Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle running control method which comprises the steps that whether foreign matter exists in a pedal area of a vehicle or not is detected; when it is confirmed that the foreign matter exists in the pedal area, an alarm prompt is given to a current driver of the vehicle, and whether the driver takes adjustment measures or not is judged within a specified time window; and if the driver does not take the adjustment measures, the vehicle is controlled. The driver is informed at the first time under the condition of detecting that the foreign matter exists in the pedal area, and whether the vehicle needs to be actively controlled or not is further judged based on the response of the driver. The timeliness of the foreign matter falling notification and the fault-tolerant processing of the driver response are combined, so that the risk caused by the falling of the foreign matter in the pedal area to the running of the vehicle is greatly reduced, and the safety guarantee of the driving of the vehicle is further improved.

Description

Technical Field

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

[0002] During actual driving, foreign objects may sometimes interfere with the operation area corresponding to the driver's feet on the vehicle (i.e., the pedal area, including the accelerator pedal and the brake pedal), which may lead to misoperations or safety hazards. For example, when foreign objects such as water bottles and power banks accidentally fall into the pedal area, the accelerator or brake pedal may be stuck, resulting in serious traffic accidents.

[0003] The inventor found in the process of implementing the invention that for the situation of foreign objects falling into the pedal area, existing vehicles do not have any detection prompts or disposal measures, so that the driver cannot know the dangerous situation in the first time, and there is no vehicle control plan for the situation of foreign objects falling, thus bringing unpredictable risks to vehicle driving.

[0004] Therefore, how to reasonably dispose of the situation of foreign objects falling to reduce the risks during vehicle driving has become a technical problem to be urgently solved by those skilled in the art. Summary of the Invention

[0005] In view of the above problems, the present disclosure provides a vehicle driving control method, device, vehicle and storage medium that overcome the above problems or at least partially solve the above problems. The technical solutions are as follows:

[0006] To achieve the above object, in a first aspect, the present invention provides a vehicle driving control method, including:

[0007] Detect whether there are foreign objects in the pedal area of the vehicle;

[0008] When it is confirmed that there are foreign objects in the pedal area, send an alarm prompt to the current driver of the vehicle, and determine whether the driver takes adjustment measures within a specified time window;

[0009] If it is confirmed that the driver does not take the adjustment measures, control the vehicle.

[0010] To timely detect abnormal situations that may affect driving safety, such as foreign objects stuck on the pedal, and take corresponding measures to ensure driving safety. Preferably, detecting whether there are foreign objects in the pedal area of the vehicle is specifically:

[0011] Obtain and record the first state information of the pedal area when the vehicle starts;

[0012] Collect the second state information of the pedal area at a preset period;

[0013] By comparing the first state information with the second state information to confirm whether there is a foreign object in the pedal area.

[0014] To improve the accuracy and reliability of detection and thus timely discover potential safety hazards. Preferably, the first state information and the second state information at least include image data and the weight data of the pedal area. By comparing the first state information with the second state information to confirm whether there is a foreign object in the pedal area, specifically:

[0015] Judge whether the image data of the first state information is consistent with the image data of the second state information;

[0016] If they are inconsistent, further judge whether the weight data of the second state information is greater than the weight data of the first state information;

[0017] If the weight data of the second state information is greater than the weight data of the first state information, confirm that there is a foreign object in the pedal area.

[0018] To ensure that when the driver fails to respond to the warning in time, the system can intervene quickly and minimize the risk of accidents caused by foreign object interference. Preferably, judge whether the driver takes adjustment measures within a specified time window, specifically:

[0019] Collect the third state information of the pedal area at the end of the specified time window;

[0020] If it is confirmed according to the third state information and the second state information that the foreign object still exists in the pedal area or the driver does not take a deceleration operation within the specified time window, judge that the driver does not take the adjustment measures.

[0021] To accurately judge whether the driver is in a state where they can respond to the warning in time, so as to optimize the reaction time of the system and avoid unnecessary intervention on the premise of ensuring driving safety. Preferably, after sending a warning prompt to the current driver of the vehicle, it further includes:

[0022] Collect the facial image of the driver and determine the attention level of the driver according to the facial image, where the attention level includes concentrated attention and distracted attention;

[0023] If the attention level of the driver is concentrated attention, maintain or extend the duration of the specified time window;

[0024] If the attention level of the driver is distracted attention, shorten the duration of the specified time window.

[0025] To accelerate the response speed of the system under high-risk driving conditions, so as to take measures more quickly and reduce potential safety hazards that may be caused by foreign objects interfering with the pedal area. Preferably, it further includes:

[0026] Obtain the driving information and road condition information of the vehicle, where the driving information includes vehicle speed and acceleration; the road condition information includes the road condition ahead of the vehicle and the driving information of surrounding vehicles;

[0027] If the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, shorten the duration of the preset time window;

[0028] If it is confirmed according to the road condition ahead that there are other vehicles in front of the vehicle or it is confirmed according to the driving information of surrounding vehicles that the vehicle is currently in a congested section, shorten the duration of the preset time window.

[0029] To, in the case of confirming that the driver fails to handle the foreign object in the pedal area in time, gradually reduce the vehicle speed through a series of automatic control measures and finally stop the vehicle safely to avoid potential safety hazards. Preferably, the vehicle is controlled as follows:

[0030] Reduce the power output of the driving device of the vehicle until the power output of the vehicle drops to a power threshold;

[0031] Brake the vehicle through the braking system of the vehicle;

[0032] When the vehicle speed drops to a preset speed threshold, guide the vehicle to the rightmost side of the current lane to stop and trigger the vehicle's hazard lights to flash.

[0033] In a second aspect, the present invention provides a vehicle control device, including:

[0034] A detection module for detecting whether there is a foreign object in the pedal area of the vehicle;

[0035] A judgment module for, when it is confirmed that there is a foreign object in the pedal area, sending an alarm prompt to the current driver of the vehicle and judging whether the driver takes adjustment measures within a specified time window;

[0036] A control module for, if it is confirmed that the driver does not take the adjustment measures, controlling the vehicle.

[0037] In a third aspect, the present invention provides a vehicle, including:

[0038] A memory for storing executable program code;

[0039] A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method described in any one of the above items.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed, implements the method described in any one of the above items.

[0041] The embodiments of the present application disclose a vehicle driving control method, device, vehicle, and storage medium. The method includes detecting whether there is a foreign object in the pedal area of the vehicle; when it is confirmed that there is a foreign object in the pedal area, an alarm prompt is sent to the current driver of the vehicle, and it is determined whether the driver takes adjustment measures within a specified time window; if it is confirmed that the driver does not take adjustment measures, the vehicle is controlled. This solution notifies the driver in a timely manner when a foreign object is detected in the pedal area, and further determines whether active vehicle control is required based on the driver's reaction. By combining the timeliness of the foreign object drop notification with the fault tolerance processing of the driver's reaction, the risk of a foreign object falling in the pedal area to vehicle driving is greatly reduced, and the safety guarantee of vehicle driving is further improved. Description of the Drawings

[0042] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0043] Figure 1 is a flowchart of a vehicle driving control method provided by an embodiment of the present invention;

[0044] Figure 2 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention;

[0045] Figure 3 is a schematic structural diagram of a vehicle provided by an embodiment of the present invention. Detailed Embodiments

[0046] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0047] As Figure 1 shown, in some embodiments of the present application, this embodiment provides a vehicle driving control method. Specifically, the method includes the following steps:

[0048] Step S101, detect whether there is a foreign object in the pedal area of the vehicle.

[0049] As described above, through certain technical means, it is detected whether there is a foreign object in the vehicle pedal area. Here, the "pedal area" generally includes the accelerator pedal, the brake pedal, and the surrounding space, and the "foreign object" refers to an object that may interfere with normal driving operations, such as a water bottle, a power bank, a displaced floor mat, etc. The detection method can be based on the comprehensive analysis of various sensor data, such as the visual information collected by an image sensor, the weight change detected by a pressure sensor, or the presence state of an object sensed by a distance sensor. The purpose of this step is to identify the presence of a foreign object before a potential safety hazard occurs.

[0050] For example, assume a car is equipped with a camera and a pressure sensor to monitor the state of the pedal area. When the driver starts the vehicle, the system records the initial state of the pedal area (such as the image and weight distribution of the pedal area). During the vehicle driving process, the system continuously collects the real-time state information of the pedal area according to a preset period. For example, if a water bottle accidentally slides into the pedal area, the camera may capture a change in the image of the pedal area (the water bottle blocks part of the pedal area), and at the same time, the pressure sensor will detect an increase in the weight of this area. By comparing the current state with the initial state, the system can determine that there is a foreign object in the pedal area and trigger subsequent warning or processing procedures.

[0051] It should be noted that in a specific implementation scenario, based on the above solution, a multi-sensor fusion detection scheme can also be adopted, that is, when detecting the pedal area, in addition to using image and pressure sensors, other types of technical means such as ultrasonic sensors and infrared sensors can also be introduced to improve the accuracy of foreign object detection. For example, an ultrasonic sensor can assist in judging whether there is a foreign object intrusion by measuring the distance change in the pedal area.

[0052] In a specific implementation scenario, based on the above solution, a dynamic adjustment scheme for data acquisition frequency can also be adopted, that is, when collecting data on the pedal area, in order to improve the monitoring efficiency and reduce resource consumption, the data acquisition frequency of the sensors used for foreign object detection can be dynamically adjusted according to the vehicle running state. For example: when the vehicle is in a stationary state, the data acquisition frequency is reduced to save energy consumption; when the vehicle is driving at high speed or encountering complex road conditions, the data acquisition frequency is increased to ensure timely detection of foreign objects.

[0053] In a specific implementation scenario, based on the above solution, an environmental adaptability optimization solution can also be adopted. That is, when collecting data from the pedal area to achieve foreign object detection, considering the differences in different driving environments, the system can be optimized for special scenarios. For example: in the night or low light conditions, enhance the night vision ability of the image sensor to ensure that objects in the pedal area can be clearly identified even in insufficient light; in bumpy roads or off-road environments, combine the data of the acceleration sensor to filter out false alarm signals caused by vehicle vibrations and improve the detection accuracy.

[0054] In a specific implementation scenario, based on the above solution, a user interactive confirmation solution can also be adopted. That is, after initially detecting that there is a foreign object in the pedal area of the vehicle, the system can prompt the driver to confirm through voice or touch interface. If the driver feedbacks that there is no abnormality in the pedal area, the system can temporarily ignore the detection result and record this event as a reference for future optimization of the detection algorithm. The above optional solutions all fall within the protection scope of this application.

[0055] Step S102, when it is confirmed that there is a foreign object in the pedal area, send an alarm prompt to the current driver of the vehicle, and determine whether the driver takes adjustment measures within a specified time window.

[0056] As described above, this operation step mainly includes two parts: one is when the system confirms that there is a foreign object in the pedal area, notify the driver by means of an alarm prompt; the other is to observe and determine whether the driver has taken adjustment measures within a specified time window. Here, the "alarm prompt" can be a reminder in the form of vision, hearing and / or touch, such as the warning light on the dashboard flashing, voice broadcast reminder or steering wheel vibration, etc. The "specified time window" refers to a reasonable period of time reserved by the system for the driver to handle the foreign object or adjust the driving state. If the driver does not take effective measures within this time, the system will consider that the driver fails to respond in time and trigger the subsequent automatic control process.

[0057] For example, assume that a car detects a dropped water bottle in the pedal area, and the system immediately sends an alarm prompt to the driver. For example, the text prompt "A foreign object is detected in the pedal area, please check and remove it immediately" is displayed on the vehicle's central control screen, and at the same time, an urgent beeping sound is accompanied to remind the driver to pay attention. At this time, the system enters a preset time window (such as 10 seconds), and continuously monitors the driver's operation behavior during this period. If the driver quickly stops the vehicle and removes the water bottle from the pedal area, the system determines that the driver has taken adjustment measures and will not intervene further. But if the driver does not make any response, the system will automatically judge that the driver has not taken adjustment measures and is ready to execute the subsequent vehicle control operation.

[0058] It should be noted that in a specific implementation scenario, based on the above solution, a multi-modal warning prompt solution can also be adopted. That is, when it is confirmed that there is a foreign object in the pedal area and a warning prompt is issued to the current driver, the system can select different warning methods according to the driver's habits and / or the current driving environment. For example, in high-speed driving or noisy environments, tactile feedback (such as seat vibration or steering wheel vibration) is preferred to ensure that the driver can perceive the warning information; when driving at night, to avoid strong light interference, soft lighting prompts or voice reminders can be selected instead of glaring warning lights.

[0059] In a specific implementation scenario, based on the above solution, a driver behavior monitoring and evaluation solution can also be adopted. That is, within the time window for judging whether the driver takes adjustment measures, the system can not only judge whether the driver takes adjustment measures through the state change of the pedal area, but also comprehensively evaluate the driver's behavior in combination with other sensor data (such as the steering wheel rotation angle and / or the operation of the accelerator and brake pedals). For example, if the driver steps on the brake or reduces the speed, it can be regarded as taking adjustment measures; the system can also record the driver's historical behavior patterns to optimize the judgment criteria for "adjustment measures". For example, for drivers who often respond quickly, the system can set a higher judgment threshold.

[0060] In a specific implementation scenario, based on the above solution, a hierarchical processing solution for the warning mechanism can also be adopted. That is, when it is confirmed that there is a foreign object in the pedal area and a warning prompt is issued to the current driver, the potential harm degree of the foreign object is judged and according to the potential harm degree of the foreign object, the system can adopt a hierarchical warning strategy. For example, for minor foreign object interference (such as when the volume of the foreign object is small), the system can only issue a low-priority prompt sound; while for foreign objects that may seriously affect driving safety (such as a heavy object jamming the brake pedal), multiple high-priority warnings (sound, light, and / or vibration, etc.) can be triggered.

[0061] In a specific implementation scenario, based on the above solution, a human-machine interactive confirmation solution can also be adopted. That is, after the warning prompt, the system can provide a simple interaction interface for the driver to confirm whether help is needed. For example, the driver can interact with the system through voice commands (such as "ignore the warning" or "request assistance") to avoid misjudgment or unnecessary intervention. If the driver clearly indicates that no intervention is required, the system can temporarily exit the warning process but continue to monitor the state of the pedal area to prevent the deterioration of abnormal situations. The above optional solutions all fall within the protection scope of this application.

[0062] Step S103: If it is confirmed that the driver has not taken the adjustment measure, control the vehicle.

[0063] As described above, when the system confirms that the driver has not taken adjustment measures within the specified time window, the vehicle is controlled to ensure driving safety. "Controlling the vehicle" here can include various operations, such as reducing the power output of the drive device, decelerating or stopping through the braking system, and / or guiding the vehicle to pull over to the side of the road, etc. The purpose of this step is to take over some or all of the vehicle operations by automated means in case the driver fails to respond to foreign object interference in a timely manner, avoiding misoperations or safety hazards caused by foreign objects, so as to ensure the safety of the passengers in the vehicle and other people on the road.

[0064] For example, assume a car detects a dropped water bottle in the pedal area and sends an alarm prompt to the driver. However, within the specified time window (such as 10 seconds), the driver does not take any measures to remove the water bottle or adjust the driving state. At this time, the system will automatically intervene to control the vehicle. For example, the system first reduces the power output of the engine to gradually decelerate the vehicle, and at the same time activates the braking system to further reduce the vehicle speed. When the vehicle speed drops to a preset safety threshold (such as 10 km / h), the system will guide the vehicle to stop at the rightmost side of the current lane and trigger the hazard lights to alert surrounding vehicles. This series of operations effectively avoids traffic accidents that may be caused by foreign object interference.

[0065] It should be noted that in specific implementation scenarios, based on the above solutions, a phased control strategy can also be adopted, that is, within the specified time window, when it is confirmed that the driver has not taken corresponding adjustment measures, the system can control the vehicle in a phased manner to gradually reduce the risk. For example, in the first stage, the power output is reduced to lower the vehicle speed; in the second stage, mild braking is activated; in the third stage, a complete stop is made when necessary. This phased control can give the driver and surrounding vehicles more reaction time and avoid secondary accidents caused by sudden vehicle stoppage.

[0066] In specific implementation scenarios, based on the above solutions, a differentiated control solution based on road conditions can also be adopted, that is, when controlling the vehicle, the system can select different control methods according to real-time road condition information. For example, on a highway, if there are other vehicles ahead or in a congested section, the system can choose to slow down gradually and try to stay in the original lane instead of pulling over immediately to avoid rear-end collisions; on urban roads or rural roads, the system can directly guide the vehicle to pull over to the side of the road because these environments are usually more convenient for parking operations.

[0067] In a specific implementation scenario, based on the above solution, a recovery mechanism solution after takeover can also be adopted. That is, in order to improve the user experience, the takeover mechanism can also design a set of recovery processes, allowing the driver to regain control of the vehicle after confirming that the foreign object has been properly handled. For example, during the takeover period, the system continuously monitors the status of the pedal area; when it detects that the foreign object has been removed and the vehicle status has returned to normal, the system notifies the driver through voice or visual prompts that they can regain control of the vehicle; if the driver does not respond in a timely manner, the system will continue to maintain the takeover state until complete safety is ensured.

[0068] In a specific implementation scenario, based on the above solution, a collaborative takeover solution combined with external communication can also be adopted. That is, in order to further improve the effectiveness of the takeover mechanism, the system can work in collaboration with external facilities (such as traffic lights, other vehicles, or cloud servers). For example, when the takeover mechanism is activated, the system can send warning messages to surrounding vehicles through vehicle networking technology to remind other drivers to pay attention and avoid; when approaching traffic lights or congested sections, the system can optimize the takeover strategy by combining real-time traffic information and select the best parking position or driving route. The above optional solutions all fall within the protection scope of this application.

[0069] In some embodiments of this application, in order to timely detect abnormal situations that may affect driving safety, such as foreign objects stuck on the pedal, corresponding measures are taken to ensure driving safety. Detecting whether there is a foreign object in the pedal area of the vehicle specifically includes:

[0070] Obtain and record the first status information of the pedal area when the vehicle starts;

[0071] Collect the second status information of the pedal area at a preset period;

[0072] Confirm whether there is a foreign object in the pedal area by comparing the first status information with the second status information.

[0073] As described above, first, at the moment when the vehicle starts, the system will obtain and record the first status information of the pedal area. This step is to establish a reference benchmark, which generally includes but is not limited to image data, weight distribution, etc. of the pedal area. These information reflect the normal state of the pedal area when the vehicle starts, that is, the state without foreign object interference.

[0074] Then, according to the preset time period, the system will continuously or regularly collect the current status information (second status information) of the pedal area. This period can be adjusted according to the actual situation to ensure that abnormal situations can be detected in a timely manner without excessive resource consumption. The second status information also includes key parameters such as image data and weight distribution of the pedal area.

[0075] Finally, the system compares and analyzes the first state information with the latest second state information. By comparing whether the image data in these two states is consistent and whether there are significant changes in the weight distribution, it can be determined whether there is a foreign object in the pedal area. For example, if the detected image shows a new object appearing in the pedal area, or the weight data indicates an increase in the weight of the pedal area, it can be considered that there is a foreign object. Once it is confirmed that there is a foreign object, the system will trigger the corresponding warning mechanism or other subsequent processing procedures to alert the driver or directly intervene in controlling the vehicle to avoid potential safety risks.

[0076] In some embodiments of the present application, in order to improve the accuracy and reliability of detection and thus timely discover potential safety hazards. The first state information and the second state information at least include image data and the weight data of the pedal area. By comparing the first state information with the second state information to confirm whether there is a foreign object in the pedal area, specifically:

[0077] Judge whether the image data of the first state information is consistent with the image data of the second state information;

[0078] If they are inconsistent, further judge whether the weight data of the second state information is greater than the weight data of the first state information;

[0079] If the weight data of the second state information is greater than the weight data of the first state information, confirm that there is a foreign object in the pedal area.

[0080] As described above, first, when the vehicle starts, the system acquires and records the first state information of the pedal area, including image data and weight data. The image data provides visual information of the pedal area and can be used to identify whether a new object appears in this area; the weight data reflects the overall weight distribution of the pedal area and can be used to detect whether an additional object increases the weight of this area. Then, during the vehicle driving process, the system collects the second state information of the pedal area at a preset period, which also includes image data and weight data. These data are used for comparison and analysis with the first state information.

[0081] Next, the system first compares whether the image data in the first state information is consistent with the image data in the second state information. If there are differences in the image data, for example, a new object blocks part of the pedal, it indicates that there may be foreign object interference. At this time, the system will further check whether the weight data in the two sets of state information is consistent. If the weight data of the second state information is greater than the weight data of the first state information, this means that in addition to the visual difference, there is indeed a physical foreign object in the pedal area, thus confirming that there is a foreign object in the pedal area.

[0082] In summary, by combining the dual verification of image data and weight data, it is possible to more accurately determine whether there is a foreign object in the pedal area. This multi-level detection method not only improves the accuracy of the detection results but also effectively reduces the possibility of false alarms, ensuring driving safety. Once a foreign object is confirmed to exist, the system will trigger corresponding warning mechanisms or other subsequent processing procedures to alert the driver or directly intervene to control the vehicle.

[0083] In some embodiments of the present application, to ensure that when the driver fails to respond to the warning in a timely manner, the system can quickly intervene and minimize the risk of accidents caused by foreign object interference. It is determined whether the driver takes adjustment measures within a specified time window, specifically:

[0084] Collect the third state information of the pedal area at the end of the specified time window;

[0085] If it is confirmed according to the third state information and the second state information that the foreign object still exists in the pedal area or the driver does not take a deceleration operation within the specified time window, it is determined that the driver has not taken the adjustment measure.

[0086] As described above, first, within the specified time window, the system waits for the driver to respond to the warning prompt and take corresponding measures. The length of this time window is preset, aiming to give the driver sufficient time to handle the discovered problem while avoiding greater safety hazards caused by excessive delays.

[0087] When reaching the end of the specified time window, the system will collect the current state information of the pedal area again (i.e., the third state information). This step is to obtain the latest condition of the pedal area to determine whether the foreign object has been removed or whether there are other changes in the situation.

[0088] Then, the system compares and analyzes the third state information with the second state information collected in the previous cycle. Specifically: if according to the third state information, the foreign object still exists in the pedal area, it means that the driver has not successfully removed the foreign object; on the other hand, if within the time window, the system monitors that the vehicle does not perform any deceleration or other appropriate adjustment operations (such as changing lanes and / or parking, etc.), it indicates that the driver may have ignored the warning or failed to effectively respond to the problem.

[0089] Based on any one of the above two situations, the system will determine that the driver has not taken effective adjustment measures. This means that the driver has not been able to resolve the potential safety risks caused by the foreign object by themselves, so the system needs to start subsequent automated control processes, such as reducing power output, automatic braking, and / or guiding the vehicle to a safe stop on the side of the road, etc., to ensure driving safety.

[0090] In some embodiments of the present application, in order to accurately determine whether the driver is in a state where they can respond to the warning in a timely manner, thereby optimizing the reaction time of the system and avoiding unnecessary intervention while ensuring driving safety. After issuing a warning prompt to the current driver of the vehicle, it further includes:

[0091] Collect the facial image of the driver and determine the attention level of the driver based on the facial image, where the attention level includes concentrated attention and distracted attention;

[0092] If the attention level of the driver is concentrated attention, maintain or extend the duration of the preset time window;

[0093] If the attention level of the driver is distracted attention, shorten the duration of the preset time window.

[0094] As described above, after issuing a warning prompt to the current driver of the vehicle regarding the presence of foreign objects in the pedal area, the system will further use devices such as cameras to capture real-time image data of the driver's face for subsequent attention level analysis. Next, the system determines the attention level of the driver based on the collected facial image. The "attention level" mentioned here is mainly divided into two states: concentrated attention and distracted attention. Generally, by analyzing factors such as the degree of eye opening and closing of the driver, the line of sight direction, the blink frequency, and the head posture, the current attention status of the driver can be judged more accurately.

[0095] If the system determines that the attention level of the driver is "concentrated attention", this means that the driver has probably noticed the warning information and is taking or preparing to take corresponding measures. In this case, the system can choose to maintain or appropriately extend the originally set time window length, giving the driver more time to handle the problem and reducing unnecessary automatic intervention.

[0096] Conversely, if the system detects that the attention level of the driver is "distracted attention", it indicates that the driver may not have noticed the warning information or is in a distracted state (such as using a mobile phone, talking to a passenger, etc.). At this time, in order to eliminate potential safety hazards as soon as possible, the system will shorten the preset time window length and accelerate the entry into the next automatic control process, such as increasing the reminder frequency, performing deceleration and / or parking operations in advance, etc.

[0097] This method of dynamically adjusting the warning response strategy according to the driver's attention level not only improves the intelligence level of the system, but also can minimize the interference to normal driving behavior while ensuring driving safety, enhancing the user experience. In addition, this method also helps to reduce the risk of accidents caused by the driver's failure to respond in a timely manner, enhancing the overall safety.

[0098] In some embodiments of the present application, in order to accelerate the system's response speed under high-risk driving conditions (such as when driving at high speed or in traffic congestion), and take measures more promptly to reduce potential safety hazards that may be caused by foreign objects interfering with the pedal area. It further includes:

[0099] Obtain the driving information and road condition information of the vehicle, where the driving information includes vehicle speed and acceleration; the road condition information includes the road condition ahead of the vehicle and the driving information of surrounding vehicles;

[0100] If the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, shorten the duration of the preset time window;

[0101] If it is confirmed according to the road condition ahead that there are other vehicles in front of the vehicle or it is confirmed according to the driving information of surrounding vehicles that the vehicle is currently in a congested section, shorten the duration of the preset time window.

[0102] As described above, first of all, the system will obtain the current driving information and road condition information of the vehicle. The driving information includes but is not limited to vehicle speed and acceleration, which reflect the current motion state of the vehicle; the road condition information covers the specific conditions of the road ahead and the driving conditions of other surrounding vehicles, which helps to comprehensively evaluate the risk level of the current driving environment.

[0103] The system will continuously monitor the vehicle speed and acceleration in real time. If it is detected that the vehicle speed exceeds the preset speed threshold, or the acceleration exceeds the preset acceleration threshold, this means that the vehicle is in a state of rapid movement or sharp acceleration, and any delay may lead to serious consequences. Therefore, in this case, the system will automatically shorten the length of the preset time window to prompt a faster response to potential dangers.

[0104] At the same time, the system will also analyze the road condition ahead and the driving information of surrounding vehicles. If there are other vehicles ahead (especially vehicles in the immediate vicinity), or it is confirmed according to the driving information of surrounding vehicles that the vehicle is currently in a congested section, this indicates that the vehicle's surrounding environment is complex and requires higher vigilance. In this case, it is also necessary to shorten the length of the time window so that the system can intervene earlier to avoid accidents caused by the driver's failure to respond in a timely manner.

[0105] By combining the above two aspects of information, the system can more intelligently judge when to accelerate the response speed and adjust the length of the warning response time window accordingly. This method not only improves the efficiency of dealing with emergencies, but also provides more accurate safety protection measures under different driving conditions, thereby effectively reducing the risks caused by foreign objects in the pedal area.

[0106] In some embodiments of the present application, in order to gradually reduce the vehicle speed and finally stop safely through a series of automated control measures in case it is confirmed that the driver fails to handle the foreign object in the pedal area in a timely manner, so as to avoid potential safety hazards. The vehicle is controlled specifically as follows:

[0107] Reduce the power output of the driving device of the vehicle until the power output of the vehicle drops to a power threshold;

[0108] Brake the vehicle through the braking system of the vehicle;

[0109] When the speed of the vehicle drops to a preset speed threshold, guide the vehicle to the rightmost side of the current lane to stop and trigger the flashing of the vehicle's hazard lights.

[0110] As described above, first, when the system confirms that the driver has not taken effective measures to handle the foreign object in the pedal area, it will start the control program for the vehicle. The first step is to reduce the power output of the vehicle's driving device, which means that the power provided by the engine or motor will gradually decrease until the power output of the vehicle drops to a set power threshold. This can effectively reduce the vehicle speed and reduce the risk caused by the driver's incorrect operation of the accelerator.

[0111] Next, the system will further decelerate through the vehicle's braking system, including gently stepping on the brakes or adopting more forceful braking measures, depending on the current speed of the vehicle and the safety conditions of the surrounding environment. The intervention of the braking system is to ensure that the vehicle can decelerate quickly and smoothly, preventing out-of-control or collision accidents.

[0112] Once the speed of the vehicle drops to a preset speed threshold (for example, 10 km / h), the system will perform the next operation: guide the vehicle to move to the rightmost side of the current lane and stop. The reason for choosing to stop on the rightmost side is that, generally, the rightmost side of the road is considered a relatively safe position, which can not only minimize the impact on the normal driving of other vehicles, but also provide a relatively safe environment for the passengers in the vehicle to get off.

[0113] Finally, after the vehicle has completely stopped, the system will automatically trigger the flashing of the vehicle's hazard lights. This operation is to remind other drivers around that this vehicle has stopped emergently and there may be abnormal situations, thus improving the overall road safety and avoiding rear-end collisions or other traffic accidents of subsequent vehicles.

[0114] To sum up, through the above series of control measures for the vehicle, it is possible to maximize the driving safety and reduce the risk of accidents in case the driver fails to respond to the warning prompt in a timely manner. This multi-level automatic control strategy not only considers the safety of the vehicle itself, but also takes into account the safety of the surrounding traffic environment.

[0115] Compared with the prior art, an embodiment of the present application discloses a vehicle driving control method. By detecting whether there is a foreign object in the pedal area of the vehicle and issuing an alarm prompt to the driver when it is confirmed that there is a foreign object, it can remind the driver to pay attention before a potential safety hazard occurs, which helps prevent misoperations caused by the pedal area being stuck by a foreign object, thereby reducing the risk of traffic accidents. This method can not only identify foreign objects existing in the pedal area, but also determine whether the driver has taken corresponding adjustment measures within a specified time window. This mechanism ensures that even if a foreign object is found and the driver fails to handle it in time, the system can automatically intervene to control the vehicle, further enhancing driving safety and response speed. If it is confirmed that the driver has not taken the necessary adjustment measures, this method can control the vehicle, including but not limited to reducing the vehicle's power output, implementing braking and other operations. This way can provide an additional layer of safety protection when the driver is unable to handle abnormal situations due to various reasons (such as distraction, sudden health problems, etc.), effectively protecting the safety of passengers in the vehicle and other pedestrians on the road. In summary, through a complete set of detection, warning and emergency handling processes, this technical solution provides an effective solution to the problem of possible foreign object interference in the pedal area, significantly improving the safety and reliability during vehicle driving.

[0116] Based on the same inventive concept as the above method, an embodiment of the present application also proposes a vehicle control device 200. Exemplarily, as Figure 2 shown, it is a schematic structural diagram of a vehicle control device 200, including:

[0117] A detection module 210, configured to detect whether there is a foreign object in the pedal area of the vehicle;

[0118] A judgment module 220, configured to, when it is confirmed that there is a foreign object in the pedal area, issue an alarm prompt to the current driver of the vehicle, and determine whether the driver takes adjustment measures within a specified time window;

[0119] A control module 230, configured to control the vehicle if it is confirmed that the driver has not taken the adjustment measures.

[0120] In a possible implementation manner, the detection module 210 is specifically configured to: acquire and record the first state information of the pedal area when the vehicle starts; collect the second state information of the pedal area at a preset period; and confirm whether there is a foreign object in the pedal area by comparing the first state information with the second state information.

[0121] In a possible implementation, the first state information and the second state information at least include image data and weight data of the pedal area. By comparing the first state information with the second state information, it is confirmed whether there is a foreign object in the pedal area. The detection module 210 is further configured to: determine whether the image data of the first state information is consistent with the image data of the second state information; if not, further determine whether the weight data of the first state information is consistent with the weight data of the second state information; if the weight data of the first state information is inconsistent with the weight data of the second state information, it is confirmed that there is a foreign object in the pedal area.

[0122] In a possible implementation, the determination module 220 is specifically configured to: collect the third state information of the pedal area at the end of the specified time window; if it is confirmed according to the third state information and the second state information that the foreign object still exists in the pedal area or the driver does not take a deceleration operation within the specified time window, it is determined that the driver does not take an adjustment measure.

[0123] In a possible implementation, after issuing an alarm prompt to the current driver of the vehicle, the determination module 220 is further configured to: collect the facial image of the driver and determine the attention level of the driver according to the facial image. The attention level includes concentrated attention and distracted attention; if the attention level of the driver is concentrated attention, maintain or extend the duration of the preset time window; if the attention level of the driver is distracted attention, shorten the duration of the preset time window.

[0124] In a possible implementation, the determination module 220 is further configured to: obtain the driving information and road condition information of the vehicle. The driving information includes vehicle speed and acceleration; the road condition information includes the road condition ahead of the vehicle and the driving information of surrounding vehicles; if the vehicle speed exceeds the preset speed threshold or the acceleration exceeds the preset acceleration threshold, shorten the duration of the preset time window; if it is confirmed according to the road condition ahead that there are other vehicles ahead of the vehicle or it is confirmed according to the driving information of surrounding vehicles that the vehicle is currently in a congested section, shorten the duration of the preset time window

[0125] In a possible implementation, the control module 230 is specifically configured to: reduce the power output of the driving device of the vehicle until the power output of the vehicle drops to the power threshold; brake the vehicle through the braking system of the vehicle; when the speed of the vehicle drops to the preset speed threshold, guide the vehicle to the rightmost side of the current lane to stop and trigger the flashing of the hazard lights of the vehicle.

[0126] It should be noted that the above vehicle control device 200 is embodied in the form of functional modules. The term "module" here can be implemented in the form of software and / or hardware, and no specific limitation is made thereto.

[0127] For example, a "module" may be a software program, a hardware circuit, or a combination of both that implements the above functions. The hardware circuit may include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, and a memory, a combined logic circuit, and / or other suitable components that support the described functions.

[0128] Therefore, the modules in the examples described in the embodiments of the present application can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0129] Based on the same inventive concept as the above method, the embodiments of the present application also propose a vehicle 300. Exemplarily, as Figure 3 shown, the vehicle 300 includes: a memory 310 and a processor 320. Among them, an executable program code 311 is stored in the memory 310, and the processor 320 is used to call and execute the executable program code 311 to execute the above vehicle control method.

[0130] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0131] In the case of dividing each functional module corresponding to each function, the vehicle may include: an analysis module, a judgment module, and an execution module. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0132] The vehicle provided in this embodiment is used to execute the above vehicle control method, so it can achieve the same effect as the above implementation method.

[0133] In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0134] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in combination with the disclosure of this application. The processor can also be a combination that implements computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0135] Based on the same inventive concept as the above method, an embodiment of this application also proposes a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of the method in any of the foregoing embodiments. Among them, the computer-readable storage medium can include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs (Digital Video Discs), CD-ROMs (Compact Disc Read-Only Memories), microdrives, and magneto-optical disks, ROMs (Read-Only Memories), RAMs (Random Access Memories), EPROMs (Erasable Programmable Read-Only Memories), EEPROMs (Electrically Erasable Programmable Read Only Memories), DRAMs (Dynamic Random Access Memories), VRAMs (Video Random Access Memories), flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0136] Those skilled in the art should understand that the embodiments of this application can be provided as a method, a system, or a computer program product. Therefore, this application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain computer-usable program code.

[0137] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, as well as the combination of flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate for implementing in the process Figure 1 one or more flows and / or blocks Figure 1 a device for the functions specified in one or more blocks.

[0138] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements in the process Figure 1 one or more flows and / or blocks Figure 1 the functions specified in one or more blocks.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0140] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Detect whether there is foreign matter in the pedal area of ​​the vehicle; When it is confirmed that there is a foreign object in the pedal area, a warning is issued to the current driver of the vehicle, and it is determined within a specified time window whether the driver takes adjustment measures; If it is confirmed that the driver has not taken the adjustment measures, the vehicle is controlled.

2. The method according to claim 1, characterized in that Check whether there is any foreign object in the pedal area of ​​the vehicle, specifically: Acquiring and recording first state information of the pedal area when the vehicle is started; collecting second state information of the pedal area according to a preset period; Whether there is a foreign object in the pedal area is confirmed by comparing the first state information with the second state information.

3. The method according to claim 2, characterized in that The first state information and the second state information at least include image data and weight data of the pedal area, and the first state information is compared with the second state information to confirm whether there is a foreign object in the pedal area, specifically: determining whether the image data of the first state information is consistent with the image data of the second state information; If they are inconsistent, further determining whether the weight data of the second state information is greater than the weight data of the first state information; If the weight data of the second state information is greater than the weight data of the first state information, it is confirmed that there is a foreign object in the pedal area.

4. The method according to claim 2, characterized in that Determine whether the driver takes adjustment measures within the specified time window, specifically: collecting third state information of the pedal area at the end of the specified time window; If it is confirmed according to the third state information and the second state information that the foreign object is still present in the pedal area or the driver does not take a deceleration operation within the specified time window, it is determined that the driver has not taken the adjustment measure.

5. The method according to claim 1, characterized in that After issuing a warning prompt to the current driver of the vehicle, the method further includes: Collecting a facial image of the driver and determining the driver's attention level based on the facial image, the attention level including focused attention and distracted attention; If the driver's attention level is focused, maintaining or extending the duration of the designated time window; If the driver's attention level is distracted, shorten the duration of the designated time window.

6. The method according to claim 5, characterized in that Also includes: Acquire driving information and road condition information of the vehicle, wherein the driving information includes vehicle speed and acceleration; the road condition information includes road conditions ahead of the vehicle and driving information of surrounding vehicles; If the vehicle speed exceeds a preset speed threshold or the acceleration exceeds a preset acceleration threshold, shortening the duration of the preset time window; If it is confirmed based on the road condition ahead that there are other vehicles ahead of the vehicle or it is confirmed based on the driving information of surrounding vehicles that the vehicle is currently in a congested section, the duration of the preset time window is shortened.

7. The method according to any one of claims 1 to 6, characterized in that: The vehicle is controlled, specifically: reducing the power output of the driving device of the vehicle until the power output of the vehicle drops to a power threshold; braking the vehicle via a braking system of the vehicle; When the speed of the vehicle drops to a preset speed threshold, the vehicle is guided to the rightmost side of the current lane and parked, and the double flash lights of the vehicle are triggered to flash.

8. A vehicle control device, characterized in that: include: A detection module, used to detect whether there is a foreign object in the pedal area of ​​the vehicle; A judgment module, configured to, when confirming that there is a foreign object in the pedal area, issue a warning to the current driver of the vehicle, and judge whether the driver takes adjustment measures within a specified time window; The control module is used to control the vehicle if it is confirmed that the driver has not taken the adjustment measure.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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