Vehicle control method, readable storage medium and vehicle

Abstract

The invention provides a vehicle control method, a readable storage medium and a vehicle, and the method comprises the steps: recognizing a trigger event, and determining that the trigger event meets the condition of manually taking over the vehicle; and controlling at least two tactile sensing devices on the vehicle to work so as to generate at least two tactile sensing to prompt a user to take over the control right of the vehicle. A user is prompted to take over the control right of a vehicle through a multi-mode tactile perception mechanism, parallel tactile stimulation directly acting on the sense organ of the user is formed, the attention of the user is effectively seized, and the response time of manual taking over is remarkably shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle control method, a readable storage medium and a vehicle. BACKGROUND

[0002] With the continuous improvement of the intelligent level of vehicles, automatic driving technology has been widely used in many scenarios. In the automatic driving mode, the vehicle control system controls the vehicle to perform the driving task. However, when encountering unexpected situations or complex scenes (such as sudden accidents in front, sensor failure, etc.) that the vehicle control system cannot handle independently, the driver often needs to take over the control of the vehicle in time.

[0003] In the related art, the common takeover prompt method mainly relies on visual or auditory alarm, for example, instrument panel flashing or playing warning sound, etc. However, the above traditional prompt method has obvious limitations. In the case that the driver's attention is distracted or the driving environment is noisy, the visual and auditory signals are easy to be ignored or delayed, which leads to the delay of the driver's response time and constitutes a potential risk to driving safety.

[0004] Therefore, how to shorten the response time of manual takeover and improve the efficiency of manual takeover has become a technical problem to be solved. SUMMARY

[0005] Therefore, the embodiments of the present application provide a vehicle control method, a readable storage medium and a vehicle, which prompt the user to take over the control of the vehicle through a multi-modal tactile perception mechanism, form a parallel tactile stimulation directly acting on the user's senses, effectively seize the user's attention, and significantly shorten the response time of manual takeover.

[0006] In a first aspect, the embodiments of the present application provide a vehicle control method, which comprises: identifying a trigger event and determining that the trigger event meets the condition of manual takeover of the vehicle; and controlling at least two tactile perception devices on the vehicle to work to generate at least two tactile perception prompts for the user to take over the control of the vehicle.

[0007] As a possible implementation manner of the first aspect, the controlling the at least two tactile perception devices on the vehicle to work comprises: determining a tactile perception intensity corresponding to the trigger event according to semantic information of the trigger event, wherein the semantic information is used to represent the characteristics of the trigger event, and the tactile perception intensity is used to represent the intensity of the tactile perception that the user can perceive; and based on the tactile perception intensity, controlling the at least two tactile perception devices to generate tactile perception prompts of corresponding intensity for the user to take over the control of the vehicle.

[0008] In a possible implementation manner of the first aspect, the determining the haptic perception intensity corresponding to the trigger event according to the semantic information of the trigger event comprises: determining the haptic perception intensity corresponding to the trigger event by a semantic coding module based on the semantic information of the trigger event, wherein the semantic coding module is configured to establish a mapping relationship between the semantic information of the trigger event and the haptic perception intensity.

[0009] In a possible implementation manner of the first aspect, the semantic information of the trigger event comprises a type of the trigger event, a risk level of the trigger event, a relative position of the trigger event, and a time distance of the trigger event, and the determining the haptic perception intensity corresponding to the trigger event by the semantic coding module based on the semantic information of the trigger event comprises: determining the time distance of the trigger event and the risk level of the trigger event according to the type of the trigger event and the relative position of the trigger event; and determining the haptic perception intensity corresponding to the trigger event by the semantic coding module based on the type of the trigger event, the risk level of the trigger event, the relative position of the trigger event, and the time distance of the trigger event.

[0010] In a possible implementation manner of the first aspect, the risk level of the trigger event comprises at least three risk levels, and the higher the risk level is, the greater the haptic perception intensity generated by the at least two haptic perception devices is.

[0011] In a possible implementation manner of the first aspect, the method further comprises: obtaining initial semantic information of the trigger event, and determining the semantic information of the trigger event according to the initial semantic information of the trigger event; and establishing a mapping relationship between the semantic information of the trigger event and the haptic perception intensity according to the semantic information of the trigger event.

[0012] In a possible implementation manner of the first aspect, the at least two haptic perception devices comprise at least two of a vibration perception device, a temperature perception device, and a deformation perception device, and the at least two haptic perception devices are controlled to be arranged on a steering wheel of the vehicle and / or a seat of the vehicle.

[0013] In a possible implementation manner of the first aspect, the method further comprises: controlling the driving device to make the steering wheel of the vehicle present in different forms according to different driving modes of the vehicle.

[0014] In a possible implementation manner of the first aspect, the current takeover readiness of the user is evaluated based on a preset artificial takeover readiness evaluation rule, the takeover readiness is used to represent a completion degree of preparation work of the user for taking over the control right of the vehicle, and the control right of the vehicle is transferred to the user when the takeover readiness is greater than a readiness threshold.

[0015] As a possible implementation manner of the first aspect, the manual takeover readiness degree evaluation rule is based on the strength of the user's hand grip on the steering wheel and the user's visual line regression to realize the evaluation of the manual takeover readiness degree.

[0016] As a possible implementation manner of the first aspect, the manual takeover readiness degree evaluation rule is a manual takeover readiness degree evaluation formula, and the evaluation of the manual takeover readiness degree of the user is realized through the manual takeover readiness degree evaluation formula, and the manual takeover readiness degree evaluation formula is as follows: wherein, represents the readiness degree of the manual takeover, represents the strength of the user's hand grip on the steering wheel, represents the time of the user's visual line regression.

[0017] In the second aspect, the embodiments of the present application provide a computer readable storage medium, characterized in that the storage medium stores a computer program, and the computer program is used to execute the vehicle control method of the first aspect.

[0018] In the third aspect, the embodiments of the present application provide a vehicle, comprising: at least two kinds of tactile perception devices, a memory and a controller, wherein the memory is used to store the executable instructions of the controller; and the controller is used to execute the vehicle control method of the first aspect to control the working of the at least two kinds of tactile perception devices.

[0019] The embodiments of the present application provide a vehicle control method, a readable storage medium and a vehicle. The method prompts the user to take over the control of the vehicle through a multi-modal tactile perception mechanism, forms a parallel tactile stimulation directly acting on the user's senses, realizes the effective occupation of the user's attention, and significantly shortens the response time of the manual takeover. In actual measurement, the response time of the takeover prompt through the traditional method is 1.5s, and the response time of the takeover prompt based on the multi-modal tactile perception mechanism provided by the present application can be compressed to within 0.4s. In addition, by establishing the mapping relationship between the trigger event and the tactile perception intensity, the semantic information of the trigger event is encoded into the tactile signal, and the channel of human-computer interaction is established, so that the user understands the specific information of the trigger event while receiving the takeover prompt, and makes the corresponding driving operation in time, realizes the effective takeover prompt, reduces the misoperation rate of the user after taking over the control of the vehicle, and greatly improves the driving experience and the safety of the user. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and are used to explain the present disclosure, but are not intended to limit the present disclosure. The above and other features and advantages will become more apparent from the detailed description of the example embodiments taken in conjunction with the accompanying drawings.

[0021] Figure 1 is a structural schematic diagram of a vehicle provided by some embodiments of the present application.

[0022] Figure 2a is a shape schematic diagram of a steering wheel of a vehicle provided by some embodiments of the present application.

[0023] Figure 2b is a shape schematic diagram of another steering wheel of a vehicle provided by some embodiments of the present application.

[0024] Figure 2c is a shape schematic diagram of still another steering wheel of a vehicle provided by some embodiments of the present application.

[0025] Figure 3 is a flow schematic diagram of a vehicle control method provided by some embodiments of the present application.

[0026] Figure 4 is a flow schematic diagram of a method for establishing a mapping relationship between semantic information of a trigger event and a haptic perception intensity provided by some embodiments of the present application.

[0027] Figure 5 is a schematic diagram of a mapping relationship between a risk level of a trigger event of a trigger event and a haptic perception intensity provided by some embodiments of the present application.

[0028] Figure 6 is a schematic diagram of a mapping relationship between a type of a trigger event, a risk level of a trigger event and a haptic perception intensity provided by some embodiments of the present application.

[0029] Figure 7 is a system structure schematic diagram of a vehicle control device provided by some embodiments of the present application.

[0030] Figure 8 is a block diagram of an electronic device for vehicle control provided by some embodiments of the present application. DETAILED DESCRIPTION

[0031] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0032] Summary of the application Automatic driving technology is a technology that enables a vehicle to realize autonomous environmental perception and decision planning and control vehicle driving without the need for continuous and active intervention of a driver by integrating artificial intelligence algorithms into the control system of the vehicle. However, the performance of this technology largely depends on the accuracy and reliability of the artificial intelligence algorithms it employs. Currently, automatic driving technology is usually used as an auxiliary driving means, but when encountering unexpected situations or complex scenarios, the driver still needs to take over the control of the vehicle in time to ensure driving safety.

[0033] In the related art, the way to prompt the driver to take over mainly depends on vision or hearing. Specifically, the vehicle-mounted visual display is used to deliver prompt information to the driver, such as flashing icons on the instrument panel, text warning information, and image animation, etc. Or the vehicle-mounted audio is used to play prompt information, such as a beeping sound, an alarm sound, and a voice prompt (e.g., the driver needs to take over the vehicle immediately), etc.

[0034] However, the above-mentioned traditional manual takeover prompt method is easily disturbed by external factors. In the case of the driver's distraction or noisy driving environment, the visual and auditory prompt signals are easy to be ignored or delayed by the driver, resulting in a delay in the response time of the driver's takeover, affecting the efficiency of the driver's takeover, and thus causing safety hazards. In addition, the traditional manual takeover prompt method cannot deliver the risk level of the specific unexpected event to the driver, resulting in the lack of key information in human-computer interaction and causing delay in takeover.

[0035] To address the aforementioned issues, this application creatively proposes a vehicle control method that uses multimodal tactile perception to prompt the driver to take over control. By employing a multimodal tactile perception mechanism to prompt the user to take over vehicle control, parallel tactile stimuli directly affect the user's senses, effectively capturing the user's attention and significantly shortening the response time for manual takeover. In actual measurements, the response time for takeover prompts using traditional methods is 1.5 seconds, while the takeover prompt method based on the multimodal tactile perception mechanism provided in this application can compress the response time to less than 0.4 seconds. Furthermore, by establishing a mapping relationship between triggering events and tactile perception intensity, the semantic information of the triggering events is encoded into tactile signals, establishing a human-computer interaction channel. This allows the user to understand the specific information of the triggering event upon receiving the takeover prompt, enabling timely and appropriate driving actions, achieving effective takeover prompts, reducing the error rate after the user takes over vehicle control, and greatly improving the user's driving experience and driving safety.

[0036] The following will refer to the appendix. Figures 1-8 The following describes various non-limiting embodiments of this application.

[0037] Exemplary vehicle This application provides a schematic diagram of a vehicle structure in some embodiments. Figure 1 ).like Figure 1 As shown, the vehicle 100 may include a vehicle body 110, a steering wheel 120, a seat 130, at least two tactile sensing devices 140, a drive unit 150, a controller 160, and a data acquisition device 170.

[0038] Among them, at least two tactile sensing devices 140 can be installed on the steering wheel 120 and / or the seat 130 to enable the steering wheel 120 and / or the seat 130 to generate tactile sensing; the drive device 150 can be installed on the steering wheel 120 to enable the steering wheel 120 to change shape, and can present different shapes; the data acquisition device 170 is used to collect the vehicle's driving data and the image data of the vehicle's surrounding environment and the interior of the vehicle to monitor the vehicle's current driving status.

[0039] In some embodiments, at least two tactile sensing devices 140 may be provided at multiple locations on the steering wheel 120 to generate multi-directional tactile sensing.

[0040] In some embodiments, at least two tactile sensing devices 140 include at least two of a vibration sensing device, a temperature sensing device, and a deformation sensing device, wherein the vibration sensing device can be used to generate vibration tactile sensing, the temperature sensing device can be used to generate temperature tactile sensing, and the deformation sensing device can be used to generate deformation tactile sensing.

[0041] As an example, the vibration sensing device can be a vibration sensor assembly, for example, a piezoelectric ceramic array, which can be driven by an electrical signal of a frequency of 50 Hz-200 Hz to generate a corresponding vibration frequency, i.e., the adjustable range of the vibration frequency of the piezoelectric ceramic is 50 Hz-200 Hz. The temperature sensing device can be a micro-heater, for example, a positive temperature coefficient thermistor heater (PTC), which is a self-temperature-controlled heating device, and the temperature fluctuation range of the PTC heater is within 10°C (±10°C). The deformation sensing device can be a pneumatic micro-capsule, and the protruding height of the pneumatic micro-capsule ranges from 0.5 mm to 3 mm. Among them, the piezoelectric ceramic array can be set in the form of high-density ring distribution in the key area and standard grid distribution in the secondary area, for example, in the inner side (thumb holding area) and outer side of the steering wheel, along the four core points of 3 o'clock, 6 o'clock, 9 o'clock and 12 o'clock, a high-density ring layout is performed, and the other areas are uniformly distributed. By setting high-density piezoelectric ceramic arrays in the four points where the user (driver) is most likely to hold during driving, it is ensured that the vibration sensing generated by the vibration sensing device can be efficiently and clearly perceived by the user.

[0042] It should be noted that, Figure 1 The number and position of the at least two sensing devices 140 shown in the figure are only examples, and the number and position of the at least two sensing devices 140 can be selected according to the specific needs in actual applications, and are not specifically limited. The at least two tactile sensing devices 140 are not limited to vibration sensing devices, temperature sensing devices and deformation sensing devices, and can also include other sensing devices, which are not limited herein. In addition to the above-mentioned examples of vibration sensing devices, temperature sensing devices and deformation sensing devices, other types of vibration sensing devices, temperature sensing devices and deformation sensing devices can also be included, and the types of vibration sensing devices, temperature sensing devices and deformation sensing devices are not specifically limited.

[0043] In some embodiments, the skeleton structure of the steering wheel 120 is constructed by a shape memory alloy (SMA), which has elastic properties. At room temperature (above the phase transition temperature), a large recoverable deformation, i.e., elastic deformation, can be caused in the shape memory alloy by applying an external force to it. For example, a titanium-nickel-niobium (NiTiNb) shape memory alloy can be used to construct the skeleton of the steering wheel. After being energized, the curvature change rate of the titanium-nickel-niobium shape memory alloy is ≥15° / s.

[0044] In some embodiments, the steering wheel 120 can be deformed into a specific shape by the drive device 150 based on the SMA alloy topology optimization algorithm.

[0045] Specifically, when the vehicle is in different driving modes, the steering wheel 120 can be deformed in different ways by the drive unit 150 based on the SMA alloy topology optimization algorithm, presenting different shapes.

[0046] As an example, the steering wheel can be configured to take on three different shapes. When the vehicle is in autonomous driving mode, the steering wheel 120 can be in a strip-shaped storage configuration (e.g., ...). Figure 2a As shown), the steering wheel is laid out along the vehicle's dashboard. When the vehicle is in advanced driver assistance mode (human-machine co-driving, where the driver and vehicle control system share control of the vehicle, or the driver needs to be ready to take over control of the vehicle at any time), the steering wheel 120 can be in a semi-circular warning configuration, for example, retaining the area of ​​the steering wheel from 10 o'clock to 2 o'clock (such as...). Figure 2b As shown). When the vehicle is in manual driving mode, the steering wheel can be in a full-size circular shape (as shown). Figure 2c As shown in the figure, this is to achieve the rational use of vehicle space and reduce space redundancy.

[0047] In some embodiments, the steering wheel deformation is achieved by a three-form mechanical locking mechanism.

[0048] In some embodiments, the data acquisition device 170 may include a vehicle state sensor component and an environmental perception sensor component. The vehicle state sensor component is used to acquire the vehicle's current driving data. For example, the vehicle state sensor component may include an inertial measurement unit (IMU), wheel speed sensors, etc. The environmental perception sensor component is used to acquire image data of the vehicle's surroundings and interior. For example, the environmental perception sensor component may include an onboard camera, LiDAR, millimeter-wave radar, etc. The type of data acquisition device is not specifically limited.

[0049] In some embodiments, the controller 160 is used to perform the vehicle control method described below to control the operation of at least two tactile sensing devices 140, drive devices 150 and data acquisition devices 170.

[0050] Exemplary vehicle control method This application provides a flowchart of a vehicle control method in some embodiments. Figure 3 ), applied to the aforementioned vehicle 100.

[0051] like Figure 3 As shown, the controller or control system of vehicle 100 can perform the following steps: S310, a triggering event is identified, and it is determined that the triggering event meets a condition for manual takeover of the vehicle.

[0052] The triggering event can be an unexpected event that can pose a threat to the safety of driving that occurs during the vehicle is driving in the autonomous driving mode. For example, the triggering event can include lane deviation, icy road ahead, sudden braking of the vehicle in front, speeding, presence of an obstacle ahead, etc.

[0053] In some embodiments, the condition for manual takeover can be used to determine whether the vehicle control system (autonomous driving system) can independently deal with the current triggering event. For example, the condition for manual takeover can include a safety condition, a functional condition, and a comprehensive uncertainty condition, etc.

[0054] As an example of a safety condition determination, an image captured by a camera of the vehicle identifies that a vehicle driving in front suddenly changes lanes or brakes suddenly. At this time, it can be determined whether manual takeover is needed according to the safety condition, for example, by predicting the probability and time of a collision with the vehicle by the system of the vehicle. If the predicted value is within a set safety threshold range, it is determined that manual takeover is not needed, and if it exceeds the safety threshold, it is determined that manual takeover is needed, meeting the condition for manual takeover.

[0055] As an example of a functional condition determination, when the system of the vehicle detects that there is a sensor failure, it can be determined whether manual takeover is needed according to the functional condition, for example, the degree of influence of the absence of data acquisition caused by the current sensor failure on the normal driving of the vehicle or the degree of influence on the correctness of the driving decision made by the control system (autonomous driving system) of the vehicle. If the degree of influence is within a threshold range, it is determined that manual takeover is not needed, and if it exceeds the threshold range, it is determined that manual takeover is needed, meeting the condition for manual takeover.

[0056] In some embodiments, during the driving of the vehicle, the vehicle state data and images of the environment around the vehicle and the environment inside the vehicle can be continuously collected by the data collection device of the vehicle to monitor the driving condition of the vehicle in real time, so as to realize the identification of the triggering event.

[0057] As an example, the data collection device includes, but is not limited to, a vehicle state sensor component and an environment perception sensor component (e.g., a vehicle-mounted camera, a laser radar, a millimeter wave radar, etc.). Among them, the current driving data of the vehicle (e.g., speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, and tire angle, etc. vehicle self-data) is obtained through the vehicle state sensor component to determine the current driving state of the vehicle, which is used to monitor the triggering event caused by the vehicle itself problem. The image data of the environment around the vehicle and the environment in the vehicle are obtained through the environment perception sensor component to monitor the triggering event caused by the sudden event of the vehicle due to external factors of the vehicle. For related content of the vehicle state sensor component and the environment perception sensor component, please refer to the related description in the embodiments of the present application, which will not be repeated here. Figure 1

[0058] S320, control at least two haptic perception devices on the vehicle to work to generate at least two haptic perception prompts to take over the control of the vehicle.

[0059] Considering that the user is prompted by voice alarm or display screen prompt text content, in the case of driver distraction or noisy driving environment, visual and auditory signals are easy to be ignored or delayed perception, resulting in delayed response time of the driver. The present application generates at least two different haptic perception signals to prompt the user to take over the control of the vehicle by controlling at least two haptic perception devices on the vehicle to work together when it is determined that the triggering condition meets the condition of manual takeover of the vehicle, realizing the perception mechanism through multi-modal haptics, forming parallel haptic stimulation directly acting on the user's senses, realizing effective occupation of the user's attention, and shortening the response time of manual takeover. In actual measurement, the prompt method based on multi-modal haptic mechanism provided by the present application can compress the response time of manual takeover to within 0.4s.

[0060] In some embodiments, the foregoing S320 can include the following sub-steps: S321, determining the haptic perception intensity corresponding to the triggering event according to the semantic information of the triggering event.

[0061] The semantic information can be used to represent the characteristics of the triggering event. Specifically, the semantic information can include the type of the triggering event, the risk level of the triggering event, the relative position of the triggering event, and the time distance of the triggering event. Among them, the type of the triggering event and the relative position of the triggering event can be the initial semantic information obtained by the data collection device, and the risk level of the triggering event and the time distance of the triggering event are further determined according to the initial semantic information. The haptic perception intensity can be used to represent the intensity of the haptic that the user can perceive.

[0062] ​Specifically, the type of the triggering event can be a specific event that is currently occurring and can affect the safe driving of the vehicle, such as, for example, icy road, construction ahead, traffic accident ahead, and the like.

[0063] In some embodiments, the type of the triggering event can be further divided into vehicle performance limitation and potential traffic danger. For example, the vehicle performance limitation can include: partial failure of a sensor array, reduced sensor sensing range (for example, the effective detection range of a laser radar or a radar is significantly shortened due to rain and snow weather), limited environmental perception function of an environmental perception sensor (for example, the camera of the vehicle is blocked), and the like. The potential traffic danger can include: slight deceleration of a front vehicle, lane deviation, emergency braking of a front vehicle, rapid cutting in of another vehicle from a blind area, vehicle overspeed, potholes on a road ahead, icy road ahead, obstacles ahead, severe congestion ahead, or traffic accident, and the like.

[0064] The relative position of the triggering event can be used to represent the spatial position of the triggering event relative to the current vehicle, such as, for example, left front, front, right front, left side, right side, and full area, and the like.

[0065] The time distance of the triggering event is used to represent the length of time to reach the location of the triggering event, and the unit is second (s).

[0066] In some embodiments, the type of the triggering event and the relative position of the triggering event can be obtained by a data acquisition device, and the risk level of the triggering event and the time distance of the triggering event are determined according to the type of the triggering event and the relative position of the triggering event. Specifically, a mapping table including the mapping relationship between the type of the triggering event, the relative position of the triggering event, and the time distance of the triggering event can be constructed, and the risk level corresponding to the triggering event is determined according to the mapping table based on the type of the triggering event.

[0067] As an example, the type of the triggering event is lane deviation, and the corresponding risk level can be level one. The type of the triggering event is a front vehicle making a sharp turn, and the time distance of the vehicle making the sharp turn is calculated (for example, 10s), and the corresponding risk level is determined to be level two. The type of the triggering event is icy road ahead, and the control system of the vehicle cannot handle it independently and needs to be taken over urgently, and the corresponding risk level is level three.

[0068] It should be noted that the determination of the risk level described above is only an example. The risk level of the triggering event can also be divided in other ways, which are not limited here.

[0069] In some embodiments, the specific position of an object (for example, an obstacle) related to the triggering event can be calculated by a perception model as the relative position of the triggering event.

[0070] As an example, a coordinate system can be established with the ego vehicle as the origin, the azimuth angle of the target object (obstacle) relative to the forward direction of the vehicle can be calculated through the perception model, and the relative position of the triggering event can be further determined according to the mapping relationship between the azimuth angle and the relative position, for example, the azimuth angle is defined as θ, when -90°< θ < -30°, i.e. the target object is located in the 8 o'clock-10 o'clock direction area, the corresponding relative position is the left side of the vehicle; -30°≤ θ < -10°, i.e. the target object is located in the 10 o'clock-11 o'clock direction area, the corresponding relative position is the left front of the vehicle; -10°≤ θ ≤ -10°, i.e. the target object is located in the 11 o'clock-1 o'clock direction area, the corresponding relative position is the front of the vehicle; 10°< θ ≤ 30°, i.e. the target object is located in the 1 o'clock-2 o'clock direction area, the corresponding relative position is the right front of the vehicle; 30°< θ ≤ 90°, i.e. the target object is located in the 2 o'clock-4 o'clock direction area, the corresponding relative position is the right rear of the vehicle.

[0071] In some embodiments, different intensities of haptic perception are taken to prompt the user to take over the control of the vehicle according to the semantic information of the triggering event, realizing the hierarchical haptic perception warning.

[0072] In some embodiments, the type of triggering event, the risk level of triggering event, the relative position of triggering event and the time distance of triggering event can be constructed into a four-dimensional structured semantic tuple, and the intensity of the haptic perception corresponding to the triggering event is determined through the haptic coding module based on the semantic tuple of the triggering event. Exemplarily, a mapping table for representing the mapping relationship between the semantic information of the triggering event and the intensity of the haptic perception is integrated in the haptic coding module.

[0073] Specifically, the semantic tuple of the triggering event can be input into the haptic coding module, and the haptic coding module outputs an instruction of the intensity of the haptic perception corresponding to the triggering event, and based on the instruction of the intensity of the haptic perception, the haptic perception device generates the corresponding intensity of the haptic perception.

[0074] In some embodiments, the controller can be used to adjust the haptic perception device to generate haptic perception of different intensities.

[0075] For example, for a vibration haptic perception device, different intensities of vibration haptic perception can be generated by applying different frequency pulses (e.g., a single pulse, three consecutive pulses, and a continuous high-frequency pulse) to the vibration haptic perception device. For a temperature haptic perception device, different intensities of temperature haptic perception can be achieved by applying different voltages to the temperature haptic perception device to generate different degrees of temperature change (e.g., a 3°C temperature rise, a 5°C temperature rise). For a deformation haptic perception device, different intensities of deformation haptic perception can be generated by producing no change, different amounts, and directions of protrusions, etc.

[0076] In order to enable the user to further feel the urgency of the current trigger event after receiving the haptic perception prompt, in some embodiments, the risk level of the trigger event can be determined by the type of the trigger event, wherein the risk level of the trigger event can be used to represent the degree of influence of the trigger event on the safety of the current vehicle driving, and can also be understood as the degree of urgency of the need for manual takeover of the control of the vehicle, and a mapping relationship between the semantic information of the trigger event and the haptic perception intensity is further established, specifically, a mapping relationship between the type of the trigger event, the risk level of the trigger event, and the haptic perception intensity, and the haptic perception intensity corresponding to the trigger event is determined according to the mapping relationship, and the higher the risk level, the greater the haptic perception intensity generated by the at least two haptic perception devices. By implementing different intensities of hierarchical haptic perception based on the risk level of the trigger event, the user can timely understand the urgency of the current trigger event when receiving the haptic perception prompt, and at the same time, the hierarchical haptic perception prompt optimizes the prompt strategy (e.g., avoiding using high-intensity haptic perception for trigger events with low urgency), thereby ensuring the effect of the haptic perception prompt function while minimizing the overall energy consumption.

[0077] In some embodiments, the mapping relationship between the semantic information of the trigger event and the haptic perception intensity can include a mapping relationship between any one or more of the type of the specific trigger event, the relative position of the trigger event type, the risk level of the trigger event, and the time distance of the trigger event and the corresponding haptic perception mode, and the haptic perception intensity is further refined into a specific haptic perception mode. By establishing the mapping relationship between the trigger event and the haptic perception intensity, the semantic information of the trigger event is encoded into a haptic signal, a channel for human-computer interaction is established, the user can understand the specific information of the trigger event when receiving the takeover prompt, and timely make corresponding driving operations, thereby achieving effective takeover prompt and greatly improving the user's driving experience.

[0078] As an example, the manner of haptic perception can be determined according to the type of triggering event. For example, when the type of triggering event is lane deviation, a vibration haptic perception is taken to prompt. When the triggering event is icy road, a temperature haptic perception is taken to prompt. When the triggering event is an obstacle in front, a deformation haptic perception is taken to prompt, which produces a protrusion in the corresponding direction.

[0079] As an example, the manner of haptic perception can be determined according to the type of triggering event and the relative direction of the triggering event. For example, when the triggering event is a vehicle suddenly driving into the right rear, the corresponding manner of haptic perception can be to produce a protrusion in the 4 o'clock direction of the corresponding side of the steering wheel while high-frequency vibration.

[0080] The details of establishing the mapping relationship between the triggering event and the intensity of haptic perception can be referred to Figures 4-6 and the related descriptions in the embodiments thereof.

[0081] S322, based on the intensity of haptic perception, controlling at least two haptic perception devices to produce haptic perception prompts of corresponding intensity to prompt the user to take over the control of the vehicle.

[0082] In some embodiments, the intensity of haptic perception can include low-level haptic perception intensity, medium-level haptic perception intensity, and high-level haptic perception intensity. The higher the level of haptic perception intensity, the more types of haptic perception, and the greater the intensity.

[0083] As an example, corresponding to the low-level haptic perception intensity, only the vibration haptic perception device can be controlled to work to produce vibration haptic perception to prompt the user to take over the control of the vehicle, and the temperature haptic perception device and the deformation haptic perception device do not work. For example, by applying a single pulse to the piezoelectric ceramic array, it produces low-intensity vibration. For the medium-level haptic perception intensity, the user can be prompted to take over the control of the vehicle through vibration haptic perception and temperature haptic perception, while increasing the vibration intensity of vibration haptic perception. For example, by applying three continuous pulses to the piezoelectric ceramic, it produces medium-intensity vibration haptic perception, and by applying voltage to the positive temperature coefficient thermistor heater, it changes the temperature to produce temperature haptic perception. For high-level haptic perception intensity, the user can be prompted to take over the control of the vehicle through high-intensity haptic perception combining vibration haptic perception, temperature haptic perception, and deformation haptic perception. For example, by applying a continuous high-frequency pulse to the piezoelectric ceramic, it produces high-intensity vibration haptic perception, by applying voltage to the positive temperature coefficient thermistor heater, it changes the temperature to produce temperature haptic perception, and by controlling the pressure of the internal gas of the micro air bag through the micro air pump and the micro electromagnetic valve, a protrusion (deformation) is produced.

[0084] In some embodiments, in order to avoid safety hazards caused by too large haptic perception intensity, a safety threshold can be set for each of the at least two haptic perception devices. For example, the safety threshold of the vibration haptic perception device can be set to 200 Hz, the safety threshold of the temperature haptic perception device can be set to 45°C, and the safety threshold of the deformation haptic perception device can be set to 2 mm.

[0085] It should be noted that the above-described specific division of haptic perception intensity and the implementation of corresponding haptic perception intensity are only examples. The intensity of haptic perception can also be divided in other ways, for example, the intensity of haptic perception can include first-level haptic perception intensity, second-level haptic perception intensity, and third-level haptic perception intensity, etc. Different haptic perception intensities can also be implemented in other ways, for example, for low-level haptic perception intensity, only control the temperature haptic perception device to work, generate temperature haptic perception to prompt the user to take over the control of the vehicle, the vibration haptic perception device and the deformation haptic perception device do not work, or only control the deformation haptic perception device to work, generate deformation haptic perception to prompt the user to take over the control of the vehicle, the vibration haptic perception device and the temperature haptic perception device do not work, or the vibration haptic perception device and the temperature haptic perception device work, generate low-intensity temperature haptic perception and vibration haptic perception to prompt the user to take over the control of the vehicle, the deformation haptic perception device does not work, etc. The division of haptic perception intensity and the implementation of corresponding haptic perception intensity are not limited.

[0086] In some embodiments, the user can also be prompted to take over the control of the vehicle by combining haptic perception with traditional voice and visual prompts. Through the multi-source perception mechanism combining haptic, visual and auditory prompts, multi-channel parallel delivery of prompt information is achieved, which can significantly improve the robustness of information delivery and more effectively seize the driver's perception focus, thereby effectively compressing the perception delay.

[0087] In some embodiments, when the vehicle is in different driving modes, the direction of the vehicle can be controlled to present different forms.

[0088] Specifically, when the vehicle is in an automatic driving mode, the user does not need to frequently operate the steering wheel or even does not need to operate the steering wheel, therefore, in this mode, as shown in FIG. 1, the steering wheel can be controlled by the driving device of the vehicle to present a strip-shaped storage form and be laid along the instrument panel of the vehicle. Figure 2a When the vehicle is in a high-level assisted driving mode (human-machine co-driving, the driver and the control system of the vehicle share the control of the vehicle or the user needs to be ready to take over the control of the vehicle at any time), the user (for example, the driver) uses the steering wheel less frequently, and in this mode, part of the steering wheel can be reserved, for example, the steering wheel can be in a half-ring warning form, for example, as shown in FIG. 2. Figure 2bAs shown, the area of the steering wheel is reserved for 10-2 points. When the vehicle is in the manual driving mode, the driving process of the vehicle needs to fully rely on the operation of the user, which means that the user needs to use the steering wheel frequently, and therefore, in this mode, the steering wheel is Figure 2c As shown, the steering wheel can be a full-size circular shape. By combining the characteristics of using the steering wheel in different driving modes, the steering wheel is converted into different shapes in different driving modes, optimizing the occupation of the steering wheel to the vehicle cabin space, realizing the rational use of the space of the vehicle cabin, and the release rate of the cabin space can reach 42%, reducing the space redundancy, and improving the driving experience of the user.

[0089] In some embodiments, in order to ensure that the user has prepared to take over the control of the vehicle, has received the prompt signal of taking over the vehicle issued by the vehicle, after sending the taking over prompt to the user, the readiness and taking over state of the user taking over the control of the vehicle need to be confirmed to confirm whether to hand over the control of the vehicle to the user.

[0090] In some embodiments, the manual taking over readiness evaluation rule can be preset in the control system of the vehicle in advance. Based on the preset manual taking over readiness evaluation rule, the current taking over readiness of the user is evaluated, and when the taking over readiness is greater than the readiness threshold, the control of the vehicle is handed over to the user. The manual taking over readiness evaluation rule can include the evaluation of the gripping strength of the hands of the user on the steering wheel and the line-of-sight regression of the user, and the taking over readiness is used to represent the completion degree of the preparation work of the user taking over the control of the vehicle.

[0091] As an example, the manual taking over readiness evaluation rule can be a manual taking over readiness evaluation formula, which is as follows: Wherein, represents the readiness of manual taking over, represents the gripping strength of the hands of the user on the steering wheel, represents the time of line-of-sight regression of the user.

[0092] The manual taking over readiness output by the above formula is an evaluation value in the range of [0, 1], and the readiness threshold can be set to 0.8. When , it is considered that the user has prepared to take over the control of the vehicle, and when , it is considered that the user has not prepared to take over the control of the vehicle.

[0093] Therefore, the vehicle control method provided by the embodiments of the present application prompts the user to take over the control of the vehicle through the multi-modal haptic perception mechanism, forms parallel haptic stimulation directly acting on the user's senses, effectively occupies the user's attention, and significantly shortens the response time of manual takeover. In actual measurement, the response time of the takeover prompt through the traditional method is 1.5s, and the response time of the takeover prompt method based on the multi-modal haptic perception mechanism provided by the present application can be compressed to within 0.4s. In addition, by establishing the mapping relationship between the trigger event and the haptic perception intensity, the semantic information of the trigger event is encoded into the haptic signal, a channel for human-computer interaction is established, the user understands the specific information of the trigger event while receiving the takeover prompt, and the user makes corresponding driving operation in time, effectively realizes the takeover prompt, reduces the misoperation rate of the user after taking over the control of the vehicle, and greatly improves the driving experience and safety of the user.

[0094] Exemplary method of establishing a mapping between exemplary trigger events and haptic perception intensities In order to further illustrate the process of determining the haptic perception intensity according to the trigger event, some embodiments of the present application provide a flowchart of a method for establishing a mapping relationship between the semantic information of the trigger event and the haptic perception intensity. Figure 4 .

[0095] As shown in Figure 4 , the controller or control system of the vehicle 100 can perform the following steps: S410, obtaining initial semantic information of a trigger event, and determining semantic information of the trigger event according to the initial semantic information of the trigger event.

[0096] The initial semantic information of the trigger event is used to represent the basic characteristics of the trigger event. According to the initial semantic information, the specific semantic information of the trigger event is determined.

[0097] Exemplarily, the initial semantic information of the trigger event can include road semantic information, weather condition semantic information and traffic semantic information of the trigger event. Among them, the road semantic information, the weather condition semantic information and the traffic semantic information of the trigger event can be understood as a further division of the type of the trigger event in the trigger semantic information. Exemplarily, the road semantic information can include road static semantic information and road dynamic semantic information.

[0098] The road static semantic information can be the static semantic information of the road related to the trigger event. Exemplarily, the road semantic information can include the number of lane lines, the type of lane lines, traffic signs (speed limit signs, directional arrows, prohibition signs, etc.), road types (such as expressways, urban roads or rural roads, etc.), etc.

[0099] The road dynamic semantic information can be dynamic semantic information of the road related to the triggering event. For example, the road dynamic semantic information can include road flatness, road adhesion coefficient (road wetness and icing condition), temporary obstacles (e.g., construction cone, vehicle involved in an accident), and the like.

[0100] The weather condition information can be weather condition information of the location of the triggering event. For example, the weather condition information can include weather information of the location of the triggering event, such as rainfall condition, snowfall condition, heavy fog, and the like.

[0101] The traffic condition information can be traffic condition of the road related to the triggering event. For example, the traffic condition information can include pose, speed, and state of traffic signal light of dynamic objects (e.g., pedestrians, motor vehicles in driving, cyclists, and the like).

[0102] In some embodiments, the type of the triggering event is determined according to any one or more of the road static semantic information, the road dynamic semantic information, the weather condition information, and the traffic condition information of the triggering event. For example, the triggering event is identified as lane deviation according to the number, position, and type of lane lines; the triggering event is determined as a pothole in front of the road according to the road flatness (e.g., pothole); the triggering event is determined as heavy rain or foggy weather according to the weather condition information (e.g., rainfall or heavy fog); and the triggering event is determined as a sudden lane change of a vehicle in front according to the pose and speed data of the detected dynamic objects (e.g., vehicles, pedestrians).

[0103] In some embodiments, the road static semantic information, the road dynamic semantic information, and the traffic condition information can be acquired by an image acquisition device, such as a vehicle-mounted camera, a laser radar, an inertial measurement unit, and the like, based on a navigation map.

[0104] In some embodiments, the real-time weather condition information and the traffic condition information can also be acquired by accessing a cloud data platform through vehicle-to-network (V2N).

[0105] It should be noted that the above-described acquisition manner and processing manner of the semantic information of the triggering event and the specific content included in the semantic information of the triggering event are only examples, and the acquisition manner and processing manner of the semantic information of the triggering event and the specific content included in the semantic information of the triggering event are not limited in the present application.

[0106] S420, according to the semantic information of the triggering event, a mapping relationship between the semantic information of the triggering event and the intensity of the tactile perception is constructed.

[0107] In some embodiments, a structured semantic tuple can be constructed based on the semantic information of the triggering event. For example, the semantic tuple can include four dimensions of information, including: the type of the triggering event, the risk level of the triggering event, the relative position of the triggering event, and the time distance of the triggering event. The risk level of the triggering event is used to represent the degree of urgency of the triggering event. For example, the risk level of the triggering event can be first level, second level, or third level. The relative position of the triggering event is used to represent the spatial position of the triggering event relative to the current vehicle, for example, left front, front, right front, left side, right side, and full area, etc. The time distance of the triggering event is used to represent the length of time to reach the location of the triggering event.

[0108] In some embodiments, the mapping relationship between the semantic information of the triggering event and the intensity of the tactile perception can be constructed according to the risk level of the triggering event in the semantic tuple. In order to more clearly present the mapping relationship between the risk level of the triggering event and the intensity of the tactile perception, the present application provides a mapping relationship between the risk level of the triggering event and the intensity of the tactile perception. Figure 5 As shown in Figure 5 , as an example, when the risk level is first level (low risk), a single pulse can be applied to the control vibration tactile perception device to generate vibration tactile perception of the corresponding frequency; when the risk level is second level, three consecutive pulses can be applied to the control vibration tactile perception device to generate vibration tactile perception of the corresponding frequency, while the temperature tactile perception device is controlled to generate temperature tactile perception. The specific mapping relationship between the risk level of the triggering event and the intensity of the tactile perception can be referred to Figure 5 , which will not be repeated here.

[0109] In some embodiments, the mapping relationship between the semantic information of the triggering event and the intensity of the tactile perception can be constructed in combination with the type and risk level of the triggering event in the semantic tuple. In order to more clearly present the mapping relationship between the type of the triggering event, the risk level of the triggering event, and the intensity of the tactile perception, the present application provides a mapping relationship between the type of the triggering event, the risk level of the triggering event, and the intensity of the tactile perception. Figure 6 As shown in Figure 6 , as an example, when the type of the triggering event is that another vehicle quickly cuts into the blind area, it is determined that the risk level is high, which is third level. A continuous high-frequency pulse can be applied to the control vibration tactile perception device to generate vibration tactile perception of the corresponding frequency (for example, 200 Hz), the temperature tactile perception device is controlled to generate strong temperature tactile perception, and the deformation tactile perception device is controlled to generate a directional protrusion to at least the direction of the triggering event. The specific mapping relationship between the type of the triggering event, the risk level of the triggering event, and the intensity of the tactile perception can be referred toFigure 6 This will not be elaborated upon here.

[0110] It should be noted that the mapping relationship between the semantic information of the triggering event and the tactile perception intensity established in the above embodiments is only an example. The mapping relationship between the semantic information of the triggering event and the tactile perception intensity can also be established in any other feasible way. This application does not make specific limitations on the establishment of the mapping relationship between the semantic information of the triggering event and the tactile perception intensity.

[0111] Exemplary vehicle control device The above text combined Figures 1-6 The embodiments of the vehicle control method of this application have been described in detail. The apparatus embodiments of this application are described in detail below. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments. Therefore, any parts not described in detail can be referred to the foregoing method embodiments. Figure 7 This is a schematic diagram of a system module of a vehicle control device shown in some embodiments of this application.

[0112] like Figure 7 As shown, the vehicle control device 700 may include a trigger event determination module 710 and a control module 720. Among them, The trigger event determination module 710 can be configured to: identify trigger events and determine that the trigger events meet the conditions for manual takeover of the vehicle.

[0113] The control module 720 can be configured to control at least two tactile sensing devices on the vehicle to operate, so as to generate at least two tactile sensory prompts to the user to take over control of the vehicle.

[0114] In some embodiments, the control module 720 may further be configured to: determine the tactile perception intensity corresponding to the triggering event based on the semantic information of the triggering event. The semantic information can be used to characterize the features of the triggering event. Specifically, the semantic information may include the type of the triggering event, the risk level of the triggering event, the relative location of the triggering event, and the time distance of the triggering event. The type of the triggering event and the relative location of the triggering time may be initial semantic information acquired through a data acquisition device, while the risk level and the time distance of the triggering event are further determined based on this initial semantic information. The tactile perception intensity can be used to characterize the intensity of tactile sensation that the user can perceive.

[0115] In some embodiments, the control module 720 can be further configured to acquire the type of the triggering event and the relative position of the triggering event, determine the risk level of the triggering event and the time distance of the triggering event according to the type of the triggering event and the relative position of the triggering event. Specifically, a mapping table including the mapping relationship among the type of the triggering event, the relative position of the triggering event and the time distance of the triggering event can be constructed, and the risk level corresponding to the triggering event can be determined according to the type of the triggering event based on the mapping table.

[0116] As an example, the type of the triggering event is lane deviation, and the corresponding risk level can be level one. The type of the triggering event is that the vehicle in front turns sharply, and the time distance of the vehicle turning sharply is calculated (for example, 10s), and the corresponding determined risk level is level two. The type of the triggering event is that the road in front is icy, and the control system of the vehicle cannot handle it independently and needs to be taken over urgently, and the corresponding risk level is level three.

[0117] In some embodiments, the control module 720 can be further configured to take different intensity of haptic perception to prompt the user to take over the control of the vehicle according to different semantic information of the triggering event, and realize the haptic hierarchical haptic perception warning. Specifically, the type of the triggering event, the risk level of the triggering event, the relative position of the triggering event and the time distance of the triggering event can be constructed as a four-dimensional structured semantic tuple, and the intensity of the haptic perception corresponding to the triggering event can be determined by the haptic coding module based on the semantic tuple of the triggering event. For example, a mapping table for representing the mapping relationship between the semantic information of the triggering event and the intensity of the haptic perception is integrated in the haptic coding module.

[0118] In some embodiments, the control module 720 can be further configured to input the semantic tuple of the triggering event into the haptic coding module, output the instruction of the intensity of the haptic perception corresponding to the triggering event through the haptic coding module, and control the haptic perception device to generate the haptic perception of the corresponding intensity based on the instruction of the intensity of the haptic perception.

[0119] In some embodiments, the control module 720 can be further configured to control at least two haptic perception devices to generate haptic perception of corresponding intensity to prompt the user to take over the control of the vehicle based on the intensity of the haptic perception. The intensity of the haptic perception can include low-level haptic perception intensity, medium-level haptic perception intensity and high-level haptic perception intensity. The higher the level of the intensity of the haptic perception is, the more the types of the haptic perception are, and the greater the intensity is.

[0120] Exemplary electronic device and computer-readable storage medium The embodiments of the present application also provide an electronic device, such as Figure 8As shown. The electronic device 800 provided in the present application includes a memory 810, a processor 820, and an input / output interface 830. The memory 810, the processor 820, and the input / output interface 830 are connected through an internal connection path. The memory 810 is configured to store instructions. The processor 820 is configured to execute the instructions stored in the memory 810 to control the input / output interface 830 to receive input data and information, output operation results, and the like.

[0121] It should be understood that the processor 820 in the embodiments of the present application can be a general-purpose central processing unit (CPU), a GPU, an FPGA, a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, which are configured to execute related programs to implement the technical solutions provided in the embodiments of the present application.

[0122] The memory 810 can include a read-only memory and a random access memory, and provide instructions and data for the processor 820. A part of the processor 820 can also include a non-volatile random access memory. For example, the processor 820 can also store device type information.

[0123] In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 820 or the instructions in the form of software. The quantum state data storage method disclosed in the embodiments of the present application can be directly embodied as hardware processor execution completion, or executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory 810, and the processor 820 reads the information in the memory 810 and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0124] The embodiments of the present application also provide a non-transitory computer readable storage medium, when the instructions in the storage medium are executed by the above-mentioned processing device (such as the processor 820 or the human-computer cooperative control device 700), the above-mentioned device can execute a vehicle control method, the method includes: identifying a trigger event, and determining that the trigger event meets the condition of artificially taking over the vehicle; controlling at least two kinds of haptic perception devices on the vehicle to work to generate at least two kinds of haptic perception to prompt the user to take over the control right of the vehicle.

[0125] In some embodiments, the vehicle control device or the electronic device or the computer readable storage medium capable of implementing the vehicle control method of any of the above embodiments can be installed in the vehicle 100.

[0126] The embodiment of the present application further provides a computer program product, comprising computer programs / instructions. When the computer programs / instructions in the computer program product are executed by a processor, the vehicle control method provided by the present application can be implemented.

[0127] All the optional technical solutions described above can be combined to form optional embodiments of the present application, and will not be described one by one here.

[0128] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0129] It should be noted that in the device, apparatus and method of the present application, each module or each step can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the above aspects, but to the widest scope consistent with the principles and novel features disclosed herein.

[0130] The above description is to illustrate and describe the technical solutions of the present application. In addition, this description is not intended to limit the embodiments of the present application within the scope disclosed above. Although a number of example aspects and embodiments have been discussed above, other variants, modifications, changes, additions and sub-combinations can be easily obtained by those skilled in the art based on the above.

[0131] It should be noted that in the description of the present application, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0132] The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and the like made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: identifying a trigger event and determining that the trigger event meets a condition for taking over control of a vehicle by a human; controlling at least two haptic perception devices on the vehicle to work to generate at least two haptic perception prompts for the user to take over control of the vehicle.

2. The vehicle control method according to claim 1, characterized by, The control of the at least two haptic perception devices on the vehicle comprises: determining, according to semantic information of the trigger event, a haptic perception intensity corresponding to the trigger event, wherein the semantic information is used to represent a feature of the trigger event, and the haptic perception intensity is used to represent an intensity of haptic perception that can be perceived by the user; controlling, based on the haptic perception intensity, the at least two haptic perception devices to generate haptic perception prompts of corresponding intensity for the user to take over control of the vehicle.

3. The vehicle control method according to claim 2, characterized by, The determination of the haptic perception intensity corresponding to the trigger event according to the semantic information of the trigger event comprises: determining, based on the semantic information of the trigger event, the haptic perception intensity corresponding to the trigger event by a semantic coding module, wherein the semantic coding module is used to establish a mapping relationship between the semantic information of the trigger event and the haptic perception intensity.

4. The vehicle control method according to claim 3, characterized by, The semantic information of the trigger event comprises a type of the trigger event, a risk level of the trigger event, a relative position of the trigger event, and a time distance of the trigger event, and the determination of the haptic perception intensity corresponding to the trigger event based on the semantic information of the trigger event by the semantic coding module comprises: determining the time distance of the trigger event and the risk level of the trigger event according to the type of the trigger event and the relative position of the trigger event; determining the haptic perception intensity corresponding to the trigger event based on the type of the trigger event, the risk level of the trigger event, the relative position of the trigger event, and the time distance of the trigger event by the semantic coding module.

5. The vehicle control method according to claim 4, characterized by The risk level of the trigger event comprises at least three risk levels, and the higher the risk level is, the greater the haptic perception intensity generated by the at least two haptic perception devices is.

6. The vehicle control method according to claim 1, characterized by The method further comprises: obtaining initial semantic information of the trigger event, and determining the semantic information of the trigger event according to the initial semantic information of the trigger event; constructing a mapping relationship between the semantic information of the trigger event and the haptic perception intensity according to the semantic information of the trigger event.

7. The vehicle control method according to any one of claims 1 to 6, characterized by, The at least two haptic perception devices comprise at least two of a vibration perception device, a temperature perception device, and a deformation perception device, and the at least two haptic perception devices are arranged on a steering wheel of the vehicle and / or a seat of the vehicle.

8. The vehicle control method according to claim 1, characterized by The method further comprises: controlling a driving device to cause the steering wheel of the vehicle to assume different forms according to different driving modes of the vehicle.

9. The vehicle control method according to claim 1, characterized by, The method further comprises: evaluating a current takeover readiness of the user based on a preset takeover readiness evaluation rule, wherein the takeover readiness is used to represent a degree of completion of preparation work for the user to take over control of the vehicle; when the takeover readiness is greater than a readiness threshold, transferring control of the vehicle to the user.

10. The vehicle control method according to claim 9, characterized by The artificial takeover readiness evaluation rule realizes evaluation of the artificial takeover readiness of the user based on the steering wheel grip strength of the user's hand and the user's visual line regression.

11. The vehicle control method according to claim 10, characterized by, The artificial takeover readiness evaluation rule is an artificial takeover readiness evaluation formula, and evaluation of the artificial takeover readiness of the user is realized through the artificial takeover readiness evaluation formula. wherein, a readiness to take over manually, a grip strength of the user's hand on the steering wheel, a time of a return of the user's gaze.

12. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the vehicle control method in any one of claims 1 to 11.

13. A vehicle characterized by comprising: The vehicle comprises at least two kinds of tactile perception devices, a memory and a controller, wherein, The memory is used to store executable instructions of the controller; The controller is used to execute the vehicle control method in any one of claims 1 to 11 to control the operation of the at least two kinds of tactile perception devices.

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