Vehicle control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle control method, device and equipment and a storage medium. The vehicle control method comprises the steps that a to-be-executed vehicle control instruction sent by a driver is obtained; determining an executable state of the to-be-executed automobile control instruction based on the first instruction dependency relationship; under the condition that the executable state of the to-be-executed automobile control instruction is executable, determining an associated instruction of a target control instruction according to a second instruction dependency relationship and an instruction identifier of the target control instruction; and performing vehicle control on a target vehicle according to the target control instruction and the association instruction. According to the technical scheme, the generation mode of the automobile control instruction is optimized, the driving experience of a driver is improved, and meanwhile the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of driving safety technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Art

[0002] With the advancement of technology, modern cars are gradually developing towards intelligence and automation. The way of generating car control commands has changed from the original physical buttons to becoming more and more diversified and intelligent, and is no longer limited to physical buttons.

[0003] The diversified and intelligent generation methods of automobile control commands should not only consider providing convenience for the driver and facilitating the driver to control the vehicle, but also consider the effectiveness of the automobile control commands to improve driving safety. Summary of the invention

[0004] The present invention provides a vehicle control method, device, equipment and storage medium, which improve the driving experience of the driver and the driving safety at the same time.

[0005] According to one aspect of the present invention, there is provided a vehicle control method, the method comprising:

[0006] Acquire a to-be-executed automobile control instruction issued by a driver; wherein the to-be-executed automobile control instruction at least includes an automobile control instruction determined by responding to the information collection instruction and according to a displacement recognition result of the collected pupil movement information of the driver and a semantic recognition result of the collected lip movement information of the driver;

[0007] Determining an executable state of a to-be-executed vehicle control instruction based on a first instruction dependency relationship; the first instruction dependency relationship is used to indicate priority information, mutual exclusion information, and a dynamic blocking mechanism of the vehicle control instruction under a preset driving environment of the vehicle control instruction;

[0008] When the executable state of the to-be-executed automobile control instruction is executable, determining the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction; wherein the target control instruction is an executable to-be-executed automobile control instruction;

[0009] The target vehicle is controlled according to the target control instruction and the associated instruction.

[0010] According to another aspect of the present invention, there is provided a vehicle control device, the device comprising:

[0011] An instruction acquisition module is used to acquire a to-be-executed automobile control instruction issued by a driver; wherein the to-be-executed automobile control instruction at least includes an automobile control instruction determined by responding to the information acquisition instruction and based on a displacement recognition result of the collected driver's pupil movement information and a semantic recognition result of the collected driver's lip movement information;

[0012] A state determination module, used to determine the executable state of the to-be-executed vehicle control instruction based on a first instruction dependency relationship; the first instruction dependency relationship is used to indicate priority information, mutual exclusion information, and a dynamic blocking mechanism of the vehicle control instruction under a preset driving environment of the vehicle control instruction;

[0013] An associated instruction determination module is used to determine the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the to-be-executed automobile control instruction is executable; wherein the target control instruction is an executable to-be-executed automobile control instruction;

[0014] The control module is used to control the target vehicle according to the target control instruction and the associated instruction.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method described in any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, a computer program product is provided. The computer program product comprises a computer program. When the computer program is executed by a processor, the vehicle control method according to any one of the embodiments of the present invention is implemented.

[0021] The technical solution of the embodiment of the present invention determines the vehicle control instructions to be executed by intelligently identifying the driver's facial information, and determines the instruction validity and associated instructions of the vehicle control instructions to be executed according to the first instruction dependency and the second instruction dependency, and controls the target vehicle according to the determined target control instructions and associated instructions. On the one hand, it optimizes the generation method of the vehicle control instructions and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control instructions and improves driving safety.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a vehicle control method provided according to Embodiment 2 of the present invention;

[0026] Figure 3 is a flow chart of a vehicle control method provided according to Embodiment 3 of the present invention;

[0027] Figure 4 is a structural schematic diagram of a vehicle control device provided according to a fourth embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flow chart of a vehicle control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where a vehicle is controlled by a vehicle control command. The method can be executed by a vehicle control device. The vehicle control device can be implemented in the form of hardware and / or software. The vehicle control device can be configured in various general-purpose computing devices. Figure 1 As shown, the method includes:

[0033] S110: Obtaining a to-be-executed automobile control instruction issued by the driver.

[0034] Among them, the vehicle control instructions to be executed at least include vehicle control instructions determined by responding to information collection instructions, based on the displacement recognition results of the collected driver's pupil movement information, and the semantic recognition results of the collected driver's lip movement information.

[0035] In the embodiment of the present invention, the driver can also generate vehicle control instructions through physical buttons or virtual buttons. The vehicle control instructions may include safety control instructions (such as emergency braking, collision warning and automatic obstacle avoidance), driving control instructions (such as acceleration, deceleration, gear shifting and cruise control) and comfort instructions (such as window control, wiper control and air conditioning control), etc. Safety control instructions can be used to ensure the safety of the vehicle during driving, driving control instructions can be used to control the driving state of the vehicle, and comfort instructions can be used to control the comfort of the driver during driving.

[0036] Optionally, in an embodiment of the present invention, an integrated physical button may be provided to combine the window control button and the wiper control button, and the window control function and the wiper control function may be switched by switching the gear position of the integrated physical button. It should be noted that the window lift button may be reused. Under the window control function, the window lift button is used to control the lifting and lowering of the window, and under the wiper control function, the window lift button is used to control the start and stop of the wiper.

[0037] By setting up integrated physical buttons, the window control buttons and the wiper control buttons are combined to form a small switch, which saves the operating space near the main driving cab, increases the driver's operating space, and reduces manufacturing costs.

[0038] S120: Determine the executable state of the to-be-executed automobile control instruction based on the first instruction dependency relationship.

[0039] Among them, the first instruction dependency relationship can be used to indicate the priority information, mutual exclusion information and dynamic blocking mechanism of the vehicle control instructions under a preset driving environment; it should be noted that the driving environment can be used to characterize the driving state and driving environment of the vehicle.

[0040] The executable state may include two states: executable and non-executable;

[0041] Optionally, in an embodiment of the present invention, the determination can be made based on the instruction type of the automobile control instruction and the automobile driving environment. Exemplarily, based on the safety dimension of the automobile control instruction, the safety control instruction can be first set to the highest priority, the driving control instruction has a lower priority than the safety control instruction, and the comfort instruction has a lower priority than the driving control instruction, so as to ensure the safety of the vehicle and the occupants during the driving of the vehicle. It should be noted that, in the case where there are multiple automobile control instructions to be executed, the execution order of the automobile control instructions to be executed can be determined based on the priority information of the automobile control instructions, and the automobile control instructions to be executed with a higher priority will be executed first.

[0042] By analyzing the functional logic of the vehicle, the vehicle control commands that cannot be executed at the same time can be identified as mutually exclusive commands, and then stored as mutually exclusive information. For example, when acceleration and braking commands are requested at the same time, mutually exclusive information is used to ensure that the two are not executed at the same time, preventing power system logic confusion.

[0043] The dynamic blocking mechanism can be customized according to the driver's driving habits. For example, when driving at high speed, the window operation is prohibited to reduce wind resistance and noise interference; when driving at high speed, the volume of the audio system is limited; when driving, the seat position adjustment is prohibited; when driving in rainy weather, the window opening operation is prohibited. By setting the dynamic blocking mechanism of the vehicle control command under the driver's preset driving environment, the driver's driving experience can be improved, as well as the driver's personal safety during driving.

[0044] S130: When the executable state of the to-be-executed automobile control instruction is executable, determine the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction.

[0045] The target control instruction may refer to a to-be-executed automobile control instruction whose executable state is executable.

[0046] Specifically, when it is determined that the executable state of the automobile control instruction to be executed is executable, the associated instructions of the automobile control instruction to be executed can be determined by traversing the second instruction dependency relationship according to the instruction identifier (target control instruction) of the automobile control instruction to be executed.

[0047] Optionally, in an embodiment of the present invention, the generation process of the second instruction dependency relationship may include: obtaining the driver's historical driving information; wherein the historical driving information is the historical vehicle control instructions issued by the driver when driving the target vehicle; the historical vehicle control instructions can be stored in the order of timestamps; for each type of vehicle control instruction in the historical driving information, two combinations are performed to generate at least two instruction combinations; in the historical vehicle driving information, each instruction combination is traversed respectively, and if there is an instruction combination with a hit count exceeding a preset number threshold, the instruction combination is stored in the second dependency relationship. It should be noted that different drivers have different historical driving information, and the historical driving information can be dynamically updated according to the driver's driving process, and the historical driving information will only store historical vehicle control instructions within a preset fixed period, and the historical driving information will be updated every time the driver issues a vehicle control instruction and completes the execution. Optionally, the preset number threshold can be adaptively set according to those skilled in the art.

[0048] Optionally, the storage identifier of the historical driving information may be a user identifier of the driver, the historical driving information may be stored in a queue form, and the updating of the historical driving information follows a first-in-first-out principle.

[0049] By generating a second dependency relationship based on the driver's historical driving information, the associated instructions that the driver is most likely to issue after issuing the target control instruction are predicted, thereby improving driving safety, reducing cognitive load and operation redundancy, and improving the driver's driving experience.

[0050] S140: Control the target vehicle according to the target control instruction and the associated instruction.

[0051] The target vehicle may refer to a vehicle that executes a target control instruction.

[0052] The technical solution of the embodiment of the present invention determines the vehicle control instructions to be executed by intelligently identifying the driver's facial information, and determines the instruction validity and associated instructions of the vehicle control instructions to be executed according to the first instruction dependency and the second instruction dependency, and controls the target vehicle according to the determined target control instructions and associated instructions. On the one hand, it optimizes the generation method of the vehicle control instructions and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control instructions and improves driving safety.

[0053] Embodiment 2

[0054] Figure 2 This is a flow chart of a vehicle control method provided in the second embodiment of the present invention. This embodiment further refines the above embodiment and provides specific steps for obtaining the vehicle control instructions to be executed issued by the driver. It should be noted that for the undetailed parts of the embodiment of the present invention, please refer to the relevant descriptions of other embodiments, which will not be repeated here. Figure 2 As shown, the method includes:

[0055] S210: Perform displacement recognition on the collected pupil movement information of the driver to determine the movement direction and movement distance of the pupil.

[0056] Optionally, in an embodiment of the present invention, pupil movement information and lip movement information of the driver can be collected through the DMS system (Driver Monitoring System). It should be noted that the DMS system can be integrated with the body controller, which, on the one hand, improves the integration of vehicle system functions, and on the other hand, the body controller can directly perform fault detection on the DMS system, detect whether there is a fault in the video acquisition unit in the DMS system, and provide fault feedback, so that the driver can handle the fault in time. At the same time, the fault detection results can also be uploaded to the cloud storage through the body sensor, so that R&D personnel can perform data analysis on the fault detection results.

[0057] It should be noted that, in the embodiment of the present invention, the driver's pupil movement information and lip movement information can be collected by responding to the information collection instruction. Optionally, the information collection instruction can be an action instruction preset by the driver.

[0058] By responding to information collection instructions, the driver's pupil movement information and lip movement information are identified and analyzed, and the to-be-executed vehicle control instructions corresponding to the pupil movement information and lip movement information are determined, thereby effectively avoiding misidentification of the driver and improving the accuracy of generating the to-be-executed vehicle control instructions and driving safety.

[0059] S220: Determine a target control object and a target control mode of the target control object based on the moving direction and the moving distance.

[0060] Among them, the target control objects may include car windows and wipers.

[0061] Optionally, based on the moving direction and the moving distance, the target control object and the target control method of the target control object are determined, including: when the moving direction is up and down, the vehicle window is taken as the target control object; based on a pre-established first mapping relationship between the pupil movement distance and the vehicle window lifting and lowering distance, when the moving direction is upward or downward, the distance that the vehicle window rises upward or falls downward is determined according to the moving distance in the moving direction.

[0062] In an optional implementation, the process of establishing the first mapping relationship may include: dividing the vehicle window into upper and lower ranges equidistantly to generate a preset number of window sub-areas; mapping the moving distance of the window with the moving distance of the pupil, and whenever the pupil moves a preset unit distance, the window synchronously moves up or down by one window sub-area. It should be noted that the preset number and the preset unit distance can be adaptively set according to those skilled in the art.

[0063] Optionally, determining the target control object and the target control mode of the target control object based on the moving direction and the moving distance also includes: when the moving direction is left and right movement, taking the wiper as the target control object; when the moving direction is rightward movement, if the moving distance to the right exceeds the preset moving distance, determining the control mode of the wiper as low-speed flat sweep; when the moving direction is leftward movement, if the moving distance to the left exceeds the preset moving distance, determining the control mode of the wiper as high-speed flat sweep. It should be noted that the preset moving distance can be adaptively set according to those skilled in the art.

[0064] S230: Perform semantic recognition on the collected lip movement information, and determine a target control object and a target control method of the target control object according to the semantic recognition result.

[0065] Specifically, the semantic recognition result can be used to determine whether the target control object is a window or a wiper, and the target control method of the target control object can also be determined through the semantic recognition result; when the target control object is a window, the vehicle window can also be divided into upper and lower ranges equidistantly in advance to generate a preset number of window sub-areas. A window sub-area can be used as a moving unit. The driver only needs to issue a command to move the window up or down by n moving units, and the DMS recognition can determine the target control object and the target control method of the target control object through semantic recognition.

[0066] S240: Determine the automobile control instruction to be executed according to the target control object and the target control method.

[0067] Specifically, after determining the target control object and the target control method, the DMS system can send the target control object and the target control method of the target control object to the body controller, and the body controller determines the to-be-executed vehicle control instructions corresponding to the target control object and the target control method based on the received information.

[0068] The technical solution of the embodiment of the present invention optimizes the method of generating automobile control instructions and generates automobile control instructions to be executed by identifying the driver's pupil movement information and lip movement information, thereby improving the accuracy of the driver's automobile control instructions issued in abnormal driving environments, while facilitating deaf-mute people to drive the vehicle and improving the driver's driving experience.

[0069] Embodiment 3

[0070] Figure 3 This is a flow chart of a vehicle control method provided in the third embodiment of the present invention. This embodiment further refines the above embodiment and provides specific steps for determining the executable state of the to-be-executed vehicle control instruction based on the first instruction dependency relationship. It should be noted that, for the undetailed parts of the embodiment of the present invention, reference can be made to the relevant descriptions of other embodiments, which will not be repeated here. Figure 3 As shown, the method includes:

[0071] S310: Obtain a to-be-executed automobile control instruction issued by the driver.

[0072] S320: When the type of the vehicle control instruction to be executed is a safety control instruction and a driving control instruction, determine whether the vehicle control instruction to be executed is mutually exclusive with the current vehicle control instruction according to the first instruction dependency relationship.

[0073] The current vehicle control instruction may refer to the vehicle control instruction currently being executed by the vehicle driven by the driver.

[0074] Specifically, when the instruction types of the vehicle control instructions to be executed are safety control instructions and driving control instructions, the body controller can traverse the vehicle control instructions to be executed and the current vehicle control instructions according to the mutual exclusion information indicated in the first instruction dependency relationship to determine whether there is mutual exclusion between the two instructions.

[0075] S330: If there are mutually exclusive instructions, determine the instruction priorities of the to-be-executed vehicle control instruction and the current vehicle control instruction according to the first instruction dependency relationship, and use the vehicle control instruction with a higher instruction priority as the target control instruction.

[0076] Specifically, if there is mutual exclusion between the vehicle control instruction to be executed and the current vehicle control instruction, the body controller can determine the instruction priority of the vehicle control instruction to be executed and the current vehicle control instruction with mutual exclusion based on the priority information indicated in the first instruction dependency relationship, and use the vehicle control instruction with a higher instruction priority as the target control instruction.

[0077] Optionally, if there is no mutual exclusion between the to-be-executed vehicle control instruction and the current vehicle control instruction, the to-be-executed vehicle control instruction may be executed immediately.

[0078] Optionally, based on the first instruction dependency, the instruction priority of the vehicle control instruction to be executed and the current vehicle control instruction is determined, and the vehicle control instruction with a higher instruction priority is used as the target control instruction, including: if the vehicle control instruction to be executed and the current vehicle control instruction are of the same instruction type, then the vehicle control instruction to be executed is used as the target control instruction.

[0079] Specifically, if there is mutual exclusion between the vehicle control instruction to be executed and the current vehicle control instruction, and the vehicle control instruction to be executed and the current vehicle control instruction are of the same instruction type, that is, both are safety control instructions or driving control instructions, then the vehicle control instruction to be executed can be directly used as the target control instruction to improve the execution efficiency of the vehicle control instruction, thereby improving the flexibility of vehicle control.

[0080] Optionally, in an embodiment of the present invention, determining the executable state of the automobile control instruction to be executed based on the first instruction dependency relationship also includes: when the instruction type of the automobile control instruction to be executed is a comfort instruction, determining the driving environment of the vehicle through the automobile sensor; wherein the driving environment includes vehicle speed and weather information; determining the dynamic blocking mechanism corresponding to the automobile control instruction in the driving environment according to the first instruction dependency relationship; if the dynamic blocking mechanism does not prohibit the execution of the automobile control instruction, the executable state of the automobile control instruction is executable, and the automobile control instruction is used as the target control instruction. It should be noted that the instruction identifier of the automobile control instruction to be executed can be traversed in the first instruction dependency relationship to determine the dynamic blocking mechanism corresponding to the automobile control instruction in the driving environment.

[0081] For example, if the vehicle control instruction to be executed is a window opening instruction, and the vehicle's driving environment is high-speed driving or driving in the rain, and the dynamic blocking mechanism under high-speed driving or driving in the rain prohibits the window opening operation, then the vehicle control instruction to be executed will be prohibited from execution.

[0082] S340: If the target control instruction is a to-be-executed automobile control instruction, the executable state of the to-be-executed automobile control instruction is executable, and the execution of the current automobile control instruction is terminated immediately.

[0083] S350: When the executable state of the to-be-executed automobile control instruction is executable, determine the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction.

[0084] S360: Control the target vehicle according to the target control instruction and the associated instruction.

[0085] The technical solution of the embodiment of the present invention determines the mutually exclusive information and priority information of the vehicle control instructions to be executed and the current vehicle control instructions, thereby determining the vehicle control instructions to be executed first, thereby improving the real-time performance and safety of the vehicle system, avoiding resource conflicts in the power system logic, and ensuring the stability of the vehicle system.

[0086] Embodiment 4

[0087] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided by Embodiment 4 of the present invention. Figure 4 As shown, the device comprises:

[0088] The instruction acquisition module 410 is used to acquire the to-be-executed automobile control instruction issued by the driver; wherein the to-be-executed automobile control instruction at least includes the automobile control instruction determined by responding to the information acquisition instruction, based on the displacement recognition result of the collected pupil movement information of the driver, and the semantic recognition result of the collected lip movement information of the driver;

[0089] A state determination module 420, configured to determine an executable state of a to-be-executed automobile control instruction based on a first instruction dependency relationship; the first instruction dependency relationship is used to indicate priority information, mutual exclusion information, and a dynamic blocking mechanism of the automobile control instruction under a preset driving environment of the automobile control instruction;

[0090] The associated instruction determination module 430 is used to determine the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the to-be-executed automobile control instruction is executable; wherein the target control instruction is an executable to-be-executed automobile control instruction;

[0091] The control module 430 is used to control the target vehicle according to the target control instruction and the associated instruction.

[0092] The technical solution of the embodiment of the present invention determines the vehicle control instructions to be executed by intelligently identifying the driver's facial information, and determines the instruction validity and associated instructions of the vehicle control instructions to be executed according to the first instruction dependency and the second instruction dependency, and controls the target vehicle according to the determined target control instructions and associated instructions. On the one hand, it optimizes the generation method of the vehicle control instructions and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control instructions and improves driving safety.

[0093] Optionally, the instruction acquisition module 410 includes:

[0094] The first recognition unit is used to perform displacement recognition on the collected pupil movement information of the driver to determine the movement direction and movement distance of the pupil;

[0095] A control determination unit, configured to determine a target control object and a target control mode of the target control object based on the moving direction and the moving distance; wherein the target control object includes a vehicle window and a windshield wiper;

[0096] A second recognition unit is used to perform semantic recognition on the collected lip movement information, and determine a target control object and a target control method of the target control object according to the semantic recognition result;

[0097] The instruction determination unit is used to determine the automobile control instruction to be executed according to the target control object and the target control mode.

[0098] Optionally, the control determination unit may be specifically configured to:

[0099] When the moving direction is up and down, the vehicle window is taken as the target control object;

[0100] Based on a pre-established first mapping relationship between pupil movement distance and window lifting distance, when the movement direction is upward or downward, the upward rising distance or downward descending distance of the window is determined according to the movement distance in the movement direction.

[0101] Optionally, the state determination module 420 includes:

[0102] a mutual exclusion determination unit, configured to determine whether the to-be-executed vehicle control instruction and the current vehicle control instruction are mutually exclusive according to the first instruction dependency relationship when the instruction type of the to-be-executed vehicle control instruction is a safety control instruction and a driving control instruction;

[0103] a priority determination unit, configured to determine the instruction priorities of the to-be-executed vehicle control instruction and the current vehicle control instruction according to the first instruction dependency relationship if there are mutually exclusive instructions, and to use the vehicle control instruction with a higher instruction priority as the target control instruction;

[0104] The execution unit is used for, if the target control instruction is the automobile control instruction to be executed, then the executable state of the automobile control instruction to be executed is executable, and immediately terminating the execution of the current automobile control instruction.

[0105] Optionally, the priority determination unit may be specifically configured to: if the to-be-executed vehicle control instruction and the current vehicle control instruction are of the same instruction type, then use the to-be-executed vehicle control instruction as the target control instruction.

[0106] Optionally, the state determination module 420 further includes:

[0107] A driving environment determination unit, configured to determine the driving environment of the vehicle through a vehicle sensor when the command type of the to-be-executed vehicle control command is a comfort command; wherein the driving environment includes vehicle speed and weather information;

[0108] A dynamic blocking determination unit, configured to determine a dynamic blocking mechanism corresponding to the vehicle control instruction in the driving environment according to the first instruction dependency relationship;

[0109] The blocking unit is used for setting the executable state of the vehicle control instruction as executable if the dynamic blocking mechanism does not prohibit the execution of the vehicle control instruction, and taking the vehicle control instruction as a target control instruction.

[0110] The vehicle control device provided in the embodiment of the present invention can execute the vehicle method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0111] Embodiment 5

[0112] Figure 5 A schematic diagram of an electronic device 510 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0113] like Figure 5 As shown, the electronic device 510 includes at least one processor 511, and a memory connected to the at least one processor 511 in communication, such as a read-only memory (ROM) 512, a random access memory (RAM) 513, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 511 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 512 or the computer program loaded from the storage unit 518 to the random access memory (RAM) 513. In the RAM 513, various programs and data required for the operation of the electronic device 510 can also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other via a bus 514. An input / output (I / O) interface 515 is also connected to the bus 514.

[0114] A number of components in the electronic device 510 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, a mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a disk, an optical disk, etc.; and a communication unit 519, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 519 allows the electronic device 510 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0115] The processor 511 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 511 performs the various methods and processes described above, such as a vehicle control method.

[0116] In some embodiments, the vehicle control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 510 via the ROM 512 and / or the communication unit 519. When the computer program is loaded into the RAM 513 and executed by the processor 511, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to perform the vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0117] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0119] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0120] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0121] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0122] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0123] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0124] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Acquire a to-be-executed automobile control instruction issued by a driver; wherein the to-be-executed automobile control instruction at least includes an automobile control instruction determined by responding to the information collection instruction and according to a displacement recognition result of the collected pupil movement information of the driver and a semantic recognition result of the collected lip movement information of the driver; Determining an executable state of a to-be-executed vehicle control instruction based on a first instruction dependency relationship; the first instruction dependency relationship is used to indicate priority information, mutual exclusion information, and a dynamic blocking mechanism of the vehicle control instruction under a preset driving environment of the vehicle control instruction; When the executable state of the to-be-executed automobile control instruction is executable, determining the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction; wherein the target control instruction is an executable to-be-executed automobile control instruction; The target vehicle is controlled according to the target control instruction and the associated instruction.

2. The method according to claim 1, characterized in that Obtain the vehicle control instructions to be executed from the driver, including: Perform displacement recognition on the collected pupil movement information of the driver to determine the movement direction and distance of the pupil; Based on the moving direction and the moving distance, determining a target control object and a target control mode of the target control object; wherein the target control object includes a car window and a windshield wiper; Performing semantic recognition on the collected lip movement information, and determining a target control object and a target control method of the target control object according to the semantic recognition result; According to the target control object and the target control mode, a vehicle control instruction to be executed is determined.

3. The method according to claim 2, characterized in that Determining a target control object and a target control mode of the target control object based on the moving direction and the moving distance includes: When the moving direction is up and down, the vehicle window is taken as the target control object; Based on a pre-established first mapping relationship between pupil movement distance and window lifting distance, when the movement direction is upward or downward, the upward rising distance or downward descending distance of the window is determined according to the movement distance in the movement direction.

4. The method according to claim 1, characterized in that Determining the executable state of the to-be-executed automobile control instruction based on the first instruction dependency relationship includes: In a case where the instruction type of the to-be-executed vehicle control instruction is a safety control instruction and a driving control instruction, determining whether the to-be-executed vehicle control instruction and the current vehicle control instruction are mutually exclusive according to the first instruction dependency relationship; If there are mutually exclusive instructions, determining the instruction priority of the to-be-executed vehicle control instruction and the current vehicle control instruction according to the first instruction dependency relationship, and taking the vehicle control instruction with a higher instruction priority as the target control instruction; If the target control instruction is the to-be-executed automobile control instruction, the executable state of the to-be-executed automobile control instruction is executable, and the execution of the current automobile control instruction is terminated immediately.

5. The method according to claim 4, characterized in that Determining the instruction priority of the to-be-executed vehicle control instruction and the current vehicle control instruction according to the first instruction dependency relationship, and taking the vehicle control instruction with a higher instruction priority as the target control instruction, including: If the vehicle control instruction to be executed and the current vehicle control instruction are of the same instruction type, the vehicle control instruction to be executed is used as the target control instruction.

6. The method according to claim 1, characterized in that Determining the executable state of the to-be-executed automobile control instruction based on the first instruction dependency relationship also includes: In the case where the command type of the to-be-executed automobile control command is a comfort command, determining the driving environment of the vehicle through an automobile sensor; wherein the driving environment includes vehicle speed and weather information; Determining, according to the first instruction dependency relationship, a dynamic blocking mechanism corresponding to the vehicle control instruction in the driving environment; If the dynamic blocking mechanism does not prohibit the execution of the vehicle control instruction, the executable state of the vehicle control instruction is executable, and the vehicle control instruction is used as the target control instruction.

7. The method according to claim 1, characterized in that The first instruction dependency is determined according to the instruction type of the vehicle control instruction and the vehicle driving environment; The generation process of the second instruction dependency relationship includes: Acquire historical driving information of the driver; wherein the historical driving information is historical vehicle control instructions issued by the driver when driving the target vehicle; the historical vehicle control instructions are stored in the order of timestamps; For each type of vehicle control instruction in the historical driving information, two combinations are performed to generate at least two instruction combinations; In the historical vehicle driving information, each instruction combination is traversed respectively, and if there is an instruction combination whose hit times exceeds a preset threshold, the instruction combination is stored in the second dependency relationship.

8. A vehicle control device, characterized in that: include: An instruction acquisition module is used to acquire a to-be-executed automobile control instruction issued by a driver; wherein the to-be-executed automobile control instruction at least includes an automobile control instruction determined by responding to the information acquisition instruction and based on a displacement recognition result of the collected driver's pupil movement information and a semantic recognition result of the collected driver's lip movement information; A state determination module, used to determine the executable state of the to-be-executed vehicle control instruction based on a first instruction dependency relationship; the first instruction dependency relationship is used to indicate priority information, mutual exclusion information, and a dynamic blocking mechanism of the vehicle control instruction under a preset driving environment of the vehicle control instruction; An associated instruction determination module is used to determine the associated instruction of the target control instruction according to the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the to-be-executed automobile control instruction is executable; wherein the target control instruction is an executable to-be-executed automobile control instruction; The control module is used to control the target vehicle according to the target control instruction and the associated instruction.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that It comprises a computer program, which implements the vehicle control method according to any one of claims 1 to 7 when executed by a processor.

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