensor, and the steering wheel angle can be obtained based on the steering wheel angle sensor, which will not be described in detail.

[0056] It should be supplemented that the above-mentioned preset vehicle information can be the above-mentioned three types at the same time, or can be only one or two of them, and there is no limitation on this.

[0057] S103: If the vehicle speed changes and it is determined based on preset vehicle information that the driver is not in control of the vehicle, the vehicle is locked.

[0058] In one embodiment, the reason for the change in vehicle speed may be that the driver steps on the accelerator pedal, or the vehicle is rolling. However, when the driver steps on the accelerator pedal, it can be considered that the driver has the intention to drive the vehicle at this time. At this time, if the driver actively drives the vehicle, it can be determined that the vehicle is not rolling, and there is no need to lock the vehicle. Otherwise, when it is determined that the driver does not have the intention to drive the vehicle, it can be considered that the change in vehicle speed is caused by the vehicle rolling. At this time, it is necessary to lock the vehicle to prevent the vehicle from causing harm to pedestrians and buildings around it.

[0059] Based on this, when the vehicle speed changes, it is necessary to further determine whether the vehicle is slipping. Among them, since this embodiment is aimed at locking the vehicle in time when a stationary vehicle is slipping, ensuring the safety of pedestrians and buildings. Therefore, the above-mentioned vehicle speed change can be considered as a change in which the vehicle speed increases from 0.

[0060] Wherein, locking the vehicle includes but is not limited to adjusting the gear of the vehicle to the parking gear, or increasing the braking force, which is not limited to this. For example, the braking force can be increased according to the automatic emergency braking system (Autonomous Emergency Braking, AEB) in the vehicle to lock the vehicle.

[0061] It is understandable that, when the vehicle is stationary, the accelerator pedal opening, gear position and steering wheel angle usually remain unchanged. Therefore, when the accelerator pedal opening, and / or the gear position, and / or the steering wheel angle change, it can be determined that the driver has actively controlled the vehicle. Otherwise, when the accelerator pedal opening, gear position and steering wheel angle do not change, it can be determined that the driver does not control the vehicle.

[0062] Wherein, when the accelerator pedal opening is different from the accelerator pedal opening detected last time, it can be determined that the accelerator pedal opening has changed. And when the gear position is different from the gear position detected last time, it can be determined that the gear position has changed. And when the steering wheel angle is different from the steering wheel angle detected last time, it can be determined that the steering wheel angle has changed.

[0063] It should be added that in order to further avoid the danger caused by the vehicle rolling and improve the driving safety of the vehicle, when the vehicle speed changes and it is determined according to the preset vehicle information that the driver is not in control of the vehicle (that is, it is determined that the vehicle is rolling), a preset first prompt operation is performed. The first prompt operation is used to remind the driver that the vehicle is rolling.

[0064] The first prompt operation includes, but is not limited to, voice alarm, text prompt, or flashing light, which is not limited thereto.

[0065] It should be noted that, since the devices for performing the first prompt operation are all devices already on the vehicle, the driving safety of the vehicle can be further improved without increasing additional hardware costs.

[0066] It should be added that if, when the vehicle speed changes, it is determined that the driver does not control the vehicle only based on the preset vehicle information, that is, it is judged that the vehicle has a slipping behavior, there may be a certain judgment error. It is understandable that in actual scenarios, when the vehicle is on a ramp, the driver may also use the inclination of the ramp to make the vehicle slide on the ramp due to inertia, rather than consuming energy to control the vehicle to drive on the ramp. At this time, for this scenario, when the vehicle speed changes, because the vehicle is in a sliding condition, when judging according to the above preset vehicle information, it may be judged that the driver does not control the vehicle. At this time, when the vehicle speed changes and the judgment result that the driver does not control the vehicle is obtained, in order to ensure driving safety, the vehicle is usually locked. However, locking the vehicle is contrary to the driver's intention to let the vehicle slide, thereby reducing the driver's user experience.

[0067] Based on this, when judging whether the vehicle is slipping, it is not only necessary to judge based on the preset vehicle information when the vehicle speed changes, but also to combine it with the driver's driving status to comprehensively judge whether the vehicle is slipping and improve the accuracy of judging the vehicle's slipping behavior.

[0068] In this embodiment, when the vehicle is stationary, the driving state of the driver in the vehicle can be determined first. After that, the vehicle speed and preset vehicle information related to the vehicle speed are detected to determine whether the reason for the change in speed is caused by the driver controlling the vehicle based on the preset vehicle information. Finally, when it is determined based on the preset vehicle information that the driver does not control the vehicle, it can be considered that the vehicle is slipping, and then the vehicle is locked to prevent the vehicle from causing harm. In this way, since it is predetermined that the driver is in a distracted state, it can be preliminarily considered that the driver is not driving the vehicle. At the same time, if it is also determined based on the preset vehicle information related to the vehicle speed that the driver does not control the vehicle when the speed changes, it can be further considered that the vehicle is slipping at this time. Based on this, the accuracy of judging whether the vehicle is slipping can be improved by combining the driver's state and the preset vehicle information, and then the vehicle can be locked in time when it is accurately judged that the vehicle is slipping.

[0069] From the above description, it can be seen that the above embodiment is an example of locking the vehicle when it is determined that the vehicle is in a rolling behavior. In another embodiment, when the driving state is a normal driving state, it can be considered that the driver has the intention to drive the vehicle at this time. Therefore, when the driver actively drives the vehicle, it can be determined that the vehicle is not in a rolling behavior, and there is no need to lock the vehicle.

[0070] Furthermore, when the vehicle speed does not change, it can be considered that the vehicle is not rolling, and there is no need to lock the vehicle.

[0071] Furthermore, when it is determined that the driver controls the vehicle according to the preset vehicle information, it can be considered that the change in vehicle speed is caused by the driver's active control. Therefore, it can be considered that the vehicle is driving normally at this time and there is no slipping behavior. Therefore, there is no need to lock the vehicle.

[0072] However, it should be added that when it is determined that the vehicle does not need to be locked, if the vehicle is stationary again, there may be a vehicle rolling behavior. Therefore, when it is determined that the driving state is a normal driving state, or the vehicle speed has not changed, or when it is determined based on preset vehicle information that the driver controls the vehicle, the vehicle rolling control method needs to be executed again. That is, the above steps S101-S103 are executed.

[0073] In another embodiment, it has been explained above that the automatic parking function can be turned on for temporary parking. However, since the automatic parking function can keep the vehicle stationary in the D gear state, and at the same time, the driver can directly continue to drive the vehicle after stepping on the accelerator pedal again. Therefore, when the driver is distracted for a long time, there is a possibility that the accelerator pedal is stepped on by mistake, causing the vehicle to collide with the vehicle in front.

[0074] Based on this, in order to further improve vehicle safety, the duration of the driver's distraction can be counted, and then, when the duration is greater than a preset duration, the vehicle's gear is adjusted to the parking gear. Furthermore, when the driver accidentally steps on the accelerator pedal, the vehicle will not move. The preset duration can be set according to actual conditions and is not limited thereto.

[0075] In one embodiment, when the gear position of the vehicle is adjusted to the parking gear position, a preset second prompt operation may be performed first to remind the driver that the vehicle will be adjusted to the parking gear position. The second prompt operation may be similar to the first prompt operation, and no further explanation is given.

[0076] In another embodiment, when the driver is not in the vehicle, the driver's driving state cannot be detected. In this case, the vehicle can be locked directly to avoid the problem that the vehicle cannot be locked in time due to inertial movement when there is no driver in the vehicle and the vehicle is slipping.

[0077] When a preset number of consecutive images do not include the driver's face, it can be determined that the driver is not in the vehicle.

[0078] In another embodiment, the vehicle is prone to slipping when it is mainly on a slope. Specifically, when the automatic parking function is turned on, the braking force provided by the vehicle may be reduced due to long-term parking, causing the vehicle to slide on the slope due to inertia. Therefore, when it is determined that the vehicle is on a slope, the parking time of the vehicle on the slope is counted. Then, when the parking time is greater than the preset parking time, the gear position of the vehicle is adjusted to the parking gear position.

[0079] The angle between the plane where the vehicle body is located and the horizontal plane can be detected according to the vehicle body inclination sensor in the vehicle. Then, when the angle is greater than the preset angle, it can be considered that the vehicle is on a ramp. The preset angle and the preset parking time can be set according to actual conditions, and there is no limitation on this. For example, the preset angle can be 10°, and the preset parking time can be 10 minutes.

[0080] In a specific embodiment, referring to Figure 4 , Figure 4 This is a schematic diagram of an application scenario in a vehicle rolling control method provided in an embodiment of the present application. The interior of the vehicle can be divided into an identification module and an intervention module. The identification module can include a driver monitoring system, a vehicle speed sensor, and an accelerator pedal sensor, and the intervention module can include a central controller, a prompt system, and an automatic emergency braking system.

[0081] Specifically, when the vehicle is stationary, the driver monitoring system can obtain an image containing the driver's face to determine the driver's line of sight. Then, the driver's driving state is determined based on the line of sight. Afterwards, when the driving state is a distracted state, the vehicle speed sensor can detect the vehicle speed, and the accelerator pedal sensor can detect the accelerator pedal opening in the preset vehicle information. Then, when the vehicle speed changes (starting from 0) and the accelerator pedal opening changes, it can be determined that the vehicle has a slipping behavior. Afterwards, the recognition module can generate a slipping signal indicating that the vehicle has a slipping behavior, and send it to the central controller in the intervention module.

[0082] After receiving the vehicle slipping signal, the central controller can remind the driver through the prompt system. For example, the prompt system can broadcast a preset voice alarm. At the same time, the central controller can also control the automatic emergency braking system to lock the vehicle to stop the vehicle from slipping.

[0083] See also Figure 5 , Figure 5 1 is a structural block diagram of a vehicle slipping control device provided in an embodiment of the present application. The vehicle slipping control device in this embodiment includes modules for executing Figure 1 , Figure 2 as well as Figure 4 For details, please refer to the steps in the corresponding embodiment. Figure 1 , Figure 2 as well as Figure 4 as well as Figure 1 , Figure 2 as well as Figure 4 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 5 The vehicle slip control device 500 may include: a driving state determination module 510, a preset vehicle information monitoring module 520 and a locking module 530, wherein:

[0084] The driving state determination module 510 is used to determine the driving state of the driver in the vehicle when the vehicle is stationary.

[0085] The preset vehicle information monitoring module 520 is used to detect the vehicle speed and preset vehicle information related to the vehicle speed if the driving state is a distracted state.

[0086] The locking module 530 is configured to lock the vehicle if the vehicle speed changes and it is determined based on preset vehicle information that the driver is not in control of the vehicle.

[0087] In one embodiment, the driving state determination module 510 is further configured to:

[0088] Detect the driver's gaze range; if the gaze range does not include the preset driving gaze area, determine that the driving state is a distracted state; if the gaze range includes the preset driving gaze area, determine that the driving state is a normal driving state.

[0089] In one embodiment, the driving state determination module 510 is further configured to:

[0090] Acquire an image containing the driver's face; recognize the driver's facial orientation and eye position based on the image; and determine a sight range according to the facial orientation and eye position.

[0091] In one embodiment, the preset vehicle information includes the accelerator pedal opening of the vehicle, and / or the gear position, and / or the steering wheel angle; the vehicle rolling control device 500 further includes:

[0092] The first determination module is used to determine that the driver controls the vehicle if any preset vehicle information among the accelerator pedal opening, gear position, and steering wheel angle changes.

[0093] The second determination module is used to determine that the driver is not controlling the vehicle if the accelerator pedal opening, gear position, and steering wheel angle have not changed.

[0094] In one embodiment, the vehicle sliding control device 500 further includes:

[0095] The first execution module is used to execute the target step and the steps after the target step if the driving state is a normal driving state, or the vehicle speed has not changed, or it is determined based on preset vehicle information that the driver controls the vehicle; the target step is to determine the driving state of the driver in the vehicle when the vehicle is stationary.

[0096] In one embodiment, the vehicle sliding control device 500 further includes:

[0097] The second execution module is used to execute a preset first prompt operation when the vehicle speed changes and it is determined based on preset vehicle information that the driver is not controlling the vehicle; the first prompt operation is used to remind the driver that the vehicle is slipping.

[0098] In one embodiment, the vehicle sliding control device 500 further includes:

[0099] The statistics module is used to count the duration of the driver's distraction.

[0100] The gear adjustment module is used to adjust the gear of the vehicle to the parking gear if the duration is greater than a preset duration.

[0101] When it is understood that Figure 5 In the structural block diagram of the sliding control device shown in FIG. Figure 1 , Figure 2 as well as Figure 4 The steps in the corresponding embodiments, and for Figure 1 , Figure 2 as well as Figure 4 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 1 , Figure 2 as well as Figure 4 as well as Figure 1 , Figure 2 as well as Figure 4 The relevant descriptions in the corresponding embodiments are not repeated here.

[0102] Figure 6 is a structural block diagram of a vehicle provided by an embodiment of the present application. Figure 6 As shown, the vehicle 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, such as a program of the vehicle slipping control method. When the processor 610 executes the computer program 630, the steps in each embodiment of the vehicle slipping control method described above are implemented, such as Figure 1 Alternatively, the processor 610 implements the above when executing the computer program 630 Figure 5 The functions of each module in the corresponding embodiment are, for example, Figure 5 For details on the functions of modules 510 to 530, please refer to Figure 5 Related description in the corresponding embodiment.

[0103] Exemplarily, the computer program 630 may be divided into one or more modules, one or more modules are stored in the memory 620, and are executed by the processor 610 to implement the vehicle rolling control method provided in the embodiment of the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 630 in the vehicle 600. For example, the computer program 630 may implement the vehicle rolling control method provided in the embodiment of the present application.

[0104] The vehicle 600 may include, but is not limited to, a processor 610 and a memory 620. Those skilled in the art will appreciate that Figure 6 This is only an example of vehicle 600 and does not constitute a limitation of vehicle 600 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0105] The processor 610 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0106] The memory 620 may be an internal storage unit of the vehicle 600, such as a hard disk or memory of the vehicle 600. The memory 620 may also be an external storage device of the vehicle 600, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the vehicle 600. Furthermore, the memory 620 may also include both an internal storage unit of the vehicle 600 and an external storage device.

[0107] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to execute the vehicle rolling control method in each of the above embodiments.

[0108] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle executes the vehicle rolling control method in each of the above embodiments.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling a sliding vehicle, characterized in that: The method comprises: When the vehicle is stationary, determining the driving state of the driver in the vehicle; If the driving state is a distracted state, detecting the speed of the vehicle and preset vehicle information related to the speed; If the vehicle speed changes and it is determined based on the preset vehicle information that the driver is not in control of the vehicle, the vehicle is locked.

2. The method according to claim 1, characterized in that The step of determining the driving state of a driver in the vehicle when the vehicle is stationary includes: Detecting the driver's sight range; If the sight gaze range does not include the preset driving gaze area, determining that the driving state is a distracted state; If the visual gaze range includes a preset driving gaze area, it is determined that the driving state is a normal driving state.

3. The method according to claim 2, characterized in that The detecting the driver's sight range includes: acquiring an image including the driver's face; recognizing the driver's facial orientation and eye position based on the image; The sight line gaze range is determined according to the facial orientation and the eyeball position.

4. The method according to any one of claims 1 to 3, characterized in that: The preset vehicle information includes the accelerator pedal opening of the vehicle, and / or the gear position, and / or the steering wheel angle; The method further comprises: If any of the preset vehicle information of the accelerator pedal opening, the gear position, and the steering wheel angle changes, it is determined that the driver controls the vehicle; If the accelerator pedal opening, the gear position, and the steering wheel angle have not changed, it is determined that the driver is not controlling the vehicle.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: If the driving state is a normal driving state, or the vehicle speed has not changed, or it is determined based on the preset vehicle information that the driver controls the vehicle, the target step and the steps after the target step are executed; the target step is to determine the driving state of the driver in the vehicle when the vehicle is stationary.

6. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: If the vehicle speed changes, and it is determined based on the preset vehicle information that the driver is not controlling the vehicle, a preset first prompt operation is performed; the first prompt operation is used to remind the driver that the vehicle is slipping.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Counting the duration of the driver being in the distracted state; If the duration is greater than a preset duration, the gear position of the vehicle is adjusted to a parking gear position.

8. A sliding vehicle control device, characterized in that: The device comprises: A driving state determination module, used to determine the driving state of a driver in the vehicle when the vehicle is stationary; a preset vehicle information monitoring module, for detecting the vehicle speed and preset vehicle information related to the vehicle speed if the driving state is a distracted state; A locking module is used to lock the vehicle if the vehicle speed changes and it is determined based on the preset vehicle information that the driver is not in control of the vehicle.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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