Vehicle control method and device, processor and electronic equipment

Abstract

The invention discloses a vehicle control method and device, a processor and electronic equipment. The method comprises the steps that state information of a driving object in a vehicle in an initial time period is obtained, and the state information is used for representing the physiological state of the driving object and / or the operation state of the driving object on components of the vehicle; determining a driving state of the driving object based on the state information; in response to the condition that the driving state is a fatigue driving state, initial image information of an initial road where the vehicle is located within the initial time period is collected; based on the initial image information, determining steering parameters when the vehicle executes steering operation on the initial road; and performing power-assisted steering compensation on the vehicle based on the steering parameters so as to control the vehicle to successfully steer on the initial road. The technical problem that the risk of a collision accident of the vehicle is high is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a control method, device, processor and electronic equipment for a vehicle. Background Art

[0002] Since the speed of commercial vehicles is often higher than that of non-commercial vehicles, the mass of commercial vehicles is often greater than that of non-commercial vehicles, and the field of vision of commercial vehicles is often higher than that of non-commercial vehicles, therefore, when commercial vehicles turn on curved roads on highways, they are more difficult to brake in time than non-commercial vehicles, resulting in a technical problem of a high risk of vehicle collision accidents.

[0003] With respect to the technical problem that the risk of collision accidents involving the above-mentioned vehicles is high, no effective solution has been proposed so far. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle control method, device, processor, and electronic device to at least solve the technical problem of high risk of vehicle collision accidents.

[0005] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, the method comprising: obtaining state information of a driving object in the vehicle during an initial time period, wherein the state information is used to represent a physiological state of the driving object and / or an operating state of the driving object on components of the vehicle; determining a driving state of the driving object based on the state information; in response to the driving state being a fatigue driving state, collecting initial image information of an initial road on which the vehicle is located during the initial time period; determining steering parameters when the vehicle performs a steering operation on the initial road based on the initial image information; and performing steering assist compensation on the vehicle based on the steering parameters to control the vehicle to successfully turn on the initial road.

[0006] Optionally, based on the initial image information, determining the steering parameters of the vehicle when performing a steering operation on the initial road, including: extracting first direction information, second direction information and third direction information from the initial image information, wherein the first direction information is used to represent a first direction of a lane line on the initial road, the second direction information is used to represent a second direction of a boundary of the initial road, and the third direction information is used to represent a third direction of the vehicle traveling on the initial road; based on the first direction information, the second direction information and the third direction information, determining the steering parameters.

[0007] Optionally, based on the initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road are determined, including: calculating the angle between the first direction information and the third direction information to obtain a first angle between the first direction and the third direction, and calculating the angle between the second direction information and the third direction information to obtain a second angle between the second direction and the third direction; in response to the absolute value of the difference between the first angle and the second angle being less than or equal to a first threshold, determining the steering parameters based on the sum of the first angle and the second angle.

[0008] Optionally, based on the initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road are determined, including: extracting first direction information and third direction information from the initial image information; calculating the angle between the first direction information and the third direction information to obtain a first angle; in response to the first angle being less than a second threshold, determining the steering parameters based on the first angle.

[0009] Optionally, the steering parameter is determined based on the first direction information, the second direction information and the third direction information, including: extracting the second direction information and the third direction information from the initial image information; calculating the angle between the second direction information and the third direction information to obtain a second angle; in response to the second angle being less than a second threshold, determining the steering parameter based on the second angle.

[0010] Optionally, based on the state information, determining the driving state of the driving object includes: identifying the physiological state in the state information to obtain a recognition result; and determining a preset driving state that meets the recognition result as the driving state.

[0011] Optionally, determining the driving state of the driving object based on the state information also includes: monitoring the operating state in the state information to obtain a monitoring result; and determining a preset driving state that meets the monitoring result as the driving state.

[0012] Optionally, determining the driving state of the driving object based on the state information also includes: identifying the physiological state to obtain an identification result; and monitoring the operating state to obtain a monitoring result; and determining a preset driving state that meets the identification result and the monitoring result as the driving state.

[0013] Optionally, based on the steering parameters, steering assist compensation is performed on the vehicle, including: determining steering assist information that satisfies the steering parameters, wherein the steering assist information is used to indicate the degree of steering assist to be applied to the vehicle; and performing steering assist compensation on the vehicle according to the steering assist information.

[0014] Optionally, the method also includes: after the vehicle successfully turns on the initial road, obtaining current image information of the current road on which the vehicle is located in the current time period, wherein the current time period is the next time period of the initial time period, and the current road is the next road of the initial road; extracting fourth direction information and fifth direction information from the current image information, wherein the fourth direction information is used to indicate the fourth direction of the lane line on the current road, and the fifth direction information is used to indicate the fifth direction of the vehicle traveling on the current road; in response to the fitting of the fourth direction information and the fifth direction information, stopping steering assist compensation for the vehicle.

[0015] According to one aspect of an embodiment of the present invention, a vehicle control device is provided, which may include: an acquisition unit, used to acquire state information of a driving object in the vehicle during an initial time period, wherein the state information is used to represent a physiological state of the driving object and / or an operating state of the driving object on a component of the vehicle; a first determination unit, used to determine the driving state of the driving object based on the state information; a collection unit, used to collect initial image information of an initial road where the vehicle is located during the initial time period in response to the driving state being a fatigue driving state; a second determination unit, used to determine steering parameters of the vehicle when performing a steering operation on the initial road based on the initial image information; and a control unit, used to perform steering assist compensation on the vehicle based on the steering parameters, so as to control the vehicle to successfully turn on the initial road.

[0016] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a program, wherein when the program is run by the processor, the vehicle control method in the embodiment of the present invention is executed.

[0017] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the vehicle control method in each embodiment of the present invention is executed when the program is running.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle control method in the present invention.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is further provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle control method in the embodiment of the present invention is implemented.

[0020] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the vehicle control method in the embodiment of the present invention is implemented.

[0021] According to another aspect of an embodiment of the present invention, an embodiment of the present application further provides a computer program, which implements the vehicle control method in the above-mentioned embodiment of the present invention when executed by a processor.

[0022] In an embodiment of the present invention, when controlling a vehicle, state information of a driving object in the vehicle during an initial period of time may be obtained. Based on the obtained state information, the driving state of the driving object may be determined. In response to the driving state determined to be a fatigue driving state, initial image information of the initial road where the vehicle is located during the initial period of time may be collected. Based on the collected initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road may be determined, and based on the determined steering parameters, steering assistance compensation may be performed on the vehicle to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thereby solving the technical problem of the high risk of a vehicle collision accident, and further achieving the technical effect of reducing the risk of a vehicle collision accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

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

[0025] FIG. 2( a ) is a schematic diagram of a power steering control system for a commercial vehicle according to an embodiment of the present invention;

[0026] FIG2( b ) is a flow chart of a steering assist control method for a commercial vehicle according to an embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] 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 embodiments of a part of the present invention, not all 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.

[0029] 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.

[0030] According to an embodiment of the present invention, a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention, the method may include the following steps:

[0032] Step S101, obtaining status information of a driving object in a vehicle during an initial period.

[0033] In the technical solution provided in the above step S101 of the present invention, the above state information can be used to indicate the physiological state of the driving subject and / or the operating state of the driving subject on the components of the vehicle.

[0034] In this embodiment, the driving object may be a person driving a vehicle (for example, a person with driving qualifications), and the physiological state may include at least one of the following: facial state, heart rate state, breathing rate, blood pressure state, and shoulder and neck flexion state of the driving object, etc. The facial state may include: eye state and mouth state, etc. These are merely examples and are not specifically limited.

[0035] In this embodiment, the above-mentioned components may include at least one of the following: pedals, steering wheels, and central control devices, etc. The above-mentioned operating states may include at least one of the following: the operating state of the driving object on the pedals, the operating state of the driving object on the steering wheel, and the operating state of the driving object on the central control device, etc. These are merely examples and are not specifically limited.

[0036] In this embodiment, the state information of the driving object in the vehicle during the initial period is obtained. Optionally, this embodiment uses a fatigue monitoring system (Driver Monitoring System for Fatigue Detection, referred to as DMS) to collect the physiological state of the driving object in the vehicle during the initial period, and uses an action monitoring system to collect the operating state of the driving object on the vehicle components during the initial period, and then uses the collected physiological state and the collected operating state as the state information of the driving object during the initial period.

[0037] Step S102: determining the driving state of the driving object based on the state information.

[0038] In the technical solution provided in the above step S102 of the present invention, the above driving state may include: a fatigue driving state and a non-fatigue driving state, etc., which are only given as examples here and are not specifically limited.

[0039] In this embodiment, after obtaining the state information of the driving object in the vehicle during the initial period, the driving state of the driving object is determined based on the state information. Optionally, this embodiment can determine the driving state of the driving object based on the physiological state in the state information after obtaining the state information; or, can determine the driving state of the driving object based on the operating state in the state information; or, can determine the driving state of the driving object based on the physiological state and the operating state in the state information.

[0040] Optionally, the driving state of the driving subject may be determined according to the physiological state in the state information. That is, if the driving state corresponding to the above physiological state is a non-fatigue driving state, the driving state of the driving subject may be a non-fatigue driving state; if the driving state corresponding to the above physiological state is a fatigue driving state, the driving state of the driving subject may be a fatigue driving state.

[0041] Optionally, the driving state of the driving object may be determined according to the operation state in the state information. That is, if the driving state corresponding to the above operation state is a non-fatigue driving state, the driving state of the driving object may be a non-fatigue driving state; if the driving state corresponding to the above operation state is a fatigue driving state, the driving state of the driving object may be a fatigue driving state.

[0042] Optionally, the driving state of the driving subject may be determined according to the physiological state and the operating state in the state information. That is, if the driving state corresponding to the physiological state and the operating state is a non-fatigue driving state, the driving state of the driving subject may be a non-fatigue driving state; if the driving state corresponding to the physiological state and the operating state is a fatigue driving state, the driving state of the driving subject may be a fatigue driving state.

[0043] Step S103 , in response to the driving state being a fatigue driving state, collecting initial image information of an initial road where the vehicle is located within an initial period of time.

[0044] In the technical solution provided in the above step S103 of the present invention, the above fatigue driving state may also be referred to as an inattentive driving state or a distracted driving state, etc., which is only used as an example here and is not specifically limited.

[0045] In this embodiment, the initial image information can be used to represent each frame of the video data of the initial road, and the video data can be obtained by the acquisition device continuously shooting the initial road in the initial period. For example, the acquisition device can be, but is not limited to, a front-view camera of a vehicle, which is only used as an example and is not specifically limited.

[0046] In this embodiment, after determining the driving state of the driving object based on the state information, in response to the driving state being a fatigue driving state, initial image information of the initial road where the vehicle is located in the initial period is collected. Optionally, this embodiment determines whether the determined driving state is a fatigue driving state based on the driving state of the driving object. If it is determined that the driving state of the driving object is a fatigue driving state, the initial image information of the initial road where the vehicle is located in the initial period can be collected, that is, each frame of the video data of the initial road can be collected.

[0047] Step S104: determining a steering parameter when the vehicle performs a steering operation on the initial road based on the initial image information.

[0048] In the technical solution provided in the above step S104 of the present invention, the above steering parameter can be used to represent the road steering deviation angle when the vehicle performs a steering operation on the initial road.

[0049] In this embodiment, in response to the driving state being a fatigue driving state, after collecting initial image information of the initial road where the vehicle is located in the initial period, the steering parameters of the vehicle when performing a steering operation on the initial road are determined based on the initial image information. Optionally, this embodiment extracts direction information from the collected initial image information on the basis of collecting the initial image information, wherein the above-mentioned direction information can be used to represent a first direction of a lane line on the initial road, a second direction of a boundary of the initial road, and a third direction of the vehicle traveling on the initial road. According to the extracted direction information, the steering parameters of the vehicle when performing a steering operation on the initial road can be determined.

[0050] Step S105, based on the steering parameters, steering assistance compensation is performed on the vehicle to control the vehicle to successfully turn on the initial road.

[0051] In the technical solution provided in the above step S105 of the present invention, after determining the steering parameters of the vehicle when performing the steering operation on the initial road based on the initial image information, the vehicle is subjected to steering assistance compensation based on the steering parameters to control the vehicle to successfully turn on the initial road. Optionally, on the basis of determining the steering parameters, this embodiment sends the determined steering parameters to an electric power steering system (Electric Power Steering, referred to as EPS), controls the electronic power steering system to determine whether the received steering parameters have valid values, and if it is determined that the received steering parameters have valid values, performs steering assistance compensation on the vehicle according to the received steering parameters to control the vehicle to successfully turn on the initial road.

[0052] Optionally, the electronic steering assist system is controlled to determine whether the received steering parameter has a valid value. If it is determined that the received steering parameter does not have a valid value, there is no need to perform steering assist compensation on the vehicle according to the received steering parameter to control the vehicle to successfully turn on the initial road.

[0053] In the above steps S101 to S105 of the present application, when controlling the vehicle, the state information of the driving object in the vehicle during the initial period can be obtained. Based on the above state information obtained, the driving state of the driving object can be determined. In response to the driving state determined to be a fatigue driving state, the initial image information of the initial road where the vehicle is located during the initial period is collected. Based on the collected initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road can be determined, and based on the determined steering parameters, the vehicle is compensated for steering assistance to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thereby solving the technical problem of the high risk of vehicle collision accidents, and further achieving the technical effect of reducing the risk of vehicle collision accidents.

[0054] The above method of this embodiment is further introduced below.

[0055] As an optional implementation method, step S104, based on the initial image information, determines the steering parameters of the vehicle when performing a steering operation on the initial road, including: extracting first direction information, second direction information and third direction information from the initial image information; based on the first direction information, the second direction information and the third direction information, determines the steering parameters.

[0056] In this embodiment, the above-mentioned direction information may include: first direction information, second direction information and third direction information, wherein the first direction information can be used to indicate the first direction of the lane line on the initial road, the second direction information can be used to indicate the second direction of the boundary of the initial road, and the third direction information can be used to indicate the third direction of the vehicle traveling on the initial road.

[0057] In this embodiment, in response to the driving state being a fatigue driving state, after collecting initial image information of the initial road where the vehicle is located in the initial period, first direction information, second direction information and third direction information are extracted from the initial image information. Optionally, this embodiment extracts information from the collected initial image information on the basis of collecting the initial image information to obtain direction information. By dividing the obtained direction information, the first direction information, the second direction information and the third direction information can be obtained.

[0058] In this embodiment, after extracting the first direction information, the second direction information and the third direction information from the initial image information, the steering parameter is determined based on the first direction information, the second direction information and the third direction information. Optionally, this embodiment can determine the steering parameter when the vehicle performs a steering operation on the initial road based on the first direction information, the second direction information and the third direction information.

[0059] As an optional implementation method, a steering parameter is determined based on first direction information, second direction information and third direction information, including: calculating the angle between the first direction information and the third direction information to obtain a first angle between the first direction and the third direction, and calculating the angle between the second direction information and the third direction information to obtain a second angle between the second direction and the third direction; in response to the absolute value of the difference between the first angle and the second angle being less than or equal to a first threshold, determining the steering parameter based on the sum of the first angle and the second angle.

[0060] In this embodiment, the first angle can be expressed by α=Max{α1, α2, α3, α4...}, and the second angle can be expressed by β=Max{β1, β2, β3, β4...}. This is only an example and not a specific limitation.

[0061] In this embodiment, after extracting the first direction information, the second direction information, and the third direction information from the initial image information, the first direction information and the third direction information are calculated to obtain a first angle between the first direction and the third direction, and the second direction information and the third direction information are calculated to obtain a second angle between the second direction and the third direction. Optionally, on the basis of obtaining the first direction information, the second direction information, and the third direction information, this embodiment calculates the angle between the first direction information and the third direction information to obtain a first angle between the first direction and the third direction, and calculates the angle between the second direction information and the third direction information to obtain a second angle between the second direction and the third direction.

[0062] In this embodiment, the first threshold may be represented by D1, which is only used as an example and is not specifically limited.

[0063] In this embodiment, after obtaining the first angle and the second angle, in response to the absolute value of the difference between the first angle and the second angle being less than or equal to the first threshold, the steering parameter is determined based on the sum of the first angle and the second angle. Optionally, this embodiment calculates the difference between the first angle and the second angle on the basis of obtaining the first angle and the second angle, and obtains the absolute value of the difference between the first angle and the second angle by performing an absolute value calculation on the difference. The relationship between the absolute value of the obtained difference and the first threshold is judged, and if it is judged that the absolute value of the difference is less than or equal to the first threshold, the steering parameter can be determined based on the sum of the first angle and the second angle.

[0064] Optionally, the steering parameter may be determined according to the sum of the first angle and the second angle. For example, the sum of the first angle and the second angle may be averaged to obtain an average value, and the average value may be determined as a steering parameter for representing a road steering deviation angle, wherein the road steering deviation angle may be represented by γ, which is only used as an example and is not specifically limited.

[0065] As an optional implementation method, based on the initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road are determined, including: extracting first direction information and third direction information from the initial image information; calculating the angle between the first direction information and the third direction information to obtain a first angle; in response to the first angle being less than a second threshold, determining the steering parameters based on the first angle.

[0066] In this embodiment, the second threshold may be represented by D2, which is merely an example and not specifically limited.

[0067] In this embodiment, in response to the driving state being a fatigue driving state, after collecting initial image information of the initial road where the vehicle is located in the initial period, the first direction information and the third direction information are extracted from the initial image information. Optionally, based on the collected initial image information, this embodiment extracts information from the collected initial image information to obtain direction information. By dividing the obtained direction information, the first direction information and the third direction information can be obtained.

[0068] In this embodiment, after extracting the first direction information and the third direction information from the initial image information, the first direction information and the third direction information are calculated to obtain the first angle. Optionally, this embodiment calculates the angle between the first direction information and the third direction information based on the extraction of the first direction information and the third direction information to obtain the first angle between the first direction and the third direction.

[0069] In this embodiment, after calculating the angle between the first direction information and the third direction information to obtain the first angle, in response to the first angle being less than the second threshold, the steering parameter is determined based on the first angle. Optionally, on the basis of obtaining the first angle, the embodiment determines the relationship between the obtained first angle and the second threshold, and if it is determined that the obtained first angle is less than the second threshold, the steering parameter can be determined based on the first angle. For example, the above-mentioned first angle can be determined as a steering parameter used to represent the road steering offset angle.

[0070] As an optional implementation method, based on the initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road are determined, including: extracting second direction information and third direction information from the initial image information; calculating the angle between the second direction information and the third direction information to obtain a second angle; in response to the second angle being less than a second threshold, determining the steering parameters based on the second angle.

[0071] In this embodiment, in response to the driving state being a fatigue driving state, after collecting the initial image information of the initial road where the vehicle is located in the initial period, the second direction information and the third direction information are extracted from the initial image information. Optionally, based on the collected initial image information, this embodiment extracts information from the collected initial image information to obtain direction information. The obtained direction information is divided to obtain the second direction information and the third direction information.

[0072] In this embodiment, after extracting the second direction information and the third direction information from the initial image information, the second direction information and the third direction information are calculated to obtain the second angle. Optionally, this embodiment calculates the angle between the second direction information and the third direction information based on the extraction of the second direction information and the third direction information to obtain the second angle between the second direction and the third direction.

[0073] In this embodiment, after the second angle is obtained, in response to the second angle being less than the second threshold, the steering parameter is determined based on the second angle. Optionally, this embodiment determines the relationship between the obtained second angle and the second threshold on the basis of the obtained second angle, and if it is determined that the obtained second angle is less than the second threshold, the steering parameter can be determined based on the second angle. For example, the second angle can be determined as a steering parameter for indicating a road steering offset angle.

[0074] As an optional implementation method, step S102 determines the driving state of the driving object based on the state information, including: identifying the physiological state in the state information to obtain a recognition result; and determining a preset driving state that meets the recognition result as the driving state.

[0075] In this embodiment, after obtaining the state information of the driving object in the vehicle during the initial period, the physiological state in the state information is identified to obtain a recognition result. Optionally, this embodiment identifies the physiological state in the state information based on the acquired state information to obtain a recognition result, wherein the above recognition result can be used to indicate whether the physiological state is an abnormal physiological state.

[0076] In this embodiment, after the physiological state in the state information is identified and the identification result is obtained, the preset driving state that meets the identification result is determined as the driving state. Optionally, based on the identification result, if the identification result indicates that the physiological state is an abnormal physiological state, the preset driving state that meets the identification result is a fatigue driving state that meets the abnormal physiological state, and the fatigue driving state is determined as the driving state.

[0077] As an optional implementation method, step S102, based on the status information, determines the driving state of the driving object, and also includes: monitoring the operating state in the status information to obtain a monitoring result; and determining a preset driving state that meets the monitoring result as the driving state.

[0078] In this embodiment, after obtaining the state information of the driving object in the vehicle during the initial period, the operation state in the state information is monitored to obtain a monitoring result. Optionally, this embodiment monitors the operation state in the state information on the basis of obtaining the state information to obtain a monitoring result, wherein the above monitoring result can be used to indicate whether the operation state is an abnormal operation state.

[0079] In this embodiment, after the operation state in the state information is monitored and the monitoring result is obtained, the preset driving state that meets the monitoring result is determined as the driving state. Optionally, based on the monitoring result, if the monitoring result indicates that the operation state is an abnormal operation state, the preset driving state that meets the monitoring result is a fatigue driving state that meets the abnormal monitoring state, and the fatigue driving state is determined as the driving state.

[0080] As an optional implementation method, step S102, based on the state information, determines the driving state of the driving object, and also includes: identifying the physiological state to obtain an identification result; and monitoring the operating state to obtain a monitoring result; and determining a preset driving state that meets the identification result and the monitoring result as the driving state.

[0081] In this embodiment, after obtaining the state information of the driving object in the vehicle during the initial period, the physiological state in the state information is identified to obtain the identification result, and the operation state is monitored to obtain the monitoring result. Optionally, based on the acquired state information, this embodiment identifies the physiological state in the state information to obtain the identification result, wherein the above identification result can be used to indicate whether the physiological state is an abnormal physiological state; and identifies the physiological state in the state information to obtain the identification result, wherein the above identification result can be used to indicate whether the physiological state is an abnormal physiological state.

[0082] In this embodiment, after obtaining the recognition result and the monitoring result, the preset driving state that meets the recognition result and the monitoring result is determined as the driving state. Optionally, based on the recognition result and the monitoring result, if the recognition result indicates that the physiological state is an abnormal physiological state, and the monitoring result indicates that the operating state is an abnormal operating state, then the preset driving state that meets the recognition result and the monitoring result is a fatigue driving state that meets the abnormal physiological state and the abnormal monitoring state, and the fatigue driving state is determined as the driving state.

[0083] As an optional implementation manner, step S105, based on the steering parameters, performs steering assistance compensation on the vehicle, including: determining steering assistance information that meets the steering parameters; and performing steering assistance compensation on the vehicle according to the steering assistance information.

[0084] In this embodiment, the above-mentioned steering assist information may be used to indicate the degree of steering assist to be applied to the vehicle.

[0085] In this embodiment, after determining the steering parameters of the vehicle when performing the steering operation on the initial road based on the initial image information, the steering assistance information that satisfies the steering parameters is determined. Optionally, on the basis of determining the steering parameters, this embodiment sends the determined steering parameters to the electronic steering assistance system, controls the electronic steering assistance system to determine whether the received steering parameters have valid values, and if it is determined that the received steering parameters have valid values, the steering assistance information that satisfies the steering parameters can be determined.

[0086] In this embodiment, after the steering assistance information that satisfies the steering parameter is determined, the vehicle is compensated for steering assistance according to the steering assistance information. Optionally, this embodiment performs steering assistance compensation of a corresponding degree on the vehicle according to the determined steering assistance information on the basis of determining the steering assistance information, thereby achieving the purpose of controlling the commercial vehicle to stop in time.

[0087] As an optional implementation mode, the method also includes: after the vehicle successfully turns on the initial road, obtaining current image information of the current road on which the vehicle is located in the current time period; extracting fourth direction information and fifth direction information from the current image information; and in response to fitting the fourth direction information and the fifth direction information, stopping steering assist compensation for the vehicle.

[0088] In this embodiment, the current time period may be the next time period of the initial time period, and the current road may be the next road of the initial road.

[0089] In this embodiment, the current image information may be used to represent each frame of image in the video data of the current road.

[0090] In this embodiment, after the vehicle successfully turns on the initial road, current image information of the current road where the vehicle is located in the current period is obtained. Optionally, in this embodiment, after the vehicle successfully turns on the initial road, the acquisition device is controlled to continuously shoot the current road where the vehicle is located in the current period, thereby obtaining current image information of the current road where the vehicle is located in the current period.

[0091] In this embodiment, the fourth direction information may be used to indicate the fourth direction of the lane line on the current road, and the fifth direction information may be used to indicate the fifth direction of the vehicle traveling on the current road.

[0092] In this embodiment, after obtaining the current image information of the current road where the vehicle is located in the current time period, the fourth direction information and the fifth direction information are extracted from the current image information. Optionally, based on the current image information obtained, this embodiment extracts information from the obtained current image information to obtain the current direction information. The fourth direction information and the fifth direction information are obtained by dividing the obtained current direction information.

[0093] In this embodiment, after the fourth direction information and the fifth direction information are extracted from the current image information, in response to the fourth direction information fitting with the fifth direction information, the steering assistance compensation for the vehicle is stopped. Optionally, on the basis of extracting the fourth direction information and the fifth direction information, the embodiment determines the relationship between the fourth direction information and the fifth direction information, and if it is determined that the fourth direction information fits with the fifth direction information, the steering assistance compensation for the vehicle is stopped.

[0094] In an embodiment of the present invention, when controlling a vehicle, state information of a driving object in the vehicle during an initial period of time may be obtained. Based on the obtained state information, the driving state of the driving object may be determined. In response to the driving state determined to be a fatigue driving state, initial image information of the initial road where the vehicle is located during the initial period of time may be collected. Based on the collected initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road may be determined, and based on the determined steering parameters, steering assistance compensation may be performed on the vehicle to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thereby solving the technical problem of the high risk of a vehicle collision accident, and further achieving the technical effect of reducing the risk of a vehicle collision accident.

[0095] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0096] Since the speed of commercial vehicles is often higher than that of non-commercial vehicles, the mass of commercial vehicles is often greater than that of non-commercial vehicles, and the field of vision of commercial vehicles is often higher than that of non-commercial vehicles, therefore, when commercial vehicles turn on curved roads on highways, they are more difficult to brake in time than non-commercial vehicles, resulting in a technical problem of a high risk of vehicle collision accidents.

[0097] In order to solve the above technical problems, an embodiment of the present invention proposes a vehicle control method, which can determine the driving state of the driving object according to the above state information obtained, and in response to the driving state determined to be a fatigue driving state, collect initial image information of the initial road where the vehicle is located in the initial period. According to the collected initial image information, the steering parameters of the vehicle when performing a steering operation on the initial road can be determined, and according to the determined steering parameters, the vehicle is compensated for steering assistance to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thereby solving the technical problem of high risk of vehicle collision accidents, and further achieving the technical effect of reducing the risk of vehicle collision accidents.

[0098] In this embodiment, the steering power control system of the commercial vehicle can be used to compensate for the steering power of the vehicle to control the vehicle to successfully turn on the initial road. For example, FIG2(a) is a schematic diagram of a steering power control system of a commercial vehicle according to an embodiment of the present invention. As shown in FIG2(a), the system may include: a gateway (GW) system 201, a power controller 202 based on a controller area network (CAN), a fatigue monitoring system 203, an advanced driver assistance system (ADAS) 204, and an electronic steering power system 205.

[0099] In this embodiment, the above-mentioned GW system 201 can be connected to the power controller 202, the above-mentioned GW system 201 can also be connected to the fatigue monitoring system 203, the above-mentioned GW system 201 can also be connected to the advanced driving assistance system 204, and the above-mentioned electronic steering power system 205 can be connected to the advanced driving assistance system 204.

[0100] In this embodiment, the GW system 201 can be used to connect the vehicle power CAN or chassis CAN or body CAN and other communication lines to realize the communication routing function of the controller across network segments. Under the action of this component, the forwarding and routing functions of communication messages are realized from the body CAN to the chassis CAN, the body CAN to the power CAN, and the power CAN to the chassis CAN, thereby achieving the purpose of reducing the communication load of the vehicle bus and improving the robustness of the communication.

[0101] In this embodiment, the power controller 202 can be used to provide the vehicle's operating information at this time. The operating information may include signals such as vehicle speed, engine speed, water temperature, power system sensor status, and actuator status. The power controller 202 can be used for function suppression, function expansion, and function-triggered instrument display of the emergency steering control method.

[0102] In this embodiment, the fatigue monitoring system 203 may include a camera system arranged in the cab to monitor the driver's facial state. The camera system may be used to monitor the features of the driver's facial image in real time, distinguish the driver's eye size ratio and mouth movement features, and identify the driver's drowsiness, yawning and other behaviors that are obviously out of driving. The fatigue monitoring system 203 may also include a driving behavior determination system. The driving behavior determination system may determine the driver's fatigue result based on the driving behavior. For example, the driver's fatigue result may be determined as being in an inattention state (also referred to as a fatigue state) through the driver's non-subjective operation behaviors such as not stepping on the pedals for a long time and not turning the steering wheel for a long time.

[0103] In this embodiment, the external interface of the DMS can be used to send the driver's fatigue status flag (also known as fatigue driving signal) from the vehicle body CAN to the chassis CAN via the gateway routing to the ADAS and EPS. The sending form of the flag can be based on the message form of the commercial vehicle. For example, the message form can include: message identification (ID for short), signal definition and signal length and other information.

[0104] In this embodiment, the advanced driver assistance system 204 can be used to receive a fatigue driving signal from the DMS, and when the fatigue driving signal indicates that the driver is in a fatigue driving state, sample and calculate the road steering offset angle γ based on the video image signal of the vehicle's front-view camera.

[0105] Optionally, calculating the road steering deviation angle γ may include the following steps:

[0106] Step 1: Calculate the angle between the lane line in the image and the direction of travel of the vehicle: Based on the direction sampling image of the lane line (including the center line), measure the angle between the direction of the lane line in the image and the direction of travel of the vehicle in the image. Starting from receiving the fatigue alarm, continuously sample to obtain a series of angles {α1, α2, α3, α4...}, and take the angle greater than α in {α1, α2, α3, α4...}. lv The result (here α lv The setting can be calibrated to indicate that the sampled deviation angle is greater than the threshold and emergency steering assistance is required). If the above series of angles are all greater than α lv , then the resulting angle between the lane line of the image and the direction of travel of the vehicle (i.e., the first angle) is α=Max{α1, α2, α3, α4...}, and the algorithm taking the larger value will continuously refresh its result α.

[0107] Step 2: Calculate the angle between the road edge of the image and the direction of travel of the vehicle: Some roads have obvious edge features, for example, some roads have fences and isolation belts. If the edge image features of some roads are valid, the offset angle sampling is also performed to calculate the largest {β1, β2, β3, β4...}, and the angle greater than β in {β1, β2, β3, β4...} is taken. lv The result (here β lv The setting can be calibrated to indicate that the sampled deviation angle is greater than the threshold and emergency steering assistance is required). If the above series of angles are all greater than β lv , then the resulting angle between the road edge of the image and the direction of travel of the vehicle (ie, the second angle) is β=Max{β1, β2, β3, β4...}, and the algorithm taking the larger value will continuously refresh its result β.

[0108] Step 3, calculate the road steering offset angle: the angle between the lane line of the image and the direction of travel of the vehicle, and the angle between the road edge of the image and the direction of travel of the vehicle are calculated to obtain the difference between the above two angles; in response to the above difference being within the reasonable deviation range D1 (that is, |α-β|≤D1), the road steering offset angle γ=(α+β) / 2. If the first angle α is within the reasonable deviation range D2 (that is, α≤D2), the road steering offset angle γ=α; if the second angle β is within the reasonable deviation range D2 (that is, β≤D2), the road steering offset angle γ=β; if both the first angle α and the second angle β are invalid, the calculation is considered invalid at this time, and γ=Default Error.

[0109] It should be noted that when the vehicle returns to a straight line after passing a curve, the straightening status is sent to the bus, and the γ signal stops sending. To ensure the basic performance of the system, if the bus receives the straightening status from the ADAS, the default power-assist mode is restored; if the fault state is triggered and the straightening status is not received from the ADAS system within a certain period of time, the emergency steering power compensation time is set to the maximum duration T (T is the adjustable time parameter set).

[0110] In this embodiment, the electronic steering assist system 205 can be used to receive the driver fatigue alarm of the DMS, and receive the road steering deviation angle γ of the ADAS system. The electronic steering assist system 205 can also be used to compensate the vehicle for steering assistance based on the road steering deviation angle γ when the road steering deviation angle γ is valid. The larger the γ is, the greater the deviation between the road and the direction of travel is, and the more significant the improvement of the EPS assistance effect is; the smaller the γ is, the smaller the deviation between the road and the direction of travel is, and the improvement degree of the EPS assistance effect is lower. Through steering assistance compensation, when the driver is in a fatigue driving state and the vehicle is in an emergency cornering road condition, explosive steering assistance can be provided, thereby achieving a technical effect that can reduce the risk of vehicle collision accidents.

[0111] In this embodiment, by executing the steering assist control method for commercial vehicles, steering assist compensation can be performed on the vehicle to control the vehicle to successfully turn on the initial road. For example, FIG2(b) is a flow chart of a steering assist control method for commercial vehicles according to an embodiment of the present invention. As shown in FIG2(b), the method may include the following steps:

[0112] Step S211, monitor the driver's facial state through the DMS system. If the facial state indicates that the driver is in a fatigue driving state, a fatigue alarm is triggered and a fatigue monitoring signal is sent to the CAN bus.

[0113] In the technical solution provided in the above step S211 of the present invention, when the driver operates the vehicle components during the operation of the vehicle, the DMS system can collect the driver's facial video data, and determine from the facial video data whether the facial state indicates that the driver is in a fatigue driving state. Alternatively, based on the driver's operating state of the vehicle components, it is determined whether the driver is in a fatigue driving state. If the driver is in a fatigue driving state, the fatigue alarm is triggered by the DMS system, and the fatigue monitoring signal is sent to the CAN message, and the gateway routes the fatigue monitoring signal to the chassis CAN.

[0114] After the fatigue monitoring signal is sent to the CAN bus, the process goes to step S212. After the ADAS receives the fatigue monitoring signal, it performs continuous sampling and calculation of the road steering offset angle γ based on the video image information of the front-view camera, sends the obtained road steering offset angle γ to the CAN bus, and continuously refreshes it.

[0115] After sending the obtained road steering deviation angle γ to the CAN bus and continuously refreshing it, the process goes to step S213. When the EPS system receives the fatigue monitoring signal of the DMS system and the road steering deviation angle γ of the ADAS system, the power assist degree is determined based on the road steering deviation angle γ, and the power assist effect of the electronic steering system is changed.

[0116] In the technical solution provided in the above step S213 of the present invention, based on the actual driving conditions of the vehicle, the γ value may be refreshed and increased by using the Max algorithm, thereby improving the power-assisting effect.

[0117] After changing the power-assisting effect of the electronic steering system, the process proceeds to step S214 to determine whether the EPS system receives a return signal from the ADAS system.

[0118] If it is determined that the EPS system receives a return signal from the ADAS system, the process proceeds to step S215 to control the EPS system to return to the default steering assist mode.

[0119] In the technical solution provided in the above step S215 of the present invention, after the vehicle completes the turn, in response to the fitting of the vehicle's traveling direction in the image with the direction of the lane line, after the vehicle posture returns to the straight position, the ADAS system sends a return-to-straightening signal to the EPS system via the bus to control the EPS system to return to the default steering assist mode.

[0120] If it is determined that the EPS system has not received the return signal from the ADAS system, the process proceeds to step S216, and after the maximum duration T, the EPS system is controlled to return to the default steering assist mode.

[0121] In this embodiment, after the fatigue monitoring signal is sent to the CAN bus, the road steering deviation angle γ is continuously sampled and calculated based on the video image information of the front-view camera, and the obtained road steering deviation angle γ is sent to the CAN bus and continuously refreshed. When the EPS system receives the fatigue monitoring signal of the DMS system and the road steering deviation angle γ of the ADAS system, the degree of power assistance at this time is determined according to the road steering deviation angle γ, and the power assistance effect of the electronic steering system is changed. In response to the fitting of the direction of travel of the vehicle in the image with the direction of the lane line, after the vehicle posture is straightened, the ADAS system sends a straightening signal to the EPS system via the bus to control the EPS system to return to the default steering power mode, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thereby solving the technical problem of the high risk of vehicle collision accidents, and further achieving the technical effect of reducing the risk of vehicle collision accidents.

[0122] According to an embodiment of the present invention, a vehicle control device is also provided. It should be noted that the vehicle control device can be used to execute a vehicle control method in the embodiment.

[0123] Figure 3 Schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 3As shown, the control device 300 of the vehicle may include: an acquisition unit 301 , a first determination unit 302 , a collection unit 303 , a second determination unit 304 and a control unit 305 .

[0124] The acquisition unit 301 is used to acquire the state information of the driving subject in the vehicle during an initial period, wherein the state information is used to represent the physiological state of the driving subject and / or the operating state of the driving subject on the vehicle components.

[0125] The first determining unit 302 is configured to determine a driving state of the driving object based on the state information.

[0126] The acquisition unit 303 is used for acquiring initial image information of an initial road where the vehicle is located within an initial period in response to the driving state being a fatigue driving state.

[0127] The second determining unit 304 is configured to determine, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road.

[0128] The control unit 305 is used to perform steering assistance compensation on the vehicle based on the steering parameters, so as to control the vehicle to successfully turn on the initial road.

[0129] Optionally, the second determination unit 304 may include: a first extraction module, used to extract first direction information, second direction information and third direction information from the initial image information, wherein the first direction information is used to indicate the first direction of the lane line on the initial road, the second direction information is used to indicate the second direction of the boundary of the initial road, and the third direction information is used to indicate the third direction of the vehicle traveling on the initial road; a first determination module, used to determine the steering parameters based on the first direction information, the second direction information and the third direction information.

[0130] Optionally, the determination module may include: a first calculation submodule, used to calculate the angle between the first direction information and the third direction information to obtain a first angle between the first direction and the third direction, and to calculate the angle between the second direction information and the third direction information to obtain a second angle between the second direction and the third direction; a first determination submodule, used to determine the steering parameter based on the sum of the first angle and the second angle in response to the absolute value of the difference between the first angle and the second angle being less than or equal to a first threshold.

[0131] Optionally, the second determination unit 304 may also include: a second extraction module, used to extract the first direction information and the third direction information from the initial image information; a first calculation module, used to calculate the angle between the first direction information and the third direction information to obtain a first angle; and a second determination module, used to determine the steering parameter based on the first angle in response to the first angle being less than a second threshold.

[0132] Optionally, the second determination unit 304 may also include: a third extraction module, used to extract second direction information and third direction information from the initial image information; a second calculation module, used to calculate the angle between the second direction information and the third direction information to obtain a second angle; and a third determination module, used to determine the steering parameter based on the second angle in response to the second angle being less than a second threshold.

[0133] Optionally, the first determination unit 302 may include: an identification module, used to identify the physiological state in the state information to obtain an identification result; and a first determination module, used to determine a preset driving state that meets the identification result as the driving state.

[0134] Optionally, the first determination unit 302 may further include: a monitoring module, configured to monitor the operation status in the status information to obtain a monitoring result; and a second determination module, configured to determine a preset driving status that meets the monitoring result as the driving status.

[0135] Optionally, the first determination unit 302 may also include: an identification module for identifying the physiological state and obtaining an identification result; a monitoring module for monitoring the operating state and obtaining a monitoring result; and a third determination module for determining a preset driving state that meets the identification result and the monitoring result as the driving state.

[0136] Optionally, the control unit 305 may include: a fourth determination module, used to determine steering assist information that satisfies steering parameters, wherein the steering assist information is used to indicate the degree of steering assist to be applied to the vehicle; and a compensation module, used to perform steering assist compensation on the vehicle according to the steering assist information.

[0137] Optionally, the device may also include: a first acquisition unit, used to acquire current image information of the current road on which the vehicle is located in a current time period after the vehicle successfully turns on the initial road, wherein the current time period is the next time period of the initial time period, and the current road is the next road of the initial road; an extraction unit, used to extract fourth direction information and fifth direction information from the current image information, wherein the fourth direction information is used to indicate the fourth direction of the lane line on the current road, and the fifth direction information is used to indicate the fifth direction of the vehicle traveling on the current road; a first control unit, used to stop steering assist compensation for the vehicle in response to the fitting of the fourth direction information and the fifth direction information.

[0138] In this embodiment, an acquisition unit is used to acquire state information of a driving object in the vehicle during an initial period, wherein the state information is used to represent a physiological state of the driving object and / or an operating state of the driving object on components of the vehicle; a first determination unit is used to determine the driving state of the driving object based on the state information; a collection unit is used to collect initial image information of an initial road on which the vehicle is located during the initial period in response to the driving state being a fatigue driving state; a second determination unit is used to determine, based on the initial image information, a steering parameter of the vehicle when performing a steering operation on the initial road; and a control unit is used to perform steering assist compensation on the vehicle based on the steering parameter to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to brake in time, thereby solving the technical problem of a high risk of a vehicle collision accident, and further achieving the technical effect of reducing the risk of a vehicle collision accident.

[0139] According to an embodiment of the present invention, a processor is further provided, the processor being used to run a program, wherein the program executes the vehicle control method in the embodiment when the program is run by the processor.

[0140] According to an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the vehicle control method in the embodiment is executed when the program is running.

[0141] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle control method in the embodiment.

[0142] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle control method in the embodiment is implemented.

[0143] According to an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the vehicle control method in the embodiment is implemented.

[0144] According to an embodiment of the present invention, a computer program is further provided. When the computer program is executed by a processor, the vehicle control method in the embodiment is implemented.

[0145] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0146] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0148] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0149] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0150] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology or the whole or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, referred to as Read-Only Memory), random access memory (RAM, referred to as Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0151] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Acquiring state information of a driving subject in the vehicle during an initial period, wherein the state information is used to indicate a physiological state of the driving subject and / or an operation state of the driving subject on a component of the vehicle; determining a driving state of the driving object based on the state information; In response to the driving state being a fatigue driving state, collecting initial image information of an initial road where the vehicle is located within the initial time period; determining, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road; Based on the steering parameter, steering assistance compensation is performed on the vehicle to control the vehicle to successfully turn on the initial road.

2. The method according to claim 1, characterized in that Determining, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road, comprising: Extracting first direction information, second direction information, and third direction information from the initial image information, wherein the first direction information is used to indicate a first direction of a lane line on the initial road, the second direction information is used to indicate a second direction of a boundary of the initial road, and the third direction information is used to indicate a third direction of the vehicle traveling on the initial road; The steering parameter is determined based on the first direction information, the second direction information, and the third direction information.

3. The method according to claim 2, characterized in that Determining the steering parameter based on the first direction information, the second direction information, and the third direction information includes: Calculating an angle between the first direction information and the third direction information to obtain a first angle between the first direction and the third direction, and Calculating an angle between the second direction information and the third direction information to obtain a second angle between the second direction and the third direction; In response to an absolute value of a difference between the first angle and the second angle being less than or equal to a first threshold, the steering parameter is determined based on a sum of the first angle and the second angle.

4. The method according to claim 2, characterized in that: Determining, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road, comprising: extracting the first direction information and the third direction information from the initial image information; Calculating an angle between the first direction information and the third direction information to obtain the first angle; In response to the first angle being less than a second threshold, the steering parameter is determined based on the first angle.

5. The method according to claim 2, characterized in that: Determining, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road, comprising: extracting the second direction information and the third direction information from the initial image information; Calculating an angle between the second direction information and the third direction information to obtain the second angle; In response to the second angle being less than a second threshold, the steering parameter is determined based on the second angle.

6. The method according to claim 1, characterized in that Determining the driving state of the driving object based on the state information includes: Identify the physiological state in the state information to obtain an identification result; A preset driving state that matches the recognition result is determined as the driving state.

7. The method according to claim 1, characterized in that Determining the driving state of the driving object based on the state information further includes: Monitoring the operation status in the status information to obtain a monitoring result; A preset driving state that meets the monitoring result is determined as the driving state.

8. A vehicle control device, characterized in that: include: an acquisition unit, configured to acquire state information of a driving subject in the vehicle during an initial period, wherein the state information is used to represent a physiological state of the driving subject and / or an operation state of the driving subject on a component of the vehicle; a first determining unit, configured to determine a driving state of the driving object based on the state information; a collecting unit, configured to collect initial image information of an initial road on which the vehicle is located within the initial period in response to the driving state being a fatigue driving state; a second determining unit, configured to determine, based on the initial image information, a steering parameter when the vehicle performs a steering operation on the initial road; The control unit is used to perform steering assistance compensation on the vehicle based on the steering parameter, so as to control the vehicle to successfully turn on the initial road.

9. A processor, characterized in that: The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the vehicle control method described in any one of claims 1 to 7.

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