Vehicle control methods, devices, processors and electronic equipment

Abstract

This invention discloses a vehicle control method, device, processor, and electronic device. The method includes: acquiring state information of a driver in the vehicle during an initial time period, wherein the state information represents the driver's physiological state and / or the driver's operational state towards vehicle components; determining the driver's driving state based on the state information; in response to the driver's state being fatigued, acquiring initial image information of the 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 providing steering assist compensation to the vehicle based on the steering parameters to control the vehicle to successfully steer on the initial road. This invention solves the technical problem of high risk of vehicle collision accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, in particular to a control method and device of a vehicle, a processor and an electronic device. BACKGROUND

[0002] Since the speed of a commercial vehicle is often higher than that of a non-commercial vehicle, the mass of the commercial vehicle is often greater than that of the non-commercial vehicle, and the field of view of the commercial vehicle is often higher than that of the non-commercial vehicle, therefore, under the working condition of a curve of an expressway, when the commercial vehicle turns, compared with the non-commercial vehicle, the commercial vehicle is difficult to stop in time, thereby causing the technical problem of high risk of a collision accident of the vehicle.

[0003] In view of the above technical problem of high risk of a collision accident of the vehicle, an effective solution has not been proposed yet. SUMMARY

[0004] The embodiments of the present application provide a control method and device of a vehicle, a processor and an electronic device, to at least solve the technical problem of high risk of a collision accident of the vehicle.

[0005] According to an aspect of the embodiments of the present application, a control method of a vehicle is provided, the method comprising: acquiring state information of a driving object in the vehicle within an initial period, wherein the state information is used to represent a physiological state of the driving object and / or an operation state of a component of the vehicle by the driving object; 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 within the initial period; determining a turning parameter of the vehicle when performing a turning operation on the initial road based on the initial image information; and performing turning assist compensation on the vehicle based on the turning parameter, to control the vehicle to successfully turn on the initial road.

[0006] Optionally, determining the turning parameter of the vehicle when performing the turning operation on the initial road based on the initial image information comprises: 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 in which the vehicle travels on the initial road; and determining the turning parameter based on the first direction information, the second direction information and the third direction information.

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

[0008] Optionally, the determining the steering parameter of the vehicle when performing the steering operation on the initial road based on the initial image information comprises: extracting the first direction information and the third direction information from the initial image information; performing angle calculation on the first direction information and the third direction information to obtain a first included angle; and in response to the first included angle being less than a second threshold value, determining the steering parameter based on the first included angle.

[0009] Optionally, the determining the steering parameter based on the first direction information, the second direction information and the third direction information comprises: extracting the second direction information and the third direction information from the initial image information; performing angle calculation on the second direction information and the third direction information to obtain a second included angle; and in response to the second included angle being less than a second threshold value, determining the steering parameter based on the second included angle.

[0010] Optionally, the determining the driving state of the driving object based on the state information comprises: identifying the physiological state in the state information to obtain an identification result; and determining a preset driving state conforming to the identification result as the driving state.

[0011] Optionally, the determining the driving state of the driving object based on the state information further comprises: monitoring the operation state in the state information to obtain a monitoring result; and determining a preset driving state conforming to the monitoring result as the driving state.

[0012] Optionally, the determining the driving state of the driving object based on the state information further comprises: identifying the physiological state to obtain an identification result; and monitoring the operation state to obtain a monitoring result; and determining a preset driving state conforming to the identification result and the monitoring result as the driving state.

[0013] Optionally, the performing the steering assist compensation on the vehicle based on the steering parameter comprises: determining steering assist information conforming to the steering parameter, wherein the steering assist information is used to represent a degree of the steering assist to be applied to the vehicle; and performing the steering assist compensation on the vehicle according to the steering assist information.

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

[0015] According to one aspect of the present invention, a vehicle control device is provided, the device comprising: an acquisition unit, configured to acquire state information of a driver in the vehicle during an initial time period, wherein the state information represents the driver's physiological state and / or the driver's operational state on vehicle components; a first determination unit, configured to determine the driver's driving state based on the state information; an acquisition unit, configured to acquire initial image information of the initial road on which the vehicle is located during the initial time period in response to the driver's state being fatigued; a second determination unit, configured to determine steering parameters when the vehicle performs a steering operation on the initial road based on the initial image information; and a control unit, configured to provide steering assist compensation to the vehicle based on the steering parameters to control the vehicle to successfully turn on the initial road.

[0016] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method of the present invention.

[0017] According to another aspect of the embodiments of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the vehicle control method of various embodiments of the present invention during runtime.

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

[0019] According to another aspect of the present invention, a computer program product is also provided, the computer program product including a computer program, wherein the computer program, when executed by a processor, implements the vehicle control method of the present invention.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the vehicle control method of the present invention.

[0021] According to another aspect of the embodiments of the present invention, the embodiments of this application also provide a computer program that, when executed by a processor, implements the vehicle control method described in the embodiments of the present invention.

[0022] In this embodiment of the invention, when controlling the vehicle, the state information of the driver within the vehicle during an initial time period can be acquired. Based on the acquired state information, the driving state of the driver can be determined. In response to the determined driving state being a fatigued driving state, initial image information of the initial road where the vehicle is located during the initial time period is acquired. Based on the acquired initial image information, the steering parameters when the vehicle performs a steering operation on the initial road can be determined. Based on the determined steering parameters, steering assist compensation is applied to the vehicle to control the vehicle to successfully turn on the initial road. This achieves the goal of controlling commercial vehicles to stop in a timely manner, thereby solving the technical problem of high risk of vehicle collision accidents and achieving the technical effect of reducing the risk of vehicle collision accidents. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

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

[0025] Figure 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] Figure 2(b) is a flowchart of a steering assist control method for a commercial vehicle according to an embodiment of the present invention;

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

[0028] 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.

[0029] 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 a 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.

[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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

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

[0032] Step S101: Obtain the status information of the driving object in the vehicle during the initial time period.

[0033] In the technical solution provided by step S101 of the present invention, the aforementioned state information can be used to represent the physiological state of the driving object and / or the operating state of the driving object on the vehicle's components.

[0034] In this embodiment, the driving object can be a person driving a vehicle (e.g., a person with a driving license), and the physiological state can include at least one of the following: the driving object's facial state, heart rate, respiratory rate, blood pressure, and shoulder and neck flexion state, etc. The facial state can include: eye state and mouth state, etc. This is only an example and is not specifically limited.

[0035] In this embodiment, the aforementioned components may include at least one of the following: pedals, steering wheels, and central control devices, etc., and the aforementioned operating states may include at least one of the following: the driving object's operating state on the pedals, the driving object's operating state on the steering wheel, and the driving object's operating state on the central control devices, etc., which are only illustrative examples and are not specifically limited.

[0036] In this embodiment, the state information of the driver in the vehicle during the initial period is acquired. Optionally, this embodiment uses a driver monitoring system for fatigue detection (DMS) to collect the physiological state of the driver in the vehicle during the initial period, and uses a motion monitoring system to collect the driver's operational state of the vehicle's components during the initial period. The collected physiological state and the collected operational state are then used as the driver's state information during the initial period.

[0037] Step S102: Determine the driving status of the driving object based on the status information.

[0038] In the technical solution provided by step S102 of the present invention, the driving state may include: fatigued driving state and non-fatigue driving state, etc. This is only an example and is not specifically limited.

[0039] In this embodiment, after acquiring the state information of the driver in the vehicle during the initial time period, the driving state of the driver is determined based on the state information. Optionally, this embodiment can determine the driving state of the driver based on the physiological state in the acquired state information; or, it can determine the driving state of the driver based on the operational state in the state information; or, it can determine the driving state of the driver based on both the physiological state and the operational state in the state information.

[0040] Optionally, the driving state of the driver can be determined based on the physiological state in the status information. That is, if the driving state corresponding to the aforementioned physiological state is a non-fatigue driving state, then the driving state of the driver can be a non-fatigue driving state; if the driving state corresponding to the aforementioned physiological state is a fatigue driving state, then the driving state of the driver can be a fatigue driving state.

[0041] Optionally, the driving status of the driving object can be determined based on the operation status in the status information. That is, if the driving status corresponding to the above operation status is a non-fatigue driving status, then the driving status of the driving object can be a non-fatigue driving status; if the driving status corresponding to the above operation status is a fatigue driving status, then the driving status of the driving object can be a fatigue driving status.

[0042] Optionally, the driving state of the driving object can be determined based on the physiological state and operational state in the status information. That is, if the driving state corresponding to the aforementioned physiological state and operational state is a non-fatigue driving state, then the driving state of the driving object can be a non-fatigue driving state; if the driving state corresponding to the aforementioned physiological state and operational state is a fatigue driving state, then the driving state of the driving object can be a fatigue driving state.

[0043] Step S103: In response to the driving state being fatigued, initial image information of the initial road where the vehicle is located during the initial time period is collected.

[0044] In the technical solution provided by step S103 of the present invention, the above-mentioned fatigued driving state can also be called inattentive driving state or distracted driving state, etc. This is only an example and is not specifically limited.

[0045] In this embodiment, the aforementioned initial image information can be used to represent each frame of the initial road video data, which can be obtained by the acquisition device continuously capturing images of the initial road within an initial time period. For example, the acquisition device can be, but is not limited to, a vehicle's forward-facing camera; this is merely an example and not a specific limitation.

[0046] In this embodiment, after determining the driving state of the driver based on state information, in response to the driver being in a state of fatigued driving, initial image information of the initial road where the vehicle is located during the initial time period is acquired. Optionally, this embodiment, based on determining the driver's driving state, determines whether the determined driving state is a state of fatigued driving. If the driver's driving state is determined to be a state of fatigued driving, then initial image information of the initial road where the vehicle is located during the initial time period can be acquired; that is, each frame of the video data of the initial road can be acquired.

[0047] Step S104: Based on the initial image information, determine the steering parameters when the vehicle performs a steering operation on the initial road.

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

[0049] In this embodiment, in response to a fatigued driving state, after acquiring initial image information of the initial road where the vehicle is located within an initial time period, the steering parameters for the vehicle to perform a steering operation on the initial road are determined based on the initial image information. Optionally, this embodiment extracts direction information from the acquired initial image information, wherein the direction information can be used to represent a first direction of the lane lines on the initial road, a second direction of the boundary of the initial road, and a third direction of the vehicle's travel on the initial road. Based on the extracted direction information, the steering parameters for the vehicle to perform a steering operation on the initial road can be determined.

[0050] Step S105: Based on the steering parameters, perform steering assist compensation on the vehicle to control the vehicle to successfully steer on the initial road.

[0051] In the technical solution provided in step S105 of the present invention, after determining the steering parameters of the vehicle when performing a steering operation on the initial road based on the initial image information, steering assist compensation is performed on the vehicle based on the steering parameters to control the vehicle to successfully turn on the initial road. Optionally, in this embodiment, based on the determined steering parameters, the determined steering parameters are sent to the electronic power steering (EPS) system, which determines whether the received steering parameters have valid values. If the received steering parameters are determined to have valid values, steering assist compensation is performed on the vehicle according to the received steering parameters to control the vehicle to successfully turn on the initial road.

[0052] Optionally, the electronic power steering system can be controlled to determine whether the received steering parameters have valid values. If it is determined that the received steering parameters do not have valid values, then there is no need to compensate for the steering assist of the vehicle according to the received steering parameters, so as to control the vehicle to successfully turn on the initial road.

[0053] In steps S101 to S105 of this application, when controlling the vehicle, the state information of the driver in the vehicle during an initial time period can be obtained. Based on the obtained state information, the driving state of the driver can be determined. In response to the determined driving state being a fatigued driving state, initial image information of the initial road where the vehicle is located during the initial time period is collected. Based on the collected initial image information, the steering parameters when the vehicle performs a steering operation on the initial road can be determined, and based on the determined steering parameters, steering assist compensation is applied to the vehicle to control the vehicle to successfully turn on the initial road. This achieves the purpose of controlling commercial vehicles to stop in a timely manner, thereby solving the technical problem of high risk of vehicle collision accidents and achieving the technical effect of reducing the risk of vehicle collision accidents.

[0054] The method described in this embodiment will be further described below.

[0055] As an optional embodiment, step S104, determining the steering parameters when the vehicle performs a steering operation on the initial road based on the initial image information, includes: extracting first direction information, second direction information and third direction information from the initial image information; and determining the steering parameters based on the first direction information, second direction information and third direction information.

[0056] In this embodiment, the aforementioned direction information may include: first direction information, second direction information, and third direction information, wherein the first direction information may be used to represent the first direction of the lane lines on the initial road, the second direction information may be used to represent the second direction of the boundary of the initial road, and the third direction information may be used to represent the third direction in which the vehicle travels on the initial road.

[0057] In this embodiment, in response to a fatigued driving state, after acquiring initial image information of the initial road where the vehicle is located within an initial time period, first direction information, second direction information, and third direction information are extracted from the initial image information. Optionally, this embodiment can extract direction information from the acquired initial image information. The obtained direction information can then be divided into first direction information, second direction information, and third direction information.

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

[0059] As an optional embodiment, determining steering parameters based on first direction information, second direction information, and third direction information includes: calculating the included angle between the first direction information and the third direction information to obtain a first included angle between the first direction and the third direction; and calculating the included angle between the second direction information and the third direction information to obtain a second included angle between the second direction and the third direction; and determining steering parameters based on the sum of the first included angle and the second included angle, provided that the absolute value of the difference between the first included angle and the second included angle is less than or equal to a first threshold.

[0060] In this embodiment, the first included angle can be represented by α = Max{α1, α2, α3, α4...}, and the second included angle can be represented by β = Max{β1, β2, β3, β4...}. This is only an example and is 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 included angle between the first direction information and the third direction information is calculated to obtain the first included angle between the first direction and the third direction information, and the included angle between the second direction information and the third direction information is calculated to obtain the second included angle between the second direction and the third direction information. Optionally, this embodiment, based on obtaining the first direction information, the second direction information, and the third direction information, can calculate the included angle between the first direction information and the third direction information to obtain the first included angle between the first direction and the third direction information, and calculate the included angle between the second direction information and the third direction information to obtain the second included angle between the second direction and the third direction information.

[0062] In this embodiment, the first threshold can be represented by D1. This is only an example and is not a specific limitation.

[0063] In this embodiment, after obtaining the first included angle and the second included angle, in response to the absolute value of the difference between the first included angle and the second included angle being less than or equal to a first threshold, the steering parameters are determined based on the sum of the first included angle and the second included angle. Optionally, this embodiment calculates the difference between the first included angle and the second included angle based on the obtained first included angle and the second included angle, and obtains the absolute value of the difference between the first included angle and the second included angle by calculating the absolute value of the difference. The relationship between the obtained absolute value of the difference and the first threshold is judged. If it is determined that the absolute value of the difference is less than or equal to the first threshold, the steering parameters can be determined based on the sum of the first included angle and the second included angle.

[0064] Optionally, the steering parameters can be determined based on the sum of the first included angle and the second included angle. For example, by averaging the sum of the first included angle and the second included angle, an average value can be obtained, and this average value can be determined as the steering parameter used to represent the road steering offset angle, where the road steering offset angle can be represented by γ. This is only an example and is not specifically limited.

[0065] As an optional embodiment, determining the steering parameters when a vehicle performs a steering operation on an initial road based on initial image information includes: extracting first direction information and third direction information from the initial image information; calculating the included angle between the first direction information and the third direction information to obtain a first included angle; and determining the steering parameters based on the first included angle in response to the first included angle being less than a second threshold.

[0066] In this embodiment, the second threshold can be represented by D2. This is only an example and is not a specific limitation.

[0067] In this embodiment, in response to a fatigued driving state, after acquiring initial image information of the initial road where the vehicle is located within an initial time period, first direction information and third direction information are extracted from the initial image information. Optionally, this embodiment can extract direction information from the acquired initial image information. The obtained direction information can then be divided to obtain first direction information and third direction information.

[0068] In this embodiment, after extracting the first direction information and the third direction information from the initial image information, the included angle between the first direction information and the third direction information is calculated to obtain the first included angle. Optionally, this embodiment can obtain the first included angle between the first direction and the third direction by calculating the included angle between the extracted first direction information and the third direction information.

[0069] In this embodiment, after calculating the angle between the first direction information and the third direction information to obtain the first included angle, in response to the first included angle being less than a second threshold, steering parameters are determined based on the first included angle. Optionally, this embodiment, based on obtaining the first included angle, judges the relationship between the obtained first included angle and the second threshold. If it is determined that the obtained first included angle is less than the second threshold, then steering parameters can be determined based on the first included angle. For example, the aforementioned first included angle can be determined as a steering parameter used to represent the road turning offset angle.

[0070] As an optional embodiment, determining the steering parameters when a vehicle performs a steering operation on an initial road based on initial image information includes: extracting second direction information and third direction information from the initial image information; calculating the included angle between the second direction information and the third direction information to obtain a second included angle; and determining the steering parameters based on the second included angle in response to the second included angle being less than a second threshold.

[0071] In this embodiment, in response to a fatigued driving state, after acquiring initial image information of the initial road where the vehicle is located within an initial time period, second direction information and third direction information are extracted from the initial image information. Optionally, this embodiment can extract direction information from the acquired initial image information. The obtained direction information can then be segmented to obtain second direction information and third direction information.

[0072] In this embodiment, after extracting the second direction information and the third direction information from the initial image information, the included angle between the second direction information and the third direction information is calculated to obtain the second included angle. Optionally, this embodiment can obtain the second included angle between the second direction and the third direction by calculating the included angle between the extracted second direction information and the third direction information.

[0073] In this embodiment, after obtaining the second included angle, in response to the second included angle being less than a second threshold, steering parameters are determined based on the second included angle. Optionally, this embodiment, based on obtaining the second included angle, determines the relationship between the obtained second included angle and the second threshold. If it is determined that the obtained second included angle is less than the second threshold, then steering parameters can be determined based on the second included angle. For example, the aforementioned second included angle can be determined as a steering parameter used to represent the road turning offset angle.

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

[0075] In this embodiment, after acquiring the state information of the driver in the vehicle during the initial time period, the physiological state in the state information is identified to obtain an identification result. Optionally, this embodiment can identify the physiological state in the state information based on the acquired state information to obtain an identification result, wherein the identification result can be used to indicate whether the physiological state is an abnormal physiological state.

[0076] In this embodiment, after identifying the physiological state in the status information and obtaining the identification result, the preset driving state that matches 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, then the preset driving state that matches the identification result is a fatigued driving state that matches the abnormal physiological state, and the fatigued driving state is determined as the driving state.

[0077] As an optional embodiment, step S102, which determines the driving state of the driving object based on the state information, further includes: monitoring the operation state in the state information to obtain the monitoring result; and determining the preset driving state that meets the monitoring result as the driving state.

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

[0079] In this embodiment, after monitoring the operation status in the status information and obtaining the monitoring results, a preset driving status that meets the monitoring results is determined as the driving status. Optionally, based on the monitoring results, if the monitoring results indicate that the operation status is an abnormal operation status, then the preset driving status that meets the monitoring results is a fatigue driving status that meets the abnormal monitoring status, and the fatigue driving status is determined as the driving status.

[0080] As an optional embodiment, step S102, which determines the driving state of the driving object based on the state information, further includes: identifying the physiological state to obtain the identification result; and monitoring the operational state to obtain the monitoring result; and determining the preset driving state that conforms to the identification result and the monitoring result as the driving state.

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

[0082] In this embodiment, after obtaining the identification and monitoring results, a preset driving state that conforms to the identification and monitoring results is determined as the driving state. Optionally, based on the identification and monitoring results, if the identification result indicates an abnormal physiological state and the monitoring result indicates an abnormal operational state, then the preset driving state that conforms to the identification and monitoring results is a fatigued driving state that conforms to both the abnormal physiological state and the abnormal monitoring state, and the fatigued driving state is determined as the driving state.

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

[0084] In this embodiment, the aforementioned steering assist information can be used to indicate the degree of steering assist to be applied to the vehicle.

[0085] In this embodiment, after determining the steering parameters when the vehicle performs a steering operation on the initial road based on the initial image information, steering assistance information that satisfies the steering parameters is determined. Optionally, in this embodiment, based on the determined steering parameters, the determined steering parameters are sent to the electronic power steering system, which then determines whether the received steering parameters have valid values. If the received steering parameters are determined to have valid values, then steering assistance information that satisfies the steering parameters can be determined.

[0086] In this embodiment, after determining the steering assist information that satisfies the steering parameters, steering assist compensation is applied to the vehicle according to the steering assist information. Optionally, this embodiment, based on the determined steering assist information, applies a corresponding degree of steering assist compensation to the vehicle, thereby achieving the goal of controlling the commercial vehicle to brake in a timely manner.

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

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

[0089] In this embodiment, the aforementioned current image information can be used to represent each frame of 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 within the current time period is acquired. Optionally, after the vehicle successfully turns on the initial road, this embodiment controls the acquisition device to continuously capture images of the current road where the vehicle is located within the current time period, thereby acquiring current image information of the current road where the vehicle is located within the current time period.

[0091] In this embodiment, the aforementioned fourth direction information can be used to represent the fourth direction of the lane lines on the current road, and the aforementioned fifth direction information can be used to represent the fifth direction in which the vehicle is traveling on the current road.

[0092] In this embodiment, after acquiring the current image information of the current road where the vehicle is located in the current time period, fourth direction information and fifth direction information are extracted from the current image information. Optionally, this embodiment can extract information from the acquired current image information to obtain current direction information. The obtained current direction information can be further divided to obtain fourth direction information and fifth direction information.

[0093] In this embodiment, after extracting the fourth-direction information and the fifth-direction information from the current image information, steering assist compensation for the vehicle is stopped in response to the fitting of the fourth-direction information and the fifth-direction information. Optionally, this embodiment, based on the extracted fourth-direction information and the fifth-direction information, determines the relationship between the fourth-direction information and the fifth-direction information. If it is determined that the fourth-direction information and the fifth-direction information fit together, steering assist compensation for the vehicle is stopped.

[0094] In this embodiment of the invention, when controlling the vehicle, the state information of the driver within the vehicle during an initial time period can be acquired. Based on the acquired state information, the driving state of the driver can be determined. In response to the determined driving state being a fatigued driving state, initial image information of the initial road where the vehicle is located during the initial time period is acquired. Based on the acquired initial image information, the steering parameters when the vehicle performs a steering operation on the initial road can be determined. Based on the determined steering parameters, steering assist compensation is applied to the vehicle to control the vehicle to successfully turn on the initial road. This achieves the goal of controlling commercial vehicles to stop in a timely manner, thereby solving the technical problem of high risk of vehicle collision accidents and achieving the technical effect of reducing the risk of vehicle collision accidents.

[0095] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0096] Because commercial vehicles often travel at higher speeds than non-commercial vehicles, and their mass is also often greater, and their field of vision is also often wider, commercial vehicles face a higher risk of collisions when turning on highway curves compared to non-commercial vehicles.

[0097] To address the aforementioned technical problems, this invention proposes a vehicle control method. Based on the acquired state information, the driving state of the vehicle can be determined. In response to the determined driving state being fatigued, initial image information of the initial road on which the vehicle is located during an initial time period is acquired. Based on the acquired initial image information, the steering parameters when the vehicle performs a steering operation on the initial road can be determined. Based on the determined steering parameters, steering assist compensation is applied to the vehicle to control it to successfully turn on the initial road. This achieves the goal of controlling commercial vehicles to brake in a timely manner, thereby solving the technical problem of high risk of vehicle collision accidents and ultimately reducing the risk of such accidents.

[0098] In this embodiment, the steering assist control system of a commercial vehicle can be used to compensate for steering assist, thereby controlling the vehicle to successfully turn on the initial road. For example, Figure 2(a) is a schematic diagram of a steering assist control system for a commercial vehicle according to an embodiment of the present invention. As shown in Figure 2(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 assist system 205.

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

[0100] In this embodiment, the GW system 201 described above can be used to connect vehicle powertrain CAN, chassis CAN, or body CAN communication lines to realize the controller's cross-network segment communication routing function. Under the action of this component, the forwarding and routing functions of communication messages are realized from body CAN to chassis CAN, body CAN to powertrain CAN, and powertrain CAN to chassis CAN, thereby achieving the goal of reducing the communication load on the vehicle bus and improving communication robustness.

[0101] In this embodiment, the power controller 202 can be used to provide vehicle operating information at this time. This operating information may include signals such as vehicle speed, engine speed, coolant temperature, powertrain sensor status, and actuator status. The power controller 202 can be used for instrument displays related to function suppression, function expansion, and function triggering of the emergency steering control method.

[0102] In this embodiment, the fatigue monitoring system 203 may include a camera system disposed in the driver's cab to monitor the driver's facial state. The camera system can be used to monitor the characteristics of the driver's facial image in real time, distinguish the proportion of the driver's eyes and mouth movements, and identify behaviors that clearly indicate the driver is drowsy or yawning, indicating a lack of driving control. The fatigue monitoring system 203 may also include a driving behavior determination system. This system can determine the driver's fatigue level based on driving behavior. For example, by observing behaviors such as the driver not pressing the pedal or not turning the steering wheel for an extended period, the system can determine that the driver is in a state of inattention (also known as fatigue).

[0103] In this embodiment, the external interface of the aforementioned DMS can be used to send driver fatigue status indicators (also known as fatigue driving signals) from the vehicle body CAN, via a gateway to the chassis CAN, to ADAS and EPS. The transmission format of the indicator can be based on the message format of commercial vehicles; for example, the message format may include information such as message identification (ID), signal definition, and signal length.

[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, to sample and calculate the road steering offset angle γ based on the video image signal of the vehicle's forward-facing camera.

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

[0106] Step 1: Calculate the angle between the lane lines and the vehicle's direction of travel in the image: Based on the direction sampling image of the lane lines (including the center line), calculate the angle between the direction of the lane lines in the image and the vehicle's direction of travel in the image. Starting from the moment a fatigue alarm is received, continuously sample to obtain a series of angles {α1, α2, α3, α4...}, and select the angle greater than α from {α1, α2, α3, α4...}. lv The result (α here) lv The calibration settings can be configured to indicate that the deviation angle of the sampled angle is greater than a threshold, requiring emergency steering assistance. If all of the above angles are greater than α... lv The resulting angle (i.e., the first angle) between the lane line and the direction of vehicle travel in the image is α = Max{α1, α2, α3, α4...}. The algorithm will continuously refresh the result α by taking the largest value.

[0107] Step two: Calculate the angle between the road edge and the vehicle's direction of travel in the image. Some roads have obvious edge features, such as fences and medians. If the edge image features of some roads are valid, then the offset angle is sampled and the largest value {β1, β2, β3, β4...} is calculated. The value greater than β1, β2, β3, β4... is selected from {β1, β2, β3, β4...}. lv The result (β here) lv The calibration settings can be configured to indicate that the deviation angle of the sampled angle is greater than a threshold, requiring emergency steering assistance. If all of the above angles are greater than β... lv The resulting angle (i.e., the second angle) between the road edge of the image and the direction of vehicle travel is β = Max{β1, β2, β3, β4...}. The algorithm will continuously refresh its result β by taking the maximum value.

[0108] Step 3: Calculate the road turning offset angle: Subtract the angle between the lane line and the vehicle's direction of travel in the image, and the angle between the road edge and the vehicle's direction of travel in the image, to obtain the difference between these two angles. If this difference is within the reasonable deviation range D1 (i.e., |α-β|≤D1), then the road turning offset angle γ=(α+β) / 2. If the first angle α is within the reasonable deviation range D2 (i.e., α≤D2), then the road turning offset angle γ=α; if the second angle β is within the reasonable deviation range D2 (i.e., β≤D2), then the road turning offset angle γ=β; if both the first angle α and the second angle β are invalid, the calculation is considered invalid, and γ=Default Error.

[0109] It should be noted that when the vehicle returns to a straight line after passing through a curve, a straight-back status is sent to the bus, at which point the γ signal stops. To ensure the basic performance of the system, if the bus receives a straight-back status from the ADAS, the default power steering mode is restored; if a fault condition is triggered, and no straight-back status is received from the ADAS system within a certain time, the emergency steering assist compensation time is set to the maximum duration T (T is a set adjustable time parameter).

[0110] In this embodiment, the electronic power steering system 205 can receive driver fatigue alarms from the DMS and road steering offset angle γ from the ADAS system. The electronic power steering system 205 can also compensate for steering assist based on the road steering offset angle γ when it is valid. A larger γ indicates a greater deviation between the road and the direction of travel, requiring a more significant increase in EPS assistance; a smaller γ indicates a smaller deviation, requiring a lower increase in EPS assistance. Through steering assist compensation, when the driver is fatigued and the vehicle is in an emergency cornering situation, a sudden surge in steering assistance can be provided, thereby achieving the technical effect of reducing the risk of vehicle collisions.

[0111] In this embodiment, by implementing a steering assist control method for commercial vehicles, steering assist compensation can be provided to the vehicle to successfully steer on the initial road. For example, Figure 2(b) is a flowchart of a steering assist control method for commercial vehicles according to an embodiment of the present invention. As shown in Figure 2(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 state of fatigued driving, trigger a fatigue alarm and send the fatigue monitoring signal to the CAN bus.

[0113] In the technical solution provided in step S211 of the present invention, when the driver operates vehicle components during vehicle operation, 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 state of fatigue driving. Alternatively, it can determine whether the driver is in a state of fatigue driving based on the driver's operation state of vehicle components. If the driver is in a state of fatigue driving, the DMS system triggers a fatigue alarm, sends a fatigue monitoring signal to a CAN message, and the gateway routes the fatigue monitoring signal to the chassis CAN.

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

[0115] After sending the obtained road steering offset angle γ to the CAN bus and continuously refreshing it, step S213 is entered. When the EPS system receives the fatigue monitoring signal from the DMS system and the road steering offset angle γ from the ADAS system, the assist level is determined according to the road steering offset angle γ, and the assist effect of the electronic steering system is changed.

[0116] In the technical solution provided by 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 assist effect.

[0117] After changing the power assist effect of the electronic power steering system, proceed to step S214 to determine whether the EPS system has received a return signal from the ADAS system.

[0118] If it is determined that the EPS system has received a return signal from the ADAS system, then proceed to step S215 to control the EPS system to restore to the default steering assist mode.

[0119] In the technical solution provided by step S215 of the present invention, after the vehicle completes the cornering, in response to the matching of the vehicle's travel direction and the direction of the lane line in the image, after the vehicle's attitude returns to normal, the ADAS system sends the 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 a return signal from the ADAS system, then proceed to step S216, and after the maximum duration T, control the EPS system 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 offset angle γ is continuously sampled and calculated based on the video image information from the forward-facing camera. The obtained road steering offset angle γ is sent to the CAN bus and continuously refreshed. When the EPS system receives the fatigue monitoring signal from the DMS system and the road steering offset angle γ from the ADAS system, it determines the current level of assistance based on the road steering offset angle γ and adjusts the electronic steering system's assistance effect accordingly. Responding to the fitting of the vehicle's travel direction and lane line direction in the image, after the vehicle's attitude returns to center, the ADAS system sends a straightening signal to the EPS system via the bus, controlling the EPS system to restore to the default steering assistance mode. This achieves the goal of controlling commercial vehicles to stop in a timely manner, thus solving the technical problem of high risk of vehicle collision accidents and 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 this vehicle control device can be used to execute a vehicle control method according to one of the embodiments.

[0123] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 3As shown, the vehicle control device 300 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 object in the vehicle during the initial time period, wherein the state information is used to represent the physiological state of the driving object and / or the operation state of the driving object on the vehicle's components.

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

[0126] The acquisition unit 303 is used to acquire initial image information of the initial road where the vehicle is located during the initial time period in response to the driving state being fatigued.

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

[0128] Control unit 305 is used to provide steering assist compensation to the vehicle based on steering parameters in order to control the vehicle to successfully steer on the initial road.

[0129] Optionally, the second determining unit 304 may include: a first extraction module, configured 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 represent the first direction of the lane lines on the initial road, the second direction information is used to represent the second direction of the boundary of the initial road, and the third direction information is used to represent the third direction of the vehicle's travel on the initial road; and the first determining module, configured to determine steering parameters based on the first direction information, the second direction information, and the third direction information.

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

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

[0132] Optionally, the second determining unit 304 may further 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 included angle between the second direction information and the third direction information to obtain a second included angle; and a third determining module, used to determine the turning parameters based on the second included angle in response to the second included angle being less than a second threshold.

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

[0134] Optionally, the first determining unit 302 may further include: a monitoring module for monitoring the operation status in the status information and obtaining the monitoring result; and a second determining module for determining the preset driving status that meets the monitoring result as the driving status.

[0135] Optionally, the first determining unit 302 may further 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 determining module for determining a preset driving state that conforms to the identification result and the monitoring result as the driving state.

[0136] Optionally, the control unit 305 may include: a fourth determining module for 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 a compensation module for compensating the vehicle for steering assist according to the steering assist information.

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

[0138] In this embodiment, the acquisition unit is used to acquire the state information of the driver in the vehicle during the initial time period, wherein the state information is used to represent the driver's physiological state and / or the driver's operational state on the vehicle's components; the first determination unit is used to determine the driver's driving state based on the state information; the acquisition unit is used to acquire the initial image information of the initial road where the vehicle is located during the initial time period in response to the driver's state being fatigued; the second determination unit is used to determine the steering parameters when the vehicle performs a steering operation on the initial road based on the initial image information; and the control unit is used to provide steering assist compensation to the vehicle based on the steering parameters to control the vehicle to successfully turn on the initial road, thereby achieving the purpose of controlling the commercial vehicle to stop in time, thus solving the technical problem of high risk of vehicle collision accidents, and achieving the technical effect of reducing the risk of vehicle collision accidents.

[0139] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program is executed by the processor to perform the vehicle control method in the embodiment.

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

[0141] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle control method described in the embodiment.

[0142] According to an embodiment of the present invention, a computer program product is also provided, the computer program product including a computer program, wherein the computer program, when executed by a processor, implements the vehicle control method of the embodiment.

[0143] According to an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the vehicle control method in the embodiment.

[0144] According to an embodiment of the present invention, a computer program is also provided, which, when executed by a processor, implements the vehicle control method of the embodiment.

[0145] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0146] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0148] The units described as separate components may or may not be physically separate. Similarly, the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0149] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0150] If the integrated unit is implemented as 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 this invention, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0151] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a vehicle, characterized by, The method comprises: acquiring state information of a driving object in a vehicle within an initial period, wherein the state information is used to represent a physiological state of the driving object and / or an operation state of 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 on which the vehicle is located within the initial period; determining a steering parameter of the vehicle when performing a steering operation on the initial road based on the initial image information; performing steering assist compensation on the vehicle based on the steering parameter to control the vehicle to successfully steer on the initial road; wherein determining the steering parameter of the vehicle when performing the steering operation on the initial road based on the initial image information comprises: 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 in which the vehicle travels on the initial road; performing angle calculation on the first direction information and the third direction information to obtain a first included angle between the first direction and the third direction, and performing angle calculation on the second direction information and the third direction information to obtain a second included angle between the second direction and the third direction; in response to an absolute value of a difference between the first included angle and the second included angle being less than or equal to a first threshold value, determining the steering parameter based on a sum of the first included angle and the second included angle; or, extracting the first direction information and the third direction information from the initial image information; performing angle calculation on the first direction information and the third direction information to obtain the first included angle; in response to the first included angle being less than a second threshold value, determining the steering parameter based on the first included angle.

2. The method of claim 1, wherein, Determining the steering parameter of the vehicle when performing the steering operation on the initial road based on the initial image information comprises: extracting the second direction information and the third direction information from the initial image information; performing angle calculation on the second direction information and the third direction information to obtain the second included angle; in response to the second included angle being less than a second threshold value, determining the steering parameter based on the second included angle.

3. The method of claim 1, wherein, Determining the driving state of the driving object based on the state information comprises: identifying the physiological state in the state information to obtain an identification result; determining a preset driving state that conforms to the identification result as the driving state.

4. The method of claim 1, wherein, Determining the driving state of the driving object based on the state information further comprises: monitoring the operation state in the state information to obtain a monitoring result; determining a preset driving state that conforms to the monitoring result as the driving state.

5. A control device of a vehicle characterized by comprising: The method comprises: acquire state information of a driving object in a vehicle in an initial period, wherein the state information is used to represent a physiological state of the driving object and / or an operation state of a component of the vehicle; determine a driving state of the driving object based on the state information; acquire initial image information of an initial road on which the vehicle is located in the initial period in response to the driving state being a fatigue driving state; determine a steering parameter of the vehicle when performing a steering operation on the initial road based on the initial image information; control the vehicle to perform steering power compensation based on the steering parameter, so as to control the vehicle to successfully steer on the initial road; wherein the second determination unit is configured to determine the steering parameter of the vehicle when performing the steering operation on the initial road based on the initial image information by performing the following steps: 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 in which the vehicle travels on the initial road; performing angle calculation on the first direction information and the third direction information to obtain a first included angle between the first direction and the third direction, and performing angle calculation on the second direction information and the third direction information to obtain a second included angle between the second direction and the third direction; in response to an absolute value of a difference between the first included angle and the second included angle being less than or equal to a first threshold value, determining the steering parameter based on a sum of the first included angle and the second included angle; or extracting the first direction information and the third direction information from the initial image information; performing angle calculation on the first direction information and the third direction information to obtain the first included angle; in response to the first included angle being less than a second threshold value, determining the steering parameter based on the first included angle.

6. A processor, comprising: The processor is configured to run a program, wherein the program is executed by the processor to perform the vehicle control method in any one of claims 1 to 4.

7. An electronic device, comprising: comprise: a memory storing an executable program; a processor configured to run the program, wherein the program is executed to perform the vehicle control method in any one of claims 1 to 4.

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