Vehicle driving control method and device, computer device and storage medium

Abstract

The application relates to a vehicle driving control method and device, computer equipment and a storage medium. The vehicle driving control method comprises the following steps: identifying the physiological state of a driver or passenger in a vehicle, and when it is identified that the physiological state of the driver or passenger is abnormal, obtaining a speed response characteristic curve matched with the physiological state of the vehicle, determining an output power curve of the vehicle based on the speed response characteristic curve, and enabling the vehicle to perform a driving action based on the output power curve. By using the method, the corresponding speed response characteristic curve can be called to control the vehicle speed when the physiological state of the driver or passenger is abnormal, so that the discomfort of the driver or passenger can be relieved, and the safety of the driver or passenger can be ensured.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle driving control method, device, computer equipment, and storage medium. Background Technology

[0002] With the continuous advancement of automotive technology, electric vehicles have become an important direction for the transformation of the global automotive industry. While pursuing higher energy efficiency and longer driving range, improving the comfort and safety of passengers has become a crucial issue in the intelligent control strategy of electric vehicle power.

[0003] Traditional electric vehicle power control systems mainly focus on technical aspects such as battery management, motor efficiency, and energy recovery. Such systems can achieve energy consumption optimization and power stability control to a certain extent.

[0004] However, in traditional technology, when the physical condition of the driver or passenger is poor, they are prone to slow reaction and distraction, which can lead to unsafe driving behavior and cause accidents. Summary of the Invention

[0005] Therefore, it is necessary to provide a vehicle driving control method, device, computer equipment, and storage medium to address the aforementioned technical problems.

[0006] In a first aspect, this application provides a vehicle driving control method, comprising:

[0007] Identify the physiological state of the occupants in the vehicle;

[0008] When an abnormal physiological state of the driver or passenger is detected, the speed response characteristic curve of the vehicle is obtained, matching the role of the driver or passenger with the type of the current abnormal physiological state.

[0009] The vehicle's output power curve is determined based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve.

[0010] In one embodiment, when an abnormal physiological state of the driver or passenger is detected, the speed response characteristic curve of the vehicle matching the role of the driver or passenger and the type of the current abnormal physiological state is obtained, including:

[0011] When the driver is detected to be fatigued, the first speed response characteristic curve is obtained. The speed value in the first speed response characteristic curve shows a trend of first increasing and then decreasing.

[0012] When a first-level abnormality in the driver's health status is detected, a second speed response characteristic curve is obtained. In the second speed response characteristic curve, the speed value decreases over time, and the absolute value of the slope value of the second speed response characteristic curve decreases over time.

[0013] In one embodiment, the slope of the first speed response characteristic curve decreases over time with an initial value greater than a preset threshold during the speed increase phase.

[0014] In one embodiment, when driver fatigue is detected among the occupants, a first speed response characteristic curve is acquired, including:

[0015] In response to the detection that the driver is fatigued, information about the surrounding road conditions of the vehicle is obtained;

[0016] Based on surrounding road conditions, determine whether the road where the vehicle is located meets the preset safe acceleration conditions;

[0017] In response to the road conditions where the vehicle is located meeting the preset safe acceleration conditions, the first speed response characteristic curve is obtained.

[0018] In one embodiment, when an abnormal physiological state of the driver or passenger is detected, the vehicle's speed response characteristic curve, matching the driver / passenger's role and the type of the current abnormal physiological state, is obtained, and the method further includes:

[0019] When a second-level abnormality in the health status of a passenger among the drivers and passengers is detected, the second speed response characteristic curve is obtained;

[0020] The health risk coefficient for the second level is higher than that for the first level.

[0021] In one embodiment, when an abnormal physiological state of the driver or passenger is detected, the vehicle's speed response characteristic curve is obtained, matching the driver / passenger's role with the type of abnormal physiological state. The method further includes:

[0022] When both driver fatigue and first-level abnormality in driver health are detected simultaneously, a second speed response characteristic curve is obtained.

[0023] When both driver fatigue and passenger health status are detected as being abnormal at level two, a second speed response characteristic curve is obtained.

[0024] In one embodiment, identifying the physiological state of occupants in the vehicle includes:

[0025] Collect image information, physiological information and / or voice information of drivers and passengers;

[0026] Based on the driver's and passengers' image information, physiological indicators and / or voice information, determine whether the driver's and passengers' physiological state is abnormal.

[0027] In one embodiment, determining the vehicle's output power curve based on the speed response characteristic curve includes:

[0028] The yaw acceleration value of the vehicle is determined based on the speed response characteristic curve;

[0029] Obtain the motor speed value in the vehicle's power system, and determine the motor torque value based on the motor speed value and the vehicle's yaw acceleration value;

[0030] The vehicle's output power curve is determined based on the motor's torque and speed.

[0031] In a second aspect, this application also provides a vehicle driving control device, comprising:

[0032] The recognition module is used to identify the physiological state of the occupants in the vehicle.

[0033] The acquisition module is used to acquire the speed response characteristic curve of the vehicle matching the role of the driver / passenger and the type of the current abnormal physiological state when an abnormal physiological state of the driver / passenger is detected.

[0034] The control module is used to determine the vehicle's output power curve based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve.

[0035] In a third aspect, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle control steps provided in any embodiment of the first aspect of this application.

[0036] In a fourth aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle control steps provided in any embodiment of the first aspect of this application.

[0037] The aforementioned vehicle driving control method, device, computer equipment, and storage medium, by identifying the physiological state of the driver and passengers, and upon detecting abnormalities in their physiological state, invoke the corresponding speed response characteristic curve for appropriate control. This alleviates discomfort for the driver and passengers and reduces the risk of operational errors that may result from abnormal physiological states, thereby improving driving safety. By distinguishing the roles of the drivers and passengers and matching the corresponding speed response characteristic curves, the vehicle's speed adjustment strategy becomes more targeted, making vehicle speed control more suitable for specific scenarios and avoiding the limitations of uniform control. Attached Figure Description

[0038] Figure 1 This is a diagram illustrating the application environment of the vehicle driving control method in some embodiments;

[0039] Figure 2 This is a flowchart illustrating the vehicle driving control method in some embodiments;

[0040] Figure 3 This is a schematic diagram of the first response characteristic curve in some embodiments;

[0041] Figure 4 This is a schematic diagram of the second response characteristic curve in some embodiments;

[0042] Figure 5 This is a structural block diagram of the vehicle driving control device in some embodiments;

[0043] Figure 6 This is a diagram showing the internal structure of a computer device in some embodiments. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] Please refer to Figure 1 , Figure 1 This is a schematic diagram illustrating the application environment of a vehicle driving control method provided as an exemplary embodiment of this application. For example... Figure 1 As shown, the application environment includes a vehicle 100, which is equipped with sensors (not shown), an electronic control unit (ECU) 101, and a power system 102. The sensors are used to collect information related to the physiological state of the driver and passengers and upload it to the electronic control unit 101.

[0046] The electronic control unit 101 is used to identify the physiological state of the driver and passengers in the vehicle 100. When an abnormal physiological state of the driver and passengers is detected, the electronic control unit 101 acquires the speed response characteristic curve of the vehicle 100 matching the role of the driver and passengers and the type of the abnormal physiological state. Based on the speed response characteristic curve, the electronic control unit 101 determines the output power curve of the vehicle 100 so that the vehicle 100 can perform driving actions based on the output power curve.

[0047] In a first aspect, this application provides a vehicle driving control method, such as Figure 2 As shown, this method is applied to Figure 1 Taking the electronic control unit in the example, the explanation includes the following steps:

[0048] Step S21: Identify the physiological state of the occupants in the vehicle.

[0049] Among them, the physiological state of drivers and passengers refers to the physical functions and health status of drivers and passengers, including but not limited to the degree of fatigue, illness, concentration, and reaction speed.

[0050] Specifically, this application can monitor and identify the aforementioned physiological states of occupants in a vehicle. For example, it can use cameras to monitor facial expressions and eye opening / closing to determine fatigue levels; use sensors to detect physiological indicators such as blood pressure to assess health status; and analyze occupants' operational behaviors, such as the frequency and force of braking and steering wheel movements, to infer their level of concentration and reaction speed. This allows for the timely detection of potential abnormal physiological states in occupants, providing a basis for subsequent appropriate measures and ensuring driving safety and passenger comfort.

[0051] Step S22: When an abnormal physiological state of the driver or passenger is detected, obtain the speed response characteristic curve of the vehicle matching the role of the driver or passenger and the type of the current abnormal physiological state.

[0052] Among them, the speed response characteristic curve is a curve used to describe how the vehicle's speed changes over time.

[0053] The type of abnormal physiological state refers to the specific manifestation or category of abnormal physiological state of drivers and passengers, such as fatigue and abnormal health status.

[0054] Specifically, the roles of the occupants in this application include drivers and passengers. This application pre-configures speed response characteristic curves that match different roles and different physiological states. In the process of configuring the speed response characteristic curves, the roles of the occupants, the types of abnormal physiological states, vehicle performance, safety factors, and driving comfort are comprehensively considered, and the speed response characteristic curves are configured in a targeted manner.

[0055] Step S23: Determine the vehicle's output power curve based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve.

[0056] Among them, the output power curve is a curve that describes the change of the output power of the vehicle's power system with time or operating parameters.

[0057] This application can calculate the vehicle's output power curve based on the speed in the speed response characteristic curve. Through the output power curve, the vehicle's driving can be precisely controlled so that the vehicle's speed, acceleration, and other driving states meet the requirements set by the speed response characteristic curve. This ensures that the vehicle can drive safely, smoothly, and in accordance with the specific scenario requirements under various conditions, especially when the physiological state of the driver and passengers is abnormal.

[0058] In one embodiment, when an abnormal physiological state of the occupants is detected, obtaining a speed response characteristic curve of the vehicle matching the role of the occupants and the type of the current abnormal physiological state may include: when the driver is detected to be in a fatigued state, obtaining a first speed response characteristic curve, in which the speed value first increases and then decreases; when the driver's health state is detected to be abnormal at the first level, obtaining a second speed response characteristic curve, in which the speed value decreases over time and the absolute value of the slope of the second speed response characteristic curve decreases over time.

[0059] Fatigue refers to a state in which a driver, due to prolonged driving, insufficient sleep, or other reasons, experiences decreased concentration, reduced reaction speed, and decreased operational accuracy, making safe driving impossible. The slope of the second speed response characteristic curve represents the rate of change of speed over time.

[0060] Level 1 abnormality refers to a minor abnormality in the driver's health status. This application allows for pre-setting the level of health status abnormality. Specifically, this can be set based on physiological characteristic indicators. For example, this application can collect the driver's heart rate and respiratory rate. If the heart rate increases by a first preset value compared to the resting state, or the respiratory rate increases by a second preset value compared to the resting state, it is determined to be a Level 1 abnormality. The first and second preset values ​​can be set according to actual needs and are not specifically limited here.

[0061] Specifically, this application can monitor the driver's state through in-vehicle sensors. When driver fatigue is detected, a first speed response characteristic curve is invoked for control, causing the vehicle to briefly increase speed before gradually decelerating. When the driver's health status is detected as Level 1 abnormal, a second speed response characteristic curve is invoked for control, causing the vehicle to begin decelerating, with the deceleration gradually decreasing until it comes to a stop.

[0062] For details, please refer to Figure 3 , Figure 3 This is a schematic diagram of the first velocity response characteristic curve in one embodiment. Figure 3 In the first velocity response characteristic curve, the acceleration decreases during the acceleration phase and increases during the deceleration phase, until the final velocity returns to the initial velocity V0 at the beginning of the first velocity response characteristic curve.

[0063] Specifically, this application can execute a process of controlling the vehicle to accelerate and then decelerate once according to the first speed response characteristic curve. After returning to the initial speed V0, it returns to the step of identifying the physiological state of the occupants in the vehicle to reassess whether the driver is still fatigued. Alternatively, it can periodically execute the process of controlling the vehicle to accelerate and then decelerate multiple times according to the first speed response characteristic curve, and then return to the step of identifying the physiological state of the occupants in the vehicle.

[0064] Further, please refer to Figure 4 , Figure 4 This is a schematic diagram of the second velocity response characteristic curve in one embodiment. Figure 4 In the third speed response characteristic curve, the speed value continues to decrease until the vehicle speed drops to 0, i.e., the vehicle stops.

[0065] The beneficial effect of this embodiment is that when the driver is fatigued, by calling the first speed response characteristic curve, appropriate short-term acceleration can provide sensory stimulation to the driver through physical feedback such as changes in vehicle power and a slight push-back feeling, helping him to wake up briefly, reduce drowsiness, and thus alleviate fatigue. The subsequent deceleration process is to restore speed and avoid the collision risk caused by continuous acceleration.

[0066] When the driver's health condition shows a first-level abnormality, the second speed response characteristic curve is invoked to control deceleration. This allows the driver to choose a safe area such as an emergency lane or emergency stopping lane to stop, so as to check the condition of the driver and passengers and take basic rescue measures in a timely manner. At the same time, it can also avoid the risk of loss of control and collision due to continuous vehicle operation when the driver is in poor health.

[0067] In one embodiment, please continue to refer to Figure 3The slope of the first velocity response characteristic curve decreases over time from an initial value greater than the preset threshold during the velocity increase phase.

[0068] The method of using an initial value greater than a preset threshold that decreases over time can quickly wake up a fatigued driver. The preset threshold can be set according to actual needs.

[0069] Fatigued drivers are often in a state of inattention and slow reaction. Initially, a large acceleration creates a strong push-back sensation, instantly sending a strong signal to the brain through bodily perception, quickly breaking the fatigue barrier and allowing the driver to refocus for a short time, thus better alleviating fatigue. Subsequent acceleration, gradually decreasing in magnitude, ensures a smoother deceleration process, avoiding the driving risks caused by excessive acceleration. This achieves the goal of waking the driver up while also ensuring safety and comfort.

[0070] In one embodiment, when it is detected that the driver among the passengers is in a state of fatigue, obtaining a first speed response characteristic curve may include: in response to detecting that the driver among the passengers is in a state of fatigue, obtaining surrounding road condition information of the vehicle, determining whether the road where the vehicle is located meets the preset safe acceleration conditions based on the surrounding road condition information, and in response to the road where the vehicle is located meeting the preset safe acceleration conditions, obtaining the first speed response characteristic curve.

[0071] Among them, the road condition information around a vehicle refers to the sum of various real-time or static information related to road traffic within a certain range around the vehicle. For example, the road condition information around a vehicle may include: the distance and relative speed to vehicles in front, behind, left, and right; the lane-changing intentions or ongoing lane-changing behaviors of vehicles in adjacent lanes; whether there are obstacles, water accumulation, collapses, etc. in the lane where the vehicle is located and adjacent lanes; and whether there are pedestrians, non-motorized vehicles, or other traffic participants around the vehicle.

[0072] Safe acceleration conditions refer to the preset safety standards that a vehicle must meet when accelerating; that is, the standards used to determine whether acceleration will cause a collision risk or interfere with other vehicles. For example, safe acceleration conditions may include: sufficient distance from the vehicle in front, no vehicles in adjacent lanes changing lanes into this lane, and no obstacles ahead in the current lane.

[0073] Specifically, when driver fatigue is detected, the system uses onboard sensors (such as radar and cameras) to obtain distances to vehicles in front and behind, determining if there is sufficient room for acceleration. It also monitors the dynamics of vehicles in adjacent lanes to determine if any vehicles are about to change lanes into the current lane. Based on surrounding road conditions, it determines whether the road conditions meet preset safe acceleration requirements. If so, it invokes the first speed response characteristic curve and performs an acceleration followed by deceleration.

[0074] The beneficial effect of this embodiment is that by judging the road conditions before deciding whether to accelerate, it avoids accelerating in dangerous scenarios such as when the distance between vehicles is too close or there is interference from other vehicles, thereby reducing the risk of collision.

[0075] In one embodiment, when an abnormal physiological state of the driver or passenger is detected, a speed response characteristic curve of the vehicle matching the role of the driver or passenger and the type of the current abnormal physiological state is obtained. The method further includes: when a second level of abnormal health status of a passenger among the drivers or passengers is detected, a second speed response characteristic curve is obtained, wherein the health risk coefficient corresponding to the second level is higher than the health risk coefficient corresponding to the first level.

[0076] The second level of abnormality refers to the degree of abnormality in the passenger's health condition. For example, the first level of abnormal health condition may include mild dizziness, chest tightness, shortness of breath, and slightly rapid heartbeat, while the second level of abnormal health condition may include severe difficulty breathing, wheezing, rapid or irregular heartbeat, and confusion or loss of consciousness, which seriously affect the normal driving of the vehicle.

[0077] The health risk coefficient is an indicator used to quantitatively assess the degree of health risk for passengers. A higher health risk coefficient indicates a greater health risk.

[0078] Specifically, this application can collect data on the driver's heart rate, respiratory rate, blood oxygen saturation, and blood glucose concentration. When the heart rate is greater than a preset value or significantly irregular, or when the respiratory rate is greater than a preset value, or when the blood oxygen saturation is less than a preset value, or when the blood glucose concentration is less than a preset value, the driver is determined to be in a level two abnormal health condition. The heart rate and respiratory rate can be obtained through sensors integrated into the steering wheel or seat, while the blood oxygen saturation and blood glucose concentration can be obtained through sensors integrated into the steering wheel, seat, and smart bracelet.

[0079] The beneficial effect of this embodiment is that different thresholds for abnormal health conditions are set for the driver and passengers, namely, a first level and a second level. As the core of vehicle control, the driver's health directly affects driving safety. Setting a lower threshold (first level) allows for earlier detection of potential health problems and timely warnings to avoid danger. The health risks of passengers have a relatively lower direct impact on driving safety; setting a higher threshold (second level) reduces unnecessary warning interference. This differentiated setting ensures strict monitoring of the key role, the driver, while avoiding interference from unnecessary monitoring of the non-key role, the passenger.

[0080] In one embodiment, when an abnormal physiological state of the driver or passenger is detected, a speed response characteristic curve is obtained that matches the vehicle's role with the driver or passenger and the type of abnormal physiological state of the driver or passenger. This may further include: when the driver is simultaneously detected to be fatigued and the driver's health status is abnormal at a first level, a second speed response characteristic curve is obtained; when the driver is simultaneously detected to be fatigued and the passenger's health status is abnormal at a second level, a second speed response characteristic curve is obtained.

[0081] In this application, when two specific conditions occur simultaneously, such as when the driver is fatigued and the driver's health condition exhibits a first-level abnormality, the application can invoke the second speed response characteristic curve for control. Similarly, when the driver is fatigued and the passenger's health condition exhibits a second-level abnormality, the application can invoke the second speed response characteristic curve for control.

[0082] The beneficial effect of this embodiment is that it combines the driver's fatigue state with the abnormal health of the passengers to make a judgment. When the two abnormal physiological states occur at the same time, the second speed response characteristic curve is invoked to improve the overall driving safety.

[0083] In one embodiment, identifying the physiological state of occupants in a vehicle includes: collecting image information, physiological indicator information, and / or voice information of occupants, and determining whether the physiological state of occupants is abnormal based on the image information, physiological indicator information, and / or voice information of occupants.

[0084] The physiological indicators may include heart rate, respiratory rate, blood oxygen saturation, and blood glucose concentration.

[0085] Specifically, the process of identifying driver fatigue may include:

[0086] The driver's head posture and facial features are extracted from image data. Eye movements are analyzed based on facial features, and the results are used to determine if the eyelid closure time percentage exceeds a preset threshold. The frequency of yawning and squinting are also determined based on facial features to see if they exceed preset thresholds. Head posture information is used to determine if the frequency of head tilting exceeds a preset value or if the deviation from the normal angle exceeds a preset threshold. If any one of the following criteria is met: eyelid closure time percentage, yawning frequency, squinting frequency, or head tilting frequency, the driver is determined to be in an abnormal fatigue state.

[0087] In another design, the process for identifying driver fatigue may also include:

[0088] The driver's facial features and head posture are analyzed based on image information. Heart rate analysis reveals heart rate variability and recovery rate. Speech analysis provides information on vocal energy, speech rate, and pauses. Vocal energy indicates fatigue, with decreased average loudness. Speech rate and pauses indicate slower speech and longer pauses. The fatigue state is ultimately determined based on facial features, head posture, and other information (both types of data). For example, if any one or more of these criteria are met, the driver is considered to be in an abnormal fatigue state.

[0089] Furthermore, in one embodiment, the process of identifying the health status of drivers and passengers may include:

[0090] Image information is analyzed to identify whether drivers and passengers are experiencing discomfort. For example, changes in facial color can be analyzed to determine if there are symptoms of fever, or movement information, such as clutching the abdomen, supporting the lower back, or dizziness and imbalance, can be analyzed to determine if drivers and passengers are uncomfortable. Physiological indicators, such as heart rate, are analyzed to determine if heart rate changes exceed preset thresholds to determine if drivers and passengers are experiencing discomfort. Speech recognition technology is used to analyze the language information of drivers and passengers, such as speech patterns, coughing, or rapid breathing, to assess their health status. When any one or more of these criteria are met, an abnormal health condition is determined.

[0091] The beneficial effects of this embodiment are as follows: This application comprehensively utilizes image information, heart rate values, and voice information to determine the fatigue state, emotional state, and health state of drivers and passengers, enabling an assessment of physiological state from multiple dimensions. For example, head posture and facial features in image information can reflect fatigue and emotions, heart rate values ​​can reflect the body's stress response, and voice information can provide additional clues about health and emotions. The combination of multiple information sources makes the judgment more accurate and reliable, reducing the possibility of misjudgment.

[0092] In one embodiment, determining the vehicle's output power curve based on the speed response characteristic curve includes: determining the vehicle's yaw acceleration value based on the speed response characteristic curve, obtaining the motor speed value in the vehicle's power system, determining the motor torque value based on the motor speed value and the vehicle's yaw acceleration value, and determining the vehicle's output power curve based on the motor torque value and the motor speed value.

[0093] Among them, the vehicle yaw acceleration value refers to the acceleration of the yaw angle over time when the vehicle rotates around an axis perpendicular to the ground. It reflects the degree of rotation when the vehicle is turning and is an important indicator for measuring the vehicle's handling stability.

[0094] Motor speed refers to the number of revolutions the motor shaft makes per minute. It describes the rotational speed of the motor rotor and determines the mechanical power output of the motor and the vehicle's travel speed.

[0095] Motor torque refers to the torque output by the motor, which reflects the motor's ability to drive a load. The greater the torque, the stronger the motor's ability to drive a vehicle to accelerate, climb hills, or overcome resistance.

[0096] Specifically, this application can calculate the vehicle's acceleration based on the speed response characteristic curve, and further calculate the vehicle's yaw acceleration value based on the vehicle's acceleration using the following formula (1):

[0097] a(t)=(dω / dt)*r / k (1)

[0098] Where a(t) is the vehicle's acceleration, dω / dt is the yaw acceleration, r is the wheel radius, and k is the transmission ratio.

[0099] The formula for calculating the torque value of the motor is as follows (2):

[0100] τ(t)=Jdω / dt+Bω(t)+τ load (t) (2)

[0101] Where τ(t) is the torque of the motor, J is the moment of inertia, dω / dt is the yaw acceleration, B is the damping coefficient, ω(t) is the motor speed, and τ load (t) represents the external load torque.

[0102] Moment of inertia is a physical quantity that measures the magnitude of an object's rotational inertia. For electric motors, it is related to the mass distribution of the rotor and the position of the axis of rotation. The greater the moment of inertia, the more difficult it is to change the motor's speed.

[0103] The damping coefficient describes the magnitude of the resistance experienced by a system during motion. In vehicle power systems, the damping coefficient reflects the degree to which various resistances, such as friction and air resistance, impede the motion of the motor and related components during operation.

[0104] External load torque refers to the torque acting on the power system other than the torque output by the motor itself. Examples include the torque generated by wind resistance, road friction, and the resistance that the vehicle needs to overcome when accelerating or climbing.

[0105] The gear ratio refers to the ratio of the speeds or torques between different transmission components in a power system. It determines how the speed and torque output by the motor are transmitted to the wheels. By setting the gear ratio appropriately, the vehicle can obtain suitable speed and power under different driving conditions.

[0106] Furthermore, the expression for the output power curve of the power system is as follows (3):

[0107] P(t)=τ(t)ω(t) (3)

[0108] Where P(t) is the output power of the motor, τ(t) is the torque of the motor, and ω(t) is the speed of the motor.

[0109] In other embodiments, the algebraic relationship between the vehicle's output power and its acceleration can also be derived from the above formulas (1)-(3), as shown in the following formula (4):

[0110] P(t)={J(a(t)k) / r+Bω(t)+τ load (t)}ω(t) (4)

[0111] Furthermore, the vehicle's output power can be calculated using formula (4) based on the vehicle's acceleration.

[0112] The beneficial effects of this embodiment are as follows: by obtaining the vehicle's yaw acceleration value, combining the motor speed value and response characteristic curve to determine the motor torque value, and then determining the vehicle's output power curve based on the motor's torque value and speed value, the actual driving needs and power output of the vehicle can be accurately matched, making the power output of the vehicle more stable during driving. For example, when accelerating, decelerating or turning, the power system can make appropriate adjustments according to the response characteristic curve, reducing the sense of jerking caused by sudden power changes. Especially when the physiological state of the driver and passengers is abnormal, this stable power output can reduce discomfort.

[0113] In one embodiment, the vehicle driving control method further includes: obtaining the efficiency value of the motor, determining a compensation power curve based on the efficiency value of the motor and the output power curve, and compensating the output power curve based on the compensation power curve.

[0114] The efficiency value of a motor refers to the ratio of its output power to its input power, usually expressed as a percentage, and is used to measure the effectiveness of converting electrical energy into mechanical energy.

[0115] Specifically, the compensation power values ​​in the compensation power curve are determined according to the following formula (5);

[0116]

[0117] Where, p 补偿 To compensate for the power, p1 is the output power curve of the vehicle's power system calculated based on the response characteristic curve, and λ is the efficiency of the motor.

[0118] The beneficial effects of this embodiment are: by obtaining the motor efficiency value and determining the compensation power curve based on this value and the output power curve, the energy loss of the power system can be accurately assessed and compensated. Since the efficiency of the motor fluctuates under different operating conditions, this method can avoid energy waste caused by low motor efficiency, and enable the energy input to the power system to be converted into the kinetic energy required for vehicle operation as much as possible, thereby improving the energy utilization efficiency of the entire system.

[0119] In a second aspect, this application provides a vehicle driving control device, such as Figure 5 As shown, the vehicle driving control device includes: an identification module 51, an acquisition module 52, and a control module 53, wherein:

[0120] The identification module 51 is used to identify the physiological state of the driver and passengers in the vehicle.

[0121] The acquisition module 52 is used to acquire the speed response characteristic curve of the vehicle matching the role of the driver / passenger and the type of the current abnormal physiological state when an abnormal physiological state of the driver / passenger is detected.

[0122] The control module 53 is used to determine the vehicle's output power curve based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve.

[0123] In one embodiment, the acquisition module 52 can acquire a first speed response characteristic curve when it detects that the driver is in a fatigued state. The speed value in the first speed response characteristic curve shows a trend of first increasing and then decreasing. When it detects that the driver's health status is abnormal at the first level, it can acquire a second speed response characteristic curve. The speed value in the second speed response characteristic curve decreases with time, and the absolute value of the slope value of the second speed response characteristic curve decreases with time.

[0124] In one embodiment, the slope of the first speed response characteristic curve decreases over time with an initial value greater than a preset threshold during the speed increase phase.

[0125] In one embodiment, the acquisition module 52 may acquire surrounding road condition information of the vehicle in response to the recognition that the driver among the passengers is in a fatigued state, determine whether the road where the vehicle is located meets the preset safe acceleration conditions based on the surrounding road condition information, and acquire a first speed response characteristic curve in response to the road where the vehicle is located meeting the preset safe acceleration conditions.

[0126] In one embodiment, the acquisition module 52 can also acquire a second speed response characteristic curve when it detects that the health status of a passenger among the drivers and passengers is abnormal at the second level, wherein the health risk coefficient corresponding to the second level is higher than the health risk coefficient corresponding to the first level.

[0127] In one embodiment, the acquisition module 52 can also acquire a second speed response characteristic curve when it simultaneously detects that the driver is in a state of fatigue and that the driver's health status is abnormal at the first level, and acquire a second speed response characteristic curve when it simultaneously detects that the driver is in a state of fatigue and that the passenger's health status is abnormal at the second level.

[0128] In one embodiment, the recognition module 51 can collect image information, physiological indicator information and / or voice information of the driver and passengers, and determine whether the driver and passengers' physiological state is abnormal based on the image information, physiological indicator information and / or voice information of the driver and passengers.

[0129] In one embodiment, the control module 53 can determine the yaw acceleration value of the vehicle based on the speed response characteristic curve, obtain the rotational speed value of the motor in the vehicle's power system, determine the torque value of the motor based on the rotational speed value of the motor and the yaw acceleration value of the vehicle, and determine the output power curve of the vehicle based on the torque value of the motor and the rotational speed value of the motor.

[0130] In a third aspect, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle driving control method provided in any embodiment of the first aspect of this application.

[0131] In one embodiment, the computer device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle driving control method.

[0132] In a fourth aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle driving control method provided in any embodiment of the first aspect of this application.

[0133] The computer-readable storage medium may be Figure 6 The computer-readable storage medium in the computer device shown.

[0134] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0135] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vehicle driving control method, characterized in that, The method includes: Identify the physiological state of the occupants in the vehicle; When an abnormal physiological state of the driver or passenger is detected, the speed response characteristic curve of the vehicle is obtained according to the role of the driver or passenger and the type of the current abnormal physiological state. The output power curve of the vehicle is determined based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve; When an abnormal physiological state of the driver or passenger is detected, the process of acquiring the speed response characteristic curve of the vehicle matching the role of the driver or passenger and the type of the current abnormal physiological state includes: When it is detected that the driver among the passengers is in a state of fatigue, a first speed response characteristic curve is obtained, in which the speed value first increases and then decreases. When a first-level abnormality in the driver's health status is detected, a second speed response characteristic curve is obtained. In the second speed response characteristic curve, the speed value decreases over time, and the absolute value of the slope value of the second speed response characteristic curve decreases over time.

2. The method according to claim 1, characterized in that, The slope of the first speed response characteristic curve decreases over time from an initial value greater than a preset threshold during the speed increase phase.

3. The method according to claim 1 or 2, characterized in that, When it is detected that the driver among the passengers is in a state of fatigue, the acquisition of the first speed response characteristic curve includes: In response to the detection that the driver among the passengers is fatigued, information about the surrounding road conditions of the vehicle is obtained; Based on the surrounding road condition information, determine whether the road where the vehicle is located meets the preset safe acceleration conditions; In response to the road where the vehicle is located meeting the preset safe acceleration conditions, the first speed response characteristic curve is obtained.

4. The method according to claim 1, characterized in that, The step of obtaining the speed response characteristic curve of the vehicle matching the role of the driver / passenger and the type of the current abnormal physiological state when an abnormal physiological state of the driver / passenger is detected also includes: When a second-level abnormality in the health status of a passenger among the drivers and passengers is detected, the second speed response characteristic curve is acquired; The health risk coefficient corresponding to the second level is higher than that corresponding to the first level.

5. The method according to claim 4, characterized in that, The step of obtaining the speed response characteristic curve of the vehicle matching the role of the driver / passenger and the type of the current abnormal physiological state when an abnormal physiological state of the driver / passenger is detected also includes: When the driver is simultaneously identified as being fatigued and the driver's health status shows a first-level abnormality, the second speed response characteristic curve is obtained. When it is simultaneously detected that the driver is fatigued and the passenger's health status shows a second level of abnormality, the second speed response characteristic curve is obtained.

6. The method according to claim 1, characterized in that, The identification of the physiological state of the occupants in the vehicle includes: Collect image information, physiological index information and / or voice information of the drivers and passengers; Based on the image information, physiological indicator information, and / or voice information of the driver and passengers, determine whether the physiological state of the driver and passengers is abnormal; and / or Determining the vehicle's output power curve based on the speed response characteristic curve includes: The yaw rate acceleration value of the vehicle is determined based on the speed response characteristic curve. The rotational speed of the motor in the power system of the vehicle is obtained, and the torque value of the motor is determined based on the rotational speed of the motor and the yaw acceleration value of the vehicle. The output power curve of the vehicle is determined based on the torque value and the speed value of the motor.

7. A vehicle driving control device, characterized in that, The device includes: The recognition module is used to identify the physiological state of the occupants in the vehicle. The acquisition module is used to acquire, when an abnormal physiological state of the driver or passenger is detected, a speed response characteristic curve of the vehicle matching the role of the driver or passenger and the type of the current abnormal physiological state; the acquisition module acquires a first speed response characteristic curve when it detects that the driver among the drivers or passengers is in a fatigued state, the speed value in the first speed response characteristic curve showing a trend of first increasing and then decreasing; when it detects that the driver's health state has a first-level abnormality, it acquires a second speed response characteristic curve, the speed value in the second speed response characteristic curve decreasing with time, and the absolute value of the slope value of the second speed response characteristic curve decreasing with time; The control module is used to determine the output power curve of the vehicle based on the speed response characteristic curve, so that the vehicle can perform driving actions based on the output power curve.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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