Vehicle control method, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method, electronic equipment and a storage medium, and the method comprises the steps: determining whether a vehicle has a driving risk or not when the vehicle is in an automatic driving mode; if it is determined that the vehicle has the driving risk, an alarm signal is sent to a driver; and in response to a received voice instruction fed back by a driver for the alarm signal, performing driving control on the vehicle according to the voice instruction. According to the technical scheme, the emergency automatic driving system can respond to the voice instruction of the driver, the speed of sending the voice instruction is higher than that of making actions to take over the vehicle by the driver, and when the driver is in a fatigue or tension state, the behavior is easier to generate misoperation than voice, so that the driving safety is improved. Therefore, the vehicle control speed and effect of a driver are improved, and the vehicle driving safety is improved.

Description

Technical Field

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

[0002] With the development of autonomous driving technology, assisted driving systems have become a standard feature of vehicles. This means that virtually every car is equipped with an assisted driving system. It's called an "assisted driving system" because current technology isn't yet capable of fully autonomous driving. The driver still needs to pay close attention to road conditions and the assisted driving system's control of the vehicle, allowing them to take over in an emergency.

[0003] However, emergencies do not occur frequently, and in most cases the assisted driving system can achieve smooth driving of the vehicle. Therefore, when the vehicle is in the assisted driving state, the driver's attention is easily distracted and unfocused, and the overall mental state is easily relaxed and drowsy, which seriously affects the speed and effectiveness of the driver taking over the vehicle when an emergency occurs, thereby increasing the incidence of safety accidents.

[0004] In view of this, this application is hereby filed. Summary of the Invention

[0005] The present application aims to provide a vehicle control method, electronic device and storage medium, the purpose of which is to improve the speed and effect of the driver's control of the vehicle, thereby improving the safety of vehicle driving.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising: when the vehicle is in an automatic driving mode, determining whether the vehicle has a driving risk;

[0007] Send an alarm signal to the driver based on the vehicle's driving risk level;

[0008] In response to receiving the driver's voice command in response to the alarm signal, the vehicle is driven and controlled according to the voice command.

[0009] According to the technical solution provided in the embodiment of the present application, optionally, determining whether the vehicle has a driving risk includes:

[0010] In response to detecting a deceleration signal of the vehicle, it is determined whether the vehicle has a driving risk.

[0011] According to the technical solution provided in an embodiment of the present application, optionally, determining whether the vehicle has a driving risk in response to detecting a deceleration signal of the vehicle includes:

[0012] In response to detecting a deceleration signal of the vehicle, obtaining a speed of the vehicle, a speed of an obstacle behind the vehicle, and a distance between the vehicle and the obstacle behind the vehicle;

[0013] determining a relative speed between the vehicle and the obstacle based on the speed of the vehicle and the speed of the obstacle behind the vehicle;

[0014] determining a collision time between the vehicle and the obstacle based on the relative speed and the distance between the vehicle and the rear obstacle;

[0015] Whether the vehicle has a driving risk is determined according to the magnitude of the collision time.

[0016] According to the technical solution provided in the embodiment of the present application, optionally, determining whether the vehicle has a driving risk includes:

[0017] Get the driver's video frame;

[0018] determining a driver's fatigue level based on a video frame of the driver;

[0019] Determine whether the vehicle is risky to drive based on the driver's fatigue level.

[0020] According to the technical solution provided in the embodiment of the present application, optionally, the sending of the warning signal to the driver includes one or more of the following:

[0021] Issue advisories to drivers;

[0022] Send driving strategy inquiry prompts to the driver;

[0023] Prompt the driver to take over the vehicle.

[0024] According to the technical solution provided in the embodiment of the present application, optionally, in response to receiving a voice instruction from the driver in response to the alarm signal, controlling the vehicle according to the voice instruction includes:

[0025] In response to the voice command indicating a driving strategy, controlling the vehicle to drive according to the driving strategy;

[0026] In response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the driving risk level of the vehicle being level one, controlling the vehicle to continue driving through the automatic driving system;

[0027] In response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the driving risk level of the vehicle being above level one, the vehicle is controlled to enter a brake preparation state.

[0028] According to the technical solution provided in the embodiment of the present application, optionally, in response to receiving a voice instruction from the driver in response to the alarm signal, controlling the vehicle according to the voice instruction includes:

[0029] In response to the voice instruction indicating a driving strategy, the driver taking over the vehicle, and the driving risk level of the vehicle increasing, the vehicle is controlled to drive according to the driving strategy.

[0030] According to the technical solution provided in the embodiment of the present application, optionally, the following further comprises:

[0031] In response to not receiving a voice command from the driver in response to the warning signal and the driver not taking over the vehicle, the intensity of the warning signal issued to the driver is increased.

[0032] In some embodiments, the present application also provides a vehicle control method, including: receiving a voice control instruction; detecting an actual control signal of the vehicle; if the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, driving and controlling the vehicle according to the voice control instruction.

[0033] Furthermore, the receiving of the voice control instruction includes:

[0034] In response to detecting a deceleration signal of the vehicle, a voice control command is received.

[0035] In a second aspect, an embodiment of the present application further provides a vehicle control device, comprising:

[0036] a determination module, for determining whether the vehicle has a driving risk when the vehicle is in an autonomous driving mode;

[0037] An alarm module is used to send an alarm signal to the driver according to the driving risk level of the vehicle;

[0038] The control module is configured to, in response to receiving a voice instruction fed back by the driver in response to the alarm signal, control the driving of the vehicle according to the voice instruction.

[0039] In a third aspect, an embodiment of the present application further provides an electronic device, comprising:

[0040] processor and memory;

[0041] The processor is configured to execute the steps of the vehicle control method as described in any embodiment by calling the program or instructions stored in the memory.

[0042] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the steps of the vehicle control method as described in any embodiment.

[0043] In summary, this application proposes a vehicle control method, which determines whether the vehicle has a driving risk when the vehicle is in an automatic driving mode; if it is determined that the vehicle has a risk, sends an alarm signal to the driver; and in response to receiving a voice instruction from the driver in response to the alarm signal, controls the vehicle according to the voice instruction. Through the technical solution of this application, the automatic driving system can respond to the driver's voice instructions, especially in an emergency. Compared with the driver taking action to take over the vehicle, issuing voice instructions is faster, and when the driver is tired or nervous, behavioral actions are more prone to misoperation and have longer delays than voice, thereby improving the speed and effectiveness of the driver's control of the vehicle, thereby improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0045] Figure 2 This is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0046] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0048] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] Figure 1 This is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 1 , the vehicle control method specifically includes the following steps:

[0050] S110: When the vehicle is in the automatic driving mode, determine whether the vehicle has a driving risk.

[0051] Understandably, current autonomous driving technology hasn't yet achieved fully autonomous driving and is still in the assisted driving phase. Therefore, drivers are still required to pay constant attention to the road and keep their hands on the steering wheel. However, compared to autonomous driving, drivers' mental concentration is reduced, resulting in limited rest and relaxation. Consequently, when a vehicle is in autonomous driving mode, drivers are prone to excessive mental relaxation, such as falling asleep or feeling drowsy. In the event of an emergency requiring immediate driver control, this excessive mental relaxation increases the delay in taking control. Furthermore, the sudden onset of an emergency can easily lead to driver stress, increasing the likelihood of driver misoperation. For example, if the vehicle ahead suddenly decelerates and lane change conditions are not met (e.g., there is only one available lane, or adjacent lanes are occupied by other vehicles), the driver may apply emergency braking, but due to nervousness or inattention, they may accidentally press the accelerator, resulting in a serious safety accident.

[0052] To address this issue, this application proposes a solution to improve the speed and effectiveness of a driver's control of the vehicle, thereby improving vehicle driving safety. Specifically, when the vehicle is in autonomous driving mode, it determines whether the vehicle has a driving risk. If so, an alarm signal is issued to the driver.

[0053] Alternatively, different warning signals may be sent to the driver based on the vehicle's driving risk level. For example, when the driving risk level is high, a stronger warning signal may be sent to the driver, such as a loud voice broadcast or controlling seat vibration, so that the driver can quickly respond to the vehicle's driving risk.

[0054] When the driver's voice command in response to the alarm signal is received, the vehicle is driven and controlled according to the voice command, that is, the user is supported to use voice to send control commands to the automatic driving system, so that the automatic driving system controls the vehicle according to the user's voice instructions, rather than relying on the automatic driving algorithm to control the vehicle.

[0055] In autonomous driving mode, users issue control commands through voice, and the autonomous driving system responds to the voice commands to achieve control of the vehicle. Compared with users taking over the vehicle through autonomous actions, the probability of misoperation is lower and the delay time is shorter. Therefore, the vehicle is safer.

[0056] In some embodiments, determining whether a vehicle presents a driving risk includes determining whether the vehicle presents a driving risk in response to detecting a deceleration signal of the vehicle. Specifically, the determination of whether the vehicle presents a driving risk is initiated only when a deceleration signal is detected, rather than continuously performing the determination at a constant frequency. This reduces system resource consumption and usage, freeing up more computing resources for other functional threads in the autonomous driving system, thereby ensuring the performance of the autonomous driving system.

[0057] On the other hand, considering that the current automatic driving system does not fully consider the safety risks brought to the vehicle by the following vehicle, in this application scheme, the safety risks brought to the vehicle by the following vehicle are actively avoided. Therefore, it is set to determine whether the vehicle has a driving risk when the vehicle's deceleration signal is detected, and send an alarm signal to the driver to urge the driver to participate in driving, so that the driver and the automatic driving system can jointly ensure the safety of the vehicle.

[0058] Furthermore, in response to detecting a vehicle deceleration signal, determining whether the vehicle presents a driving risk includes: in response to detecting the vehicle deceleration signal, obtaining the vehicle speed, the speed of an obstacle behind the vehicle, and the distance between the vehicle and the obstacle; determining the relative speed between the vehicle and the obstacle based on the vehicle speed and the speed of the obstacle behind the vehicle; determining a collision time between the vehicle and the obstacle based on the relative speed and the distance between the vehicle and the obstacle; and determining whether the vehicle presents a driving risk based on the collision time. The shorter the collision time, the higher the vehicle's driving risk level and the higher the driving risk of the vehicle.

[0059] The speed of the obstacle behind the vehicle and the distance between the vehicle and the obstacle behind the vehicle can be obtained by a radar or camera set at the rear of the vehicle, or by vehicle networking technology, which is not limited in this embodiment.

[0060] In other embodiments, if the driver's hands are detected off the steering wheel, or if the driver is detected to be mentally fatigued or distracted, the vehicle is also considered to have a driving risk. This is because if the driver's hands are off the steering wheel, or if the driver is detected to be mentally fatigued or distracted, when the driver is required to take over the vehicle in a timely manner, due to instinctive problems, the driver may not be able to take over the vehicle in a timely manner, resulting in a driving risk.

[0061] Exemplarily, determining whether a vehicle has a driving risk includes: determining the driver's hand posture; when only one hand is holding the steering wheel, determining that the vehicle has a level one driving risk; when both hands are off the steering wheel, determining that the vehicle has a level two driving risk; when both hands are off the steering wheel and the duration reaches a preset time, determining that the vehicle has a level two or higher driving risk.

[0062] Optionally, determining whether the vehicle presents a driving risk includes: acquiring a video frame of the driver; determining the driver's level of fatigue based on the video frame; and determining whether the vehicle presents a driving risk based on the driver's level of fatigue, wherein a higher level of driver fatigue indicates a higher level of driving risk. Optionally, a video frame of the driver is acquired by a camera positioned in front of the vehicle with a field of view facing the driver. The driver's facial region is then determined from the video frame, and the driver's level of fatigue, concentration, etc., is determined by analyzing the driver's pupils and mouth movements.

[0063] If the driver's fatigue level is higher, it means the driver is more tired, and the delay time of the driver's action when the driver needs to take over the vehicle is longer, resulting in a higher driving risk level for the vehicle. Conversely, if the driver's fatigue level is lower, it means the driver is less tired, and the delay time of the driver's action when the driver needs to take over the vehicle is shorter, then the driving risk level of the vehicle is lower. If the driver's concentration level is lower, it means the driver is less focused, and the delay time of the driver's action when the driver needs to take over the vehicle is longer, resulting in a higher driving risk level for the vehicle. Conversely, if the driver's concentration level is higher, it means the driver is more focused, and the delay time of the driver's action when the driver needs to take over the vehicle is shorter, then the driving risk level of the vehicle is lower.

[0064] S120: If it is determined that the vehicle has a driving risk, send an alarm signal to the driver.

[0065] Exemplarily, sending a warning signal to the driver includes one or more of the following: sending an advisory prompt to the driver; sending a driving strategy inquiry prompt to the driver; sending a vehicle takeover prompt to the driver.

[0066] Optionally, if the vehicle's driving risk level is low, a voice announcement or a display on the central control screen or head-up display can be used to provide a prompt. If the vehicle's driving risk level is high, seat and steering wheel vibrations can be added to the voice announcement or display on the central control screen or head-up display.

[0067] In some embodiments, the purpose of sending an alarm signal to the driver is to urge and remind the driver to stay focused, not to be distracted, and not to take hands off the steering wheel, so as to facilitate timely takeover of the vehicle in an emergency and ensure vehicle safety.

[0068] In other embodiments, the purpose of sending an alarm signal to the driver is to make the driver confirm the driving decision of the automatic driving system. For example, if the automatic driving system decides to change lanes, in order to further improve safety, an alarm signal will be sent to the driver (usually displayed in the form of a message on the central control screen or head-up display), prompting the driver that the vehicle is about to change lanes. If the driver triggers the "Agree" button, the automatic driving system starts to control the vehicle to change lanes. If the driver triggers the "Disagree" button, the automatic driving system controls the vehicle to maintain lane driving and does not perform lane change control.

[0069] Exemplarily, sending a warning signal to the driver according to the driving risk level of the vehicle includes:

[0070] In response to the vehicle's driving risk level being level one, an advisory prompt (eg, "Please pay attention to the vehicle's driving conditions") is issued to the driver.

[0071] In response to the vehicle's driving risk level being level two, a driving strategy inquiry prompt is issued to the driver. For example, when it is detected that the vehicle behind is driving at a high speed and is prone to rear-end collision, the driver may be asked "whether he agrees to change lanes."

[0072] In response to the vehicle's driving risk level exceeding level two, a prompt to take over the vehicle is issued to the driver. When it is determined whether the vehicle has a high driving risk, the driver is promptly notified to take over the vehicle, thereby improving vehicle safety.

[0073] S130 : In response to receiving a voice instruction from the driver in response to the alarm signal, controlling the vehicle driving according to the voice instruction.

[0074] For example, in response to the voice command indicating a driving strategy, the vehicle is controlled to drive according to the driving strategy. For example, if the driver instructs the vehicle to change lanes to the left via voice, the vehicle is controlled to change lanes to the left according to the driver's instruction. This achieves the integration of the autonomous driving system and voice interaction, allowing the autonomous driving system to recognize and respond to the driver's voice commands.

[0075] In response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the vehicle's driving risk level is level one, the vehicle is controlled to continue driving through the automatic driving system; in response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the vehicle's driving risk level is level one or above, the vehicle is controlled to enter a braking standby state.

[0076] In some embodiments, in response to receiving a voice command from the driver in response to the alarm signal, controlling the vehicle according to the voice command includes:

[0077] In response to the voice command indicating a driving strategy, the driver taking control of the vehicle, and the vehicle's driving risk level increasing, the vehicle is controlled to drive according to the driving strategy. In particular, in an emergency situation, even though the driver has taken control of the vehicle, they may still engage in irrational behavior due to nervousness, which may lead to an increase in the vehicle's driving risk level. For example, if the driver says "stop" while actually pressing the accelerator, the vehicle is controlled to follow the voice command strategy, thereby preventing driver errors caused by nervousness and improving vehicle safety.

[0078] In some embodiments, the system further includes: in response to not receiving a voice command from the driver in response to the warning signal and the driver not taking over the vehicle, increasing the intensity of the warning signal issued to the driver. It is understood that in an emergency, the autonomous driving system may also independently decide to apply the brakes to stop the vehicle.

[0079] The vehicle control method provided in the embodiments of this application is intended to improve the speed and effectiveness of a driver's vehicle control, thereby enhancing vehicle driving safety. Specifically, it allows users to use voice to send control commands to the autonomous driving system, allowing the autonomous driving system to control the vehicle according to the user's voice instructions. Compared to users taking control of the vehicle through autonomous actions, the probability of misoperation is lower and the delay time is shorter, thereby enhancing vehicle safety.

[0080] Based on the same inventive concept, an embodiment of the present application also provides a vehicle control method, comprising: receiving a voice control instruction; detecting the actual control signal of the vehicle; if the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, then controlling the vehicle according to the voice control instruction. This vehicle control method can handle situations where the driver's behavior is inconsistent with the voice expression. For example, if the driver's behavior is "slamming on the accelerator", but the driver's voice expression is "Stop! Stop!" with a panicked emotion, the system can determine that the driver has made an erroneous operation due to excessive nervousness, and then prohibit the vehicle from responding to the driver's behavior of "slamming on the accelerator", but instead responds to the driver's voice expression "Stop! Stop!", controlling the vehicle to quickly decelerate until it stops under the premise of safety.

[0081] Specifically, a vehicle control method includes: receiving a voice control command; detecting the vehicle's actual control signal; and if the vehicle's actual control signal is acceleration, but the voice control signal indicated by the voice control command is braking, braking the vehicle according to the voice control command. More directly, if it is detected that the driver is pressing the accelerator hard but shouting "stop," the vehicle is controlled to prevent it from responding to the accelerator's acceleration signal and to rapidly decelerate until it stops.

[0082] Specifically, a vehicle control method includes: receiving a voice control command; detecting the vehicle's actual control signal; and if the vehicle's actual control signal is deceleration, but the voice control signal indicated by the voice control command is acceleration, accelerating the vehicle according to the voice control command. More directly, if it is detected that the driver is braking hard but shouting "accelerate," the vehicle is controlled to prevent the driver from responding to the brake's deceleration signal and instead accelerate.

[0083] In some embodiments, the embodiments of the present application also provide a vehicle control method, comprising: receiving a voice control instruction; detecting an actual control signal of the vehicle; if the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, and the voice control signal indicated by the voice control instruction is a steering-related signal, then driving and controlling the vehicle according to the actual control signal. Steering-related signals include turning left, changing lanes to the left, turning right, changing lanes to the right, etc. This vehicle control method can cope with situations where the driver's behavior is inconsistent with the voice expression, and the driver's behavior is more credible. For example, the driver's behavior is "turning the steering wheel to the left", and the driver's voice expression is "turning right" with panic. At this time, the system determines that the driver is too nervous and has a voice expression error of not distinguishing left from right, then the vehicle is prohibited from responding to the driver's voice expression, but responds to the driver's actual behavior of "turning the steering wheel to the left".

[0084] In some embodiments, the embodiments of the present application also provide a vehicle control method, comprising: in response to detecting a deceleration signal of the vehicle, receiving a voice control instruction, detecting an actual control signal of the vehicle, and if the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, driving and controlling the vehicle in accordance with the voice control instruction. That is, only when a deceleration signal of the vehicle is detected, the subsequent execution operation (receiving a voice control instruction, detecting the actual control signal of the vehicle, and if the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, driving and controlling the vehicle in accordance with the voice control instruction) is initiated, rather than continuously executing the steps of this solution at a certain frequency, thereby reducing the consumption and occupation of system resources, freeing up more computing resources for other functional threads in the autonomous driving system, and ensuring the performance of the autonomous driving system.

[0085] On the other hand, considering that the current automatic driving system does not fully consider the safety risks brought to the vehicle by the following vehicle, in the present application scheme, the safety risks brought to the vehicle by the following vehicle are actively avoided. Therefore, it is set to start subsequent execution operations when the vehicle's deceleration signal is detected (receiving voice control instructions, detecting the vehicle's actual control signal, and if the vehicle's actual control signal is inconsistent with the voice control signal indicated by the voice control instruction, the vehicle is driven and controlled according to the voice control instruction).

[0086] The vehicle control method provided in the embodiment of the present application, on the one hand, improves the speed and effect of the driver's control of the vehicle, thereby improving the safety of vehicle driving. Specifically, it supports users to use voice to send control instructions to the automatic driving system, so that the automatic driving system controls the vehicle according to the user's voice instructions. Compared with the user taking over the vehicle through autonomous behavioral actions, the probability of misoperation is lower and the delay time is shorter. Therefore, the safety of the vehicle is higher. On the other hand, it intelligently identifies situations where user behavior is inconsistent with voice expression, and controls the vehicle according to the user's voice expression in acceleration or deceleration scenarios, and controls the vehicle according to the user's voice expression in steering scenarios, thereby solving the problem of user misoperation and the problem of not distinguishing left from right when expressing voice, thereby improving the driving safety of the vehicle.

[0087] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle control device.

[0088] refer to Figure 2 The vehicle control device includes: a determination module 210, which is used to determine the driving risk level of the vehicle when the vehicle is in the automatic driving mode; an alarm module 220, which is used to send an alarm signal to the driver according to the driving risk level of the vehicle; and a control module 230, which is used to respond to a voice instruction fed back by the driver in response to the alarm signal and control the driving of the vehicle according to the voice instruction.

[0089] The determination module 210 is specifically configured to: determine whether the vehicle presents a driving risk in response to detecting a deceleration signal of the vehicle. Specifically, in response to detecting the deceleration signal of the vehicle, obtain the vehicle speed, the speed of an obstacle behind the vehicle, and the distance between the vehicle and the obstacle; determine the relative speed between the vehicle and the obstacle based on the vehicle speed and the speed of the obstacle behind the vehicle; determine the collision time between the vehicle and the obstacle based on the relative speed and the distance between the vehicle and the obstacle; and determine whether the vehicle presents a driving risk based on the collision time, wherein a shorter collision time indicates a higher driving risk level.

[0090] Optionally, the determination module 210 is used to: obtain a video frame of the driver; determine the driver's fatigue level based on the driver's video frame; determine whether the vehicle has a driving risk based on the driver's fatigue level, wherein the higher the driver's fatigue level, the higher the driving risk level of the vehicle.

[0091] Optionally, the alarm module 220 is used to: in response to the vehicle's driving risk level being level one, issue an advisory prompt to the driver; in response to the vehicle's driving risk level being level two, issue a driving strategy inquiry prompt to the driver; in response to the vehicle's driving risk level exceeding level two, issue a vehicle takeover prompt to the driver.

[0092] Optionally, the control module 230 is configured to: in response to the voice command indicating a driving strategy, control the vehicle to drive according to the driving strategy; in response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the vehicle's driving risk level is level one, control the vehicle to continue driving through the automatic driving system; in response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the vehicle's driving risk level is level one or above, control the vehicle to enter a braking standby state. In response to the voice command indicating a driving strategy, the driver taking over the vehicle, and the vehicle's driving risk level increases, control the vehicle to drive according to the driving strategy.

[0093] Optionally, it further includes: an enhancement module, which is used to enhance the intensity of the alarm signal sent to the driver in response to not receiving a voice instruction from the driver in response to the alarm signal and the driver not taking over the vehicle.

[0094] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0095] The apparatus of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0096] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 500 includes one or more processors 501 and a memory 502 .

[0097] The processor 501 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 500 to perform desired functions.

[0098] The memory 502 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 501 may execute the program instructions to implement the vehicle control method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0099] In one example, the electronic device 500 may further include an input device 503 and an output device 504, which are interconnected via a bus system and / or other connection mechanisms (not shown). The input device 503 may include, for example, a keyboard, a mouse, etc. The output device 504 may output various information to the outside, including warning information, braking force, etc. The output device 504 may include, for example, a display, a speaker, a printer, a communication network, and remote output devices connected thereto.

[0100] Of course, to simplify, Figure 3 Only some of the components related to the present application in the electronic device 500 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device 500 may further include any other appropriate components according to specific application scenarios.

[0101] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle control method provided by any embodiment of the present application.

[0102] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0103] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the vehicle control method provided by any embodiment of the present application.

[0104] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0105] It should be noted that the terms used in this application are only for describing specific embodiments and are not intended to limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates an exception, the words "one", "an", "a kind of" and / or "the" do not specifically refer to the singular and may also include the plural. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method or device comprising the elements.

[0106] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0107] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can also make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that: include: Determining whether the vehicle is risky to drive while in autonomous driving mode; If it is determined that the vehicle is driving at risk, an alarm signal will be sent to the driver; In response to receiving a voice instruction fed back by the driver in response to the warning signal, driving control of the vehicle is performed according to the voice instruction.

2. The method according to claim 1, characterized in that Determining whether a vehicle has a driving risk includes: In response to detecting a deceleration signal of the vehicle, it is determined whether the vehicle has a driving risk.

3. The method according to claim 2, characterized in that The step of determining whether the vehicle has a driving risk in response to detecting a deceleration signal of the vehicle includes: In response to detecting a deceleration signal of the vehicle, obtaining a speed of the vehicle, a speed of an obstacle behind the vehicle, and a distance between the vehicle and the obstacle behind the vehicle; determining a relative speed between the vehicle and the obstacle based on the speed of the vehicle and the speed of the obstacle behind the vehicle; determining a collision time between the vehicle and the obstacle based on the relative speed and the distance between the vehicle and the rear obstacle; Whether the vehicle has a driving risk is determined according to the magnitude of the collision time.

4. The method according to claim 1, wherein Determining whether a vehicle has a driving risk includes: Get the driver's video frame; determining a driver's fatigue level based on a video frame of the driver; Determine whether the vehicle is risky to drive based on the driver's fatigue level.

5. The method according to claim 1, wherein The sending of a warning signal to the driver includes one or more of the following: Issue advisories to drivers; Send driving strategy inquiry prompts to the driver; Prompt the driver to take over the vehicle.

6. The method according to claim 1, characterized in that In response to receiving a voice command from the driver in response to the alarm signal, controlling the vehicle according to the voice command includes: In response to the voice command indicating a driving strategy, controlling the vehicle to drive according to the driving strategy; In response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the driving risk level of the vehicle being level one, controlling the vehicle to continue driving through the automatic driving system; In response to the voice command not indicating a driving strategy, the driver not taking over the vehicle, and the driving risk level of the vehicle being above level one, the vehicle is controlled to enter a brake preparation state.

7. The method according to claim 1, characterized in that The step of controlling the vehicle according to the voice command received from the driver in response to the alarm signal comprises: In response to the voice instruction indicating a driving strategy, the driver taking over the vehicle, and the driving risk level of the vehicle increasing, the vehicle is controlled to drive according to the driving strategy.

8. The method according to claim 1, characterized in that Also includes: In response to not receiving a voice command from the driver in response to the warning signal and the driver not taking over the vehicle, the intensity of the warning signal issued to the driver is increased.

9. A vehicle control method, characterized in that: include: Receive voice control commands; Detecting the actual control signal of the vehicle; If the actual control signal of the vehicle is inconsistent with the voice control signal indicated by the voice control instruction, the vehicle is driven and controlled according to the voice control instruction.

10. The method according to claim 9, characterized in that The receiving of the voice control instruction comprises: In response to detecting a deceleration signal of the vehicle, a voice control command is received.

11. An electronic device, characterized in that: The electronic device comprises: processor and memory; The processor is configured to execute the steps of the vehicle control method according to any one of claims 1 to 10 by calling the program or instructions stored in the memory.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program or instruction that causes a computer to execute the steps of the vehicle control method according to any one of claims 1 to 10.

Images