A vehicle control method, apparatus, device, and storage medium

Abstract

The application discloses a vehicle control method, device and equipment and a storage medium. The vehicle control method comprises the following steps: obtaining a to-be-executed vehicle control instruction sent by a driver; determining an executable state of the to-be-executed vehicle control instruction based on a first instruction dependency relationship; in the case that the executable state of the to-be-executed vehicle control instruction is executable, determining associated instructions 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 associated instructions. Through the technical solution, the generation mode of the vehicle control instruction is optimized, the driving experience of the driver is improved, and the driving safety is improved.

Description

TECHNICAL FIELD

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

[0002] With the progress of science and technology, modern cars are gradually developing towards intelligence and automation. The generation mode of car control instructions has also become more and more diversified and intelligent, and is no longer limited to physical buttons.

[0003] In addition to providing convenience for drivers and facilitating their control of vehicles, diversified and intelligent car control instruction generation modes also need to consider the validity of car control instructions to improve driving safety. SUMMARY

[0004] The present application provides a vehicle control method, device, equipment and storage medium, which improves the driving experience of drivers while improving driving safety.

[0005] According to an aspect of the present application, a vehicle control method is provided, which comprises:

[0006] acquiring a to-be-executed car control instruction issued by a driver; wherein the to-be-executed car control instruction at least includes a car control instruction determined by responding to information collection instructions, according to the displacement recognition result of the collected driver's pupil movement information, and the semantic recognition result of the collected driver's lip movement information;

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

[0008] in the case that the executable state of the to-be-executed car 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 the executable to-be-executed car control instruction;

[0009] controlling the target vehicle according to the target control instruction and the associated instruction.

[0010] According to another aspect of the present application, a vehicle control device is provided, which comprises:

[0011] The instruction acquisition module is used to acquire vehicle control instructions to be executed from the driver; wherein the vehicle control instructions to be executed include at least the vehicle control instructions determined by responding to the information acquisition instruction and based on the displacement recognition results of the acquired driver's pupil movement information and the semantic recognition results of the acquired driver's lip movement information.

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

[0013] The associated instruction determination module is used to determine the associated instruction of the target control instruction based on the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the vehicle control instruction to be executed is executable; wherein, the target control instruction is an executable vehicle control instruction to be executed;

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

[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, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the vehicle control method according to any embodiment of the present invention.

[0021] The technical solution of this invention determines the vehicle control command to be executed by intelligently recognizing the driver's facial information, and determines the validity of the vehicle control command and associated commands based on the first command dependency relationship and the second command dependency relationship. Then, it controls the target vehicle based on the determined target control command and associated commands. On the one hand, it optimizes the generation method of vehicle control commands and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control commands and improves driving safety.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

[0027] Figure 4 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 4 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the vehicle control method of this invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 The flowchart illustrates a vehicle control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle is controlled via vehicle control commands. This method can be executed by a vehicle control device, which can be implemented in hardware and / or software and can be configured in various general-purpose computing devices. Figure 1 As shown, the method includes:

[0033] S110: Obtain vehicle control commands to be executed from the driver.

[0034] The vehicle control command to be executed includes at least the vehicle control command determined by responding to the information acquisition command, based on the displacement recognition result of the acquired driver's pupil movement information and the semantic recognition result of the acquired driver's lip movement information.

[0035] In this embodiment of the invention, the driver can also generate vehicle control commands via physical or virtual buttons. These commands can include safety control commands (e.g., emergency braking, collision warning, and automatic obstacle avoidance), driving control commands (e.g., acceleration, deceleration, gear shifting, and cruise control), and comfort commands (e.g., window control, wiper control, and air conditioning control). Safety control commands ensure vehicle safety during driving, driving control commands control the vehicle's driving status, and comfort commands control the driver's comfort during driving.

[0036] Optionally, in this embodiment of the invention, an integrated physical button can be provided to combine the window control button and the wiper control button. By switching the position of this integrated physical button, the window control function and the wiper control function can be switched. It should be noted that the window control button can be reused. In the window control function, the window control button is used to control the raising and lowering of the window; in the wiper control function, the window control button is used to control the start and stop of the wipers.

[0037] By integrating physical buttons, the window control buttons and wiper control buttons are combined into a small switch, saving operating space near the driver's cab, increasing the driver's operating space, and reducing manufacturing costs.

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

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

[0040] The executable state can include both executable and non-executable states;

[0041] Optionally, in this embodiment of the invention, the priority can be determined based on the type of vehicle control command and the vehicle driving environment. For example, based on the safety dimension of the vehicle control commands, safety-related control commands can be set to the highest priority, with driving control commands having a lower priority than safety-related control commands, and comfort commands having a lower priority than driving control commands, to ensure the safety of the vehicle and its occupants during vehicle operation. It should be noted that when multiple vehicle commands are pending execution, the execution order of the pending vehicle control commands can be determined based on their priority information, with higher-priority pending vehicle control commands being executed first.

[0042] Furthermore, by analyzing the vehicle's functional logic, vehicle control commands that cannot be executed simultaneously can be identified as mutually exclusive commands and stored as mutual exclusion information. For example, when acceleration and braking commands are requested simultaneously, mutual exclusion information ensures that they will not be executed at the same time, preventing confusion in the powertrain logic.

[0043] The dynamic blocking mechanism can be personalized according to the driver's driving habits. For example, it can prohibit window operation at high speeds to reduce wind resistance and noise interference; limit the volume of the audio system at high speeds; prohibit seat position adjustment while driving; and prohibit window opening in rainy conditions. By setting a dynamic blocking mechanism for vehicle control commands under preset driving conditions, the driver's driving experience and personal safety can be improved.

[0044] S130. When the executable status of the vehicle control command to be executed is executable, determine the associated command of the target control command based on the second command dependency relationship and the command identifier of the target control command.

[0045] Among them, the target control instruction can refer to the vehicle control instruction to be executed when the executable state is executable.

[0046] Specifically, if the executable status of the vehicle control command to be executed is determined to be executable, the associated commands of the vehicle control command to be executed can be determined by traversing the second command dependency relationship based on the command identifier (target control command) of the vehicle control command to be executed.

[0047] Optionally, in this embodiment of the invention, the process of generating the second instruction dependency relationship may include: obtaining the driver's historical driving information; wherein, the historical driving information is the historical vehicle control commands issued by the driver while driving the target vehicle; the historical vehicle control commands may be stored in timestamp order; for each type of vehicle control command existing in the historical driving information, they are combined in pairs to generate at least two instruction combinations; in the historical vehicle driving information, each instruction combination is traversed, and if the number of hits of an instruction combination exceeds a preset threshold, the instruction combination is stored in the second dependency relationship. It should be noted that different drivers correspond to different historical driving information, and the historical driving information can be dynamically updated according to the driver's driving process. Furthermore, the historical driving information only stores historical vehicle control commands within a preset fixed period, and the historical driving information is updated every time the driver issues and executes a vehicle control command. Optionally, the preset threshold can be adaptively set according to those skilled in the art.

[0048] Optionally, the storage identifier for historical driving information can be the driver's user identifier, and the historical driving information can be stored in a queue, with updates following the first-in, first-out (FIFO) principle.

[0049] By generating a second dependency based on the driver's historical driving information, the system predicts the associated commands that the driver is most likely to issue after issuing a target control command, thereby improving driving safety, reducing cognitive load and operational redundancy, and enhancing the driver's driving experience.

[0050] S140. Perform vehicle control on the target vehicle according to the target control command and associated commands.

[0051] The target vehicle can refer to the vehicle that executes the target control command.

[0052] The technical solution of this invention determines the vehicle control command to be executed by intelligently recognizing the driver's facial information, and determines the validity of the vehicle control command and associated commands based on the first command dependency relationship and the second command dependency relationship. Then, it controls the target vehicle based on the determined target control command and associated commands. On the one hand, it optimizes the generation method of vehicle control commands and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control commands and improves driving safety.

[0053] Example 2

[0054] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention. This embodiment further refines the above embodiments, providing specific steps for obtaining vehicle control commands to be executed from the driver. It should be noted that for parts of this embodiment not described in detail, please refer to the relevant descriptions in 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 direction and distance of pupil movement.

[0056] Optionally, in this embodiment of the invention, a Driver Monitoring System (DMS) can be used to collect pupil movement and lip movement information from the driver. It should be noted that the DMS system can be integrated with the vehicle body controller. This improves the integration of vehicle system functions, and the vehicle body controller can directly perform fault detection on the DMS system, detecting whether there are faults in the video acquisition units, etc., and providing fault feedback to facilitate timely fault handling by the driver. Simultaneously, the fault detection results can be uploaded to the cloud for storage via vehicle body sensors, facilitating data analysis by researchers.

[0057] It should be noted that, in this embodiment of the invention, driver pupil movement information and lip movement information can be collected in response to an information collection command. Optionally, the information collection command can be a preset action command by the driver.

[0058] By responding to information collection commands, the system identifies and analyzes the driver's pupil movement and lip movements to determine the corresponding vehicle control commands to be executed. This effectively avoids misidentification of the driver and improves the accuracy of generating vehicle control commands and driving safety.

[0059] S220. Based on the direction of movement and the distance of movement, determine the target control object and the target control method of the target control object.

[0060] The target control objects may include car windows and windshield wipers.

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

[0062] In one optional implementation, the process of establishing the first mapping relationship may include: dividing the vehicle window into equidistant vertical sections to generate a preset number of window sub-regions; establishing a mapping between the movement distance of the window and the movement distance of the pupil, such that whenever the pupil moves a preset unit distance, the window synchronously moves up or down by one window sub-region. It should be noted that the preset number and preset unit distance can be adaptively set according to those skilled in the art.

[0063] Optionally, determining the target controlled object and the target control method based on the direction and distance of movement further includes: when the direction of movement is left or right, using the windshield wiper as the target controlled object; when the direction of movement is right, if the distance moved to the right exceeds a preset distance, determining the control method of the windshield wiper to be low-speed flat sweeping; when the direction of movement is left, if the distance moved to the left exceeds a preset distance, determining the control method of the windshield wiper to be high-speed flat sweeping. It should be noted that the preset distance of movement can be adaptively set according to those skilled in the art.

[0064] S230. Perform semantic recognition on the collected lip movement information, and determine the target control object and the target control method of the target control object based on the semantic recognition results.

[0065] Specifically, semantic recognition results can be used to determine whether the target control object is a car window or a windshield wiper, and the target control method of the target control object can also be determined through semantic recognition results. When the target control object is a car window, the vehicle window can be pre-divided into equal vertical ranges to generate a preset number of window sub-regions. One window sub-region can be used as a movement unit. As long as the driver issues a command to move the window up or down by n movement units, 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 vehicle control command to be executed based on 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 to the body controller. The body controller then determines the vehicle control command to be executed corresponding to the target control object and the target control method based on the received information.

[0068] The technical solution of this invention optimizes the generation method of vehicle control commands by recognizing the driver's pupil movement information and lip movement information to generate vehicle control commands to be executed. This improves the accuracy of the driver issuing vehicle control commands in abnormal driving environments, while also facilitating vehicle driving for deaf and mute individuals and improving the driver's driving experience.

[0069] Example 3

[0070] Figure 3 This is a flowchart of a vehicle control method provided in Embodiment 3 of the present invention. This embodiment further refines the above embodiments, providing specific steps for determining the executable state of the vehicle control command to be executed based on a first instruction dependency relationship. It should be noted that for parts of this embodiment not described in detail, please refer to the relevant descriptions in other embodiments, which will not be repeated here. Figure 3 As shown, the method includes:

[0071] S310: Obtain vehicle control commands to be executed from the driver.

[0072] S320. When the instruction type of the vehicle control instruction to be executed is a safety control instruction or a driving control instruction, determine whether there is instruction mutual exclusion between the vehicle control instruction to be executed and the current vehicle control instruction based on the first instruction dependency relationship.

[0073] The current vehicle control command can refer to the vehicle control command that the driver is currently executing.

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

[0075] S330. If instruction mutual exclusion exists, the instruction priority of the vehicle control instruction to be executed and the current vehicle control instruction is determined according to the first instruction dependency relationship, and the vehicle control instruction with higher instruction priority is taken as the target control instruction.

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

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

[0078] Optionally, based on the first instruction dependency relationship, 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 higher instruction priority is taken 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 taken as the target control instruction.

[0079] Specifically, if there is instruction 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 vehicle control instructions and thus improve the flexibility of vehicle control.

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

[0081] For example, if the vehicle control command to be executed is a window opening command, and the vehicle is driving at high speed or in the rain, and the dynamic blocking mechanism under high speed or rain conditions prohibits window opening operation, then the vehicle control command to be executed will be prohibited from being executed.

[0082] S340. If the target control instruction is a vehicle control instruction to be executed, then the executable status of the vehicle control instruction to be executed is executed, and the execution of the current vehicle control instruction is immediately terminated.

[0083] S350. When the executable status of the vehicle control command to be executed is executable, determine the associated command of the target control command based on the second command dependency relationship and the command identifier of the target control command.

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

[0085] The technical solution of this invention determines the vehicle control command to be executed first by determining the mutual exclusion information and priority information of the vehicle control command to be executed and the current vehicle control command. This improves the real-time performance and safety of the vehicle system, avoids resource conflicts in the power system logic, and ensures the stability of the vehicle system.

[0086] Example 4

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

[0088] The instruction acquisition module 410 is used to acquire a vehicle control instruction to be executed issued by the driver; wherein the vehicle control instruction to be executed includes at least a vehicle control instruction determined by responding to an information acquisition instruction and based on the displacement recognition result of the acquired driver's pupil movement information and the semantic recognition result of the acquired driver's lip movement information.

[0089] The state determination module 420 is used to determine the executable state of the vehicle control command to be executed based on the first instruction dependency relationship; the first instruction dependency relationship is used to indicate the priority information, mutual exclusion information and dynamic blocking mechanism of the vehicle control command under the preset driving environment.

[0090] The associated instruction determination module 430 is used to determine the associated instruction of the target control instruction based on the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the vehicle control instruction to be executed is executable; wherein, the target control instruction is an executable vehicle control instruction to be executed.

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

[0092] The technical solution of this invention determines the vehicle control command to be executed by intelligently recognizing the driver's facial information, and determines the validity of the vehicle control command and associated commands based on the first command dependency relationship and the second command dependency relationship. Then, it controls the target vehicle based on the determined target control command and associated commands. On the one hand, it optimizes the generation method of vehicle control commands and improves the driver's driving experience. On the other hand, it avoids execution conflicts between vehicle control commands 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 direction and distance of pupil movement.

[0095] A control determination unit is used to determine a target control object and a target control method for the target control object based on the direction of movement and the distance of movement; wherein, the target control object includes a car window and a windshield wiper.

[0096] The second recognition unit is used to perform semantic recognition on the collected lip movement information, and determine the target control object and the target control method of the target control object based on the semantic recognition results.

[0097] The instruction determination unit is used to determine the vehicle control instruction to be executed based on the target control object and the target control method.

[0098] Optionally, the control determination unit may be specifically used for:

[0099] When the direction of movement is up and down, the car 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 distance the window will rise or fall is determined according to the movement distance in that direction.

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

[0102] The mutual exclusion determination unit is used to determine whether there is instruction mutual exclusion between the vehicle control instruction to be executed and the current vehicle control instruction, based on the first instruction dependency relationship, when the instruction type of the vehicle control instruction to be executed is a safety control instruction and a driving control instruction.

[0103] The priority determination unit is used to determine the instruction priority of the vehicle control instruction to be executed and the current vehicle control instruction according to the first instruction dependency relationship if instruction mutual exclusion exists, and to take the vehicle control instruction with higher instruction priority as the target control instruction.

[0104] An execution unit is configured to, if the target control instruction is the vehicle control instruction to be executed, then declare the vehicle control instruction to be executable as executable and immediately terminate the execution of the current vehicle control instruction.

[0105] Optionally, the priority determination unit can be specifically used to: if the vehicle control instruction to be executed is of the same instruction type as the current vehicle control instruction, then the vehicle control instruction to be executed will be used as the target control instruction.

[0106] Optionally, the status determination module 420 also includes:

[0107] A driving environment determination unit is used to determine the driving environment of the vehicle by means of vehicle sensors when the type of the vehicle control command to be executed is a comfort command; wherein the driving environment includes vehicle speed and weather information;

[0108] The dynamic blocking determination unit is used to determine the dynamic blocking mechanism corresponding to the vehicle control command in the driving environment based on the first command dependency relationship.

[0109] The blocking unit is configured to, if the dynamic blocking mechanism does not prohibit the execution of the vehicle control command, set the executable state of the vehicle control command to executable and use the vehicle control command as the target control command.

[0110] The vehicle control device provided in the embodiments 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 executing the method.

[0111] Example 5

[0112] Figure 5 A schematic diagram of an electronic device 510 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0117] Various embodiments 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-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0119] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0121] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0122] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Acquire vehicle control commands to be executed from the driver; wherein the vehicle control commands to be executed include at least vehicle control commands determined by responding to information acquisition commands, based on displacement recognition results of acquired driver pupil movement information and semantic recognition results of acquired driver lip movement information. The executable state of the vehicle control command to be executed is determined based on the first instruction dependency relationship; the first instruction dependency relationship is used to indicate the priority information, mutual exclusion information, and dynamic blocking mechanism of the vehicle control command under the preset driving environment. When the executable state of the vehicle control instruction to be executed is executable, the associated instruction of the target control instruction is determined according to the second instruction dependency relationship and the instruction identifier of the target control instruction; wherein, the target control instruction is an executable vehicle control instruction to be executed. Vehicle control is performed on the target vehicle according to the target control command and the associated command; The first instruction dependency is determined based on the instruction type of the vehicle control instruction and the vehicle driving environment; The process of generating the second instruction dependency includes: Obtain the driver's historical driving information; wherein, the historical driving information is the historical vehicle control commands issued by the driver while driving the target vehicle; the historical vehicle control commands are stored in timestamp order; For each type of vehicle control command present in the historical driving information, combine them in pairs to generate at least two command combinations; In the historical vehicle driving information, each instruction combination is traversed. If the number of hits of an instruction combination exceeds a preset threshold, the instruction combination is stored in the second dependency relationship.

2. The method according to claim 1, characterized in that, Acquire vehicle control commands to be executed from the driver, including: Displacement recognition is performed on the collected pupil movement information of the driver to determine the direction and distance of pupil movement; Based on the direction of movement and the distance of movement, a target control object and a target control method for the target control object are determined; wherein, the target control object includes the vehicle window and the windshield wiper. Semantic recognition is performed on the collected lip movement information, and the target control object and the target control method of the target control object are determined based on the semantic recognition results; Based on the target control object and the target control method, the vehicle control command to be executed is determined.

3. The method according to claim 2, characterized in that, Based on the direction of movement and the distance of movement, the target control object and the target control method of the target control object are determined, including: When the direction of movement is up and down, the car 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 distance the window will rise or fall is determined according to the movement distance in that direction.

4. The method according to claim 1, characterized in that, The executable state of the vehicle control command to be executed is determined based on the first instruction dependency relationship, including: When the instruction type of the vehicle control instruction to be executed is a safety control instruction or a driving control instruction, it is determined whether there is instruction mutual exclusion between the vehicle control instruction to be executed and the current vehicle control instruction based on the first instruction dependency relationship; If instruction mutual exclusion exists, the instruction priority of the vehicle control instruction to be executed and the current vehicle control instruction is determined according to the first instruction dependency relationship, and the vehicle control instruction with higher instruction priority is taken as the target control instruction. If the target control instruction is the vehicle control instruction to be executed, then the executable status of the vehicle control instruction to be executed is executable, and the execution of the current vehicle control instruction is immediately terminated.

5. The method according to claim 4, characterized in that, Based on the first instruction dependency relationship, the instruction priorities of the vehicle control instruction to be executed and the current vehicle control instruction are determined, and the vehicle control instruction with the higher instruction priority is selected as the target control instruction, including: If the vehicle control command to be executed is of the same command type as the current vehicle control command, then the vehicle control command to be executed will be used as the target control command.

6. The method according to claim 1, characterized in that, Determining the executable state of the vehicle control command to be executed based on the first instruction dependency relationship also includes: When the type of the vehicle control command to be executed is a comfort command, the driving environment of the vehicle is determined by the vehicle sensors; wherein, the driving environment includes vehicle speed and weather information; Based on the first instruction dependency relationship, determine the dynamic blocking mechanism corresponding to the vehicle control instruction in this driving environment; If the dynamic blocking mechanism does not prohibit the execution of the vehicle control command, the vehicle control command is in an executable state and is used as the target control command.

7. A vehicle control device, characterized in that, include: The instruction acquisition module is used to acquire vehicle control instructions to be executed from the driver; wherein the vehicle control instructions to be executed include at least the vehicle control instructions determined by responding to the information acquisition instruction and based on the displacement recognition results of the acquired driver's pupil movement information and the semantic recognition results of the acquired driver's lip movement information. The state determination module is used to determine the executable state of the vehicle control command to be executed based on the first instruction dependency relationship; the first instruction dependency relationship is used to indicate the priority information, mutual exclusion information and dynamic blocking mechanism of the vehicle control command under the preset driving environment. The associated instruction determination module is used to determine the associated instruction of the target control instruction based on the second instruction dependency relationship and the instruction identifier of the target control instruction when the executable state of the vehicle control instruction to be executed is executable; wherein, the target control instruction is an executable vehicle control instruction to be executed; The control module is used to control the target vehicle according to the target control command and the associated command; The first instruction dependency is determined based on the instruction type of the vehicle control instruction and the vehicle driving environment; The process of generating the second instruction dependency includes: Obtain the driver's historical driving information; wherein, the historical driving information is the historical vehicle control commands issued by the driver while driving the target vehicle; the historical vehicle control commands are stored in timestamp order; For each type of vehicle control command present in the historical driving information, combine them in pairs to generate at least two command combinations; In the historical vehicle driving information, each instruction combination is traversed. If the number of hits of an instruction combination exceeds a preset threshold, the instruction combination is stored in the second dependency relationship.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle control method of any one of claims 1-6.

10. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the vehicle control method according to any one of claims 1-6.

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