Vehicle takeover reminding method, device and equipment, vehicle, medium and program product

Abstract

The invention provides a vehicle takeover reminding method, device and equipment, a vehicle, a medium and a program product. According to the method, driving scene data and driver state data are obtained when the current moment reaches a take-over reminding moment, and then the scene critical level is determined according to the driving scene data; and determining a driver alertness level according to the driver state data. And after a takeover reminding level is determined according to the scene critical level and the driver alertness level, takeover reminding is carried out through at least one of various reminding devices in the vehicle according to a reminding strategy corresponding to the takeover reminding level. According to the scheme, the takeover reminding level is determined according to the driving scene data and the driver state data, reminding is carried out through various reminding devices in the vehicle according to the takeover reminding level, and the reminding success rate is effectively increased.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle takeover alert method, device, equipment, vehicle, medium, and program product. Background Technology

[0002] With the continuous development of technology, driver assistance systems (ADAS) are being used in more and more vehicles. ADAS can undertake dynamic driving tasks within a defined Operational Design Domain (ODD). In case of an emergency or when the vehicle is outside its ODD, the driver needs to be alerted to take over the vehicle promptly.

[0003] In existing technologies, the usual method for reminding drivers is to play a prompt tone through a speaker when it is detected that the driver needs to take over the vehicle.

[0004] In summary, existing vehicle takeover alert methods, which only use a speaker to play a prompt tone to alert the driver to take over the vehicle, result in a low success rate. Summary of the Invention

[0005] The vehicle takeover reminder method, apparatus, equipment, vehicle, medium, and program products provided in this application are intended to solve the problem of low success rate in the prior art, which only uses a speaker to play a prompt tone to remind the driver to take over the vehicle.

[0006] In a first aspect, embodiments of this application provide a vehicle takeover alert method, including:

[0007] When the takeover reminder time is reached at the current moment, acquire driving scenario data and driver status data;

[0008] Based on the driving scenario data, the severity level of the scenario is determined;

[0009] Based on the driver status data, the driver's alertness level is determined;

[0010] The takeover alert level is determined based on the severity level of the scenario and the driver's alertness level.

[0011] According to the alert strategy corresponding to the takeover alert level, a takeover alert is issued through at least one of multiple alert devices in the vehicle.

[0012] In one possible implementation, the driving scenario data includes at least one of collision duration, obstacle distance, road curvature, and weather visibility;

[0013] The driver status data includes at least one of the following: gaze deviation angle, eyelid closure degree, head turning angle, hand position on the steering wheel, and grip strength.

[0014] In one possible implementation, the multiple alert devices include a speaker, a display device, an aromatherapy device, a seat vibration motor array, a steering wheel vibration motor, and a seatbelt tensioning device.

[0015] In one possible implementation, determining the scenario urgency level based on the driving scenario data includes:

[0016] Based on each first data point in the driving scenario data and the first preset scoring strategy, determine the first data score corresponding to each first data point;

[0017] Calculate the scenario urgency score based on the first data score corresponding to each first data point and the first preset weight corresponding to each first data point;

[0018] Based on the preset correspondence between the crisis scoring range and the crisis level, the scenario crisis level corresponding to the scenario crisis score is determined.

[0019] In one possible implementation, determining the driver alertness level based on the driver state data includes:

[0020] Based on each second data point in the driver status data and the second preset scoring strategy, determine the second data score corresponding to each second data point;

[0021] Calculate the alertness score based on the second data score corresponding to each second data point and the second preset weight corresponding to each second data point;

[0022] Based on the preset correspondence between alertness scoring range and alertness level, the driver's alertness level corresponding to the alertness score is determined.

[0023] In one possible implementation, the scenario urgency level is Level 1, Level 2, or Level 3, and the driver alertness level is Level 1, Level 2, Level 3, or Level 4.

[0024] The scenario's urgency level and the driver's alertness level determine the takeover alert level, including:

[0025] If the driver's alertness level is level four, then the takeover alert level is determined to be level one;

[0026] If the scenario urgency level is Level 1 and the driver alertness level is Level 2 or Level 3, then the takeover alert level is determined to be Level 2.

[0027] If the scenario urgency level is Level 2 and the driver alertness level is Level 3, then the takeover alert level is determined to be Level 3.

[0028] If the scenario urgency level is Level 2 and the driver's alertness level is Level 2, then the takeover alert level is determined to be Level 4.

[0029] If the scenario urgency level is Level 3 and the driver's alertness level is Level 2 or Level 3, then the takeover alert level is determined to be Level 5.

[0030] If the driver's alertness level is Level 1, then the takeover alert level is determined to be Level 6.

[0031] In one possible implementation, if the takeover alert level is level one, the alert strategy corresponding to the takeover alert level is: controlling the speaker to operate according to the first volume, or controlling the display device to operate according to the first flashing frequency;

[0032] If the takeover alert level is level two, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, and control the display device to operate according to the first flashing frequency;

[0033] If the takeover alert level is level three, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, and control the fragrance device to operate once;

[0034] If the takeover alert level is level four, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the fragrance device to operate according to the preset release frequency, and control the seat belt tightening device to operate once;

[0035] If the takeover alert level is level five, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the seat vibration motor array to operate according to the first vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the first vibration intensity and the first preset vibration frequency, and control the seat belt tightening device to operate according to the first preset tightening frequency.

[0036] If the takeover alert level is level six, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the second volume, control the display device to operate according to the second flashing frequency, control the seat vibration motor array to operate according to the second vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the second vibration intensity and the second preset vibration frequency, and control the seat belt tightening device to operate according to the second preset tightening frequency.

[0037] Wherein, the second volume is greater than the first volume, the second flashing frequency is greater than the first flashing frequency, the second vibration intensity is greater than the first vibration intensity, the second preset vibration frequency is greater than the first preset vibration frequency, and the second preset tightening frequency is greater than the first preset tightening frequency.

[0038] In one possible implementation, if the takeover alert level is not level one, the method further includes:

[0039] The reminder duration is determined based on at least one of the scenario urgency level and the driver alertness level; the reminder duration is inversely proportional to the scenario urgency level and directly proportional to the driver alertness level.

[0040] Based on the reminder duration and the current time, determine the new takeover reminder time.

[0041] In one possible implementation, the method further includes:

[0042] Update reminder count;

[0043] Based on the collision duration, the driver's alertness level, the number of updated alerts, and the acquired vehicle malfunction information, if the preset active takeover conditions are determined to be met, the vehicle will be stopped and an alarm will be triggered.

[0044] Secondly, embodiments of this application provide a vehicle takeover warning device, comprising:

[0045] The acquisition module is used to acquire driving scenario data and driver status data when the takeover reminder time is reached at the current time;

[0046] Processing module, used for:

[0047] Based on the driving scenario data, the severity level of the scenario is determined;

[0048] Based on the driver status data, the driver's alertness level is determined;

[0049] The takeover alert level is determined based on the severity level of the scenario and the driver's alertness level.

[0050] The reminder module is used to issue a takeover reminder through at least one of a variety of reminder devices in the vehicle, according to the reminder strategy corresponding to the takeover reminder level.

[0051] Thirdly, embodiments of this application provide an electronic device, including:

[0052] Processor, memory, communication interface;

[0053] The memory is used to store the executable instructions of the processor;

[0054] The processor is configured to execute the vehicle takeover alert method according to any one of the first aspects by executing the executable instructions.

[0055] Fourthly, embodiments of this application provide a vehicle, including a controller;

[0056] The controller is used to execute the vehicle takeover alert method described in any of the first aspects above.

[0057] Fifthly, embodiments of this application provide a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle takeover alert method described in any of the first aspects.

[0058] Sixthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle takeover reminder method described in any of the first aspects.

[0059] The vehicle takeover alert method, device, equipment, vehicle, medium, and program product provided in this application acquire driving scenario data and driver status data when the takeover alert time is reached. Based on the driving scenario data, the scenario urgency level is determined; based on the driver status data, the driver alertness level is determined. Then, based on the scenario urgency level and the driver alertness level, a takeover alert level is determined. Finally, according to the alert strategy corresponding to the takeover alert level, a takeover alert is issued through at least one of multiple alert devices in the vehicle. This solution effectively improves the alert success rate by determining the takeover alert level based on driving scenario data and driver status data, and then issuing alerts through multiple alert devices in the vehicle based on the takeover alert level. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0061] Figure 1 A flowchart illustrating an embodiment of the vehicle takeover alert method provided in this application;

[0062] Figure 2 A flowchart illustrating Embodiment 2 of the vehicle takeover alert method provided in this application;

[0063] Figure 3 This is a schematic diagram of the structure of an embodiment of the vehicle takeover warning device provided in this application;

[0064] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application.

[0065] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0066] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0067] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0068] With the continuous development of technology, driver assistance systems (ADAS) are being used in more and more vehicles. ADAS can undertake dynamic driving tasks within a defined Operational Design Domain (ODD). In case of an emergency or when the vehicle is outside its ODD, the driver needs to be alerted to take over the vehicle promptly.

[0069] The design operating domain refers to the vehicle's operating conditions, such as road type, speed range, weather conditions, and geographical region.

[0070] In existing technologies, the usual method for reminding drivers is to play a prompt tone through a speaker when the system detects a need for the driver to take over the vehicle. However, if the driver is not paying attention or the interior environment is noisy, the driver may not be able to hear the prompt tone, resulting in a low success rate of the reminder.

[0071] To address the problems existing in the prior art, the inventors, during their research on vehicle takeover warning methods, discovered that to improve the success rate of warnings, a takeover warning level can be determined based on driving scenario data and driver status data. Then, according to the warning strategy corresponding to the level, takeover warnings can be issued via at least one of the following: a speaker, a display device, an aromatherapy device, a seat vibration motor array, a steering wheel vibration motor, and a seatbelt pretensioner. Based on the above inventive concept, the vehicle takeover warning scheme of this application was designed.

[0072] The vehicle takeover reminder method in this application can be implemented by a controller in the vehicle, or by an in-vehicle terminal, server, computer, etc. This application does not limit it. The following explanation uses a controller as an example.

[0073] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0074] The following provides an example of the application scenarios for the vehicle takeover alert method provided in this application.

[0075] For example, in this application scenario, when a driver is driving a vehicle on the road and the vehicle encounters an emergency, the controller detects that a takeover alert is needed and uses the current moment as the takeover alert time.

[0076] The controller then acquires driving scenario data and driver status data. The driving scenario data includes at least one of the following: collision duration, obstacle distance, road curvature, and weather visibility. The driver status data includes at least one of the following: gaze deviation angle, eyelid closure, head turning angle, hand position on the steering wheel, and grip strength.

[0077] Then, based on the driving scenario data, the urgency level of the scenario is determined; based on the driver's state data, the driver's alertness level is determined.

[0078] Then, the controller determines the takeover alert level based on the urgency level of the scenario and the driver's alertness level. Based on the alert strategy corresponding to the takeover alert level, it sends a takeover alert through at least one of the following: a speaker, a display device, an aromatherapy device, a seat vibration motor array, a steering wheel vibration motor, and a seat belt tightening device.

[0079] It should be noted that the above scenario is only a schematic diagram of an application scenario provided by the embodiments of this application. The embodiments of this application do not limit the actual form of the various devices included in the scenario, nor do they limit the interaction method between devices. In the specific application of the solution, it can be set according to actual needs.

[0080] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0081] Figure 1 This is a flowchart illustrating an embodiment of the vehicle takeover alert method provided in this application. This embodiment describes how, when the controller reaches the takeover alert time, it acquires driving scenario data and driver status data, determines the takeover alert level, and then issues a takeover alert through multiple devices in the vehicle based on the level. The method in this embodiment can be implemented through software, hardware, or a combination of both. Figure 1 As shown, the vehicle takeover alert method specifically includes the following steps:

[0082] S101: When the takeover reminder time is reached at the current moment, obtain driving scenario data and driver status data.

[0083] When a takeover alert is required, the controller will determine the alert time. A takeover alert will be issued once the current time reaches each required takeover alert time.

[0084] In this step, when the takeover reminder time is reached at the current moment, a takeover reminder needs to be issued, which requires obtaining driving scenario data and driver status data first.

[0085] The driving scenario data includes at least one of collision duration, obstacle distance, road curvature, and weather visibility, while the driver state data includes at least one of line-of-sight deviation angle, eyelid closure, head turning angle, hand position on the steering wheel, and grip strength. The data in the driving scenario data is referred to as the first data in this application, and the data in the driver state data is referred to as the second data in this application.

[0086] It should be noted that the vehicle is equipped with various sensors, such as vehicle speed sensors, lidar, cameras capturing the external environment, cameras capturing the internal environment, torque sensors, and pressure sensors. The controller can determine driving scenario data and driver status data based on the sensor data. Alternatively, the controller can receive driving scenario data and driver status data sent by other devices.

[0087] S102: Determine the severity level of the scenario based on driving scenario data.

[0088] In this step, after the controller obtains driving scenario data and driver status data, it needs to determine the scenario urgency level based on the driving scenario data in order to determine how to issue a warning.

[0089] Specifically, based on each first data point in the driving scenario data and the first preset scoring strategy, the first data score corresponding to each first data point is determined.

[0090] The first preset scoring strategy includes the strategy corresponding to each first data point.

[0091] The strategy corresponding to the collision duration is: calculate the duration score based on the first preset formula and the collision duration.

[0092] The first preset formula is: .in, The duration score is represented by TTC, which indicates the collision duration. When TTC is greater than 5 seconds, the probability of a collision is essentially zero, and the duration score is set to 0. When TTC is greater than 2 seconds and less than or equal to 5 seconds, the probability of a collision decreases linearly with increasing TTC, and the duration score decreases linearly from 0.6 to 0. When TTC is greater than or equal to 0 seconds and less than or equal to 2 seconds, the probability of a collision decreases exponentially with increasing TTC, and the duration score decreases exponentially from 1 to 0.6.

[0093] The strategy for obstacle distance is as follows: Based on the preset relationship between vehicle speed and safe distance, the safe distance corresponding to the current vehicle speed is determined. Then, a distance score is calculated based on the safe distance, obstacle distance, and a second preset formula. The higher the vehicle speed, the greater the safe distance.

[0094] The second preset formula is: .in, Indicates distance score, Indicates the distance to the obstacle. This represents the safe distance. When the distance to the obstacle is greater than the safe distance, the probability of the vehicle being in danger due to the obstacle is essentially zero, so the distance score is set to 0. When the distance to the obstacle is less than or equal to the safe distance, the probability of the vehicle being in danger due to the obstacle decreases linearly as the distance to the obstacle increases, and the distance score decreases linearly from 1 to 0.

[0095] The strategy for road curvature is as follows: Based on the preset correspondence between vehicle speed, tire adhesion, and safe curvature, the safe curvature corresponding to the current vehicle speed and current tire adhesion is determined. Then, based on the safe curvature, road curvature, preset curvature threshold, and a third preset formula, a curvature score is calculated. The higher the vehicle speed and the lower the tire adhesion, the smaller the corresponding safe curvature.

[0096] The third preset formula is: .in, Indicates curvature score. Indicates the curvature of the road. Indicates the safety curvature. This represents the preset curvature threshold. When the road curvature is less than the safe curvature, the probability of a vehicle being in danger due to curvature is essentially zero, so the curvature score is set to 0. When the road curvature is greater than or equal to the safe curvature, the probability of a vehicle being in danger due to curvature increases linearly with the increase of road curvature, and the curvature score increases linearly from 0 to 1.

[0097] It should be noted that the preset curvature thresholds of 0.2 rad / m, 0.1 rad / m, 0.05 rad / m, etc. are not limited in this application embodiment and can be determined according to the actual situation.

[0098] The strategy corresponding to weather visibility is as follows: calculate the visibility score based on the fourth preset formula and the weather visibility.

[0099] The fourth preset formula is: .in, The visibility score is represented by V, where V represents the weather visibility. When the weather visibility is greater than 200 meters, the probability of a vehicle being in danger due to poor weather visibility is essentially zero, and the visibility score is set to 0. When the weather visibility is greater than 50 meters and less than or equal to 200 meters, the probability of a vehicle being in danger due to poor weather visibility decreases linearly as the weather visibility increases, and the visibility score decreases linearly from 0.7 to 0. When the weather visibility is greater than 0 meters and less than or equal to 50 meters, the probability of a vehicle being in danger due to poor weather visibility decreases exponentially as the weather visibility increases, and the visibility score decreases exponentially from 1 to 0.7.

[0100] After the controller obtains the first data score corresponding to each first data, it calculates the scene urgency score based on the first data score corresponding to each first data and the first preset weight corresponding to each first data.

[0101] That is, the criticality score of the scene is obtained by weighted summation based on the first data score and the first preset weight corresponding to each first data.

[0102] It should be noted that the first preset weight can be 0.1, 0.2, 0.3, 0.4, 0.6, 0.7, 0.8, 0.9, etc. The embodiments of this application do not limit the first preset weight, which can be determined according to the actual situation.

[0103] Then, based on the pre-defined correspondence between the crisis scoring range and the crisis level, the scenario crisis level corresponding to the scenario crisis score is determined. First, the crisis scoring range to which the scenario crisis score belongs is determined, and then the crisis level corresponding to that crisis scoring range is taken as the scenario crisis level. The scenario crisis level is Level 1, Level 2, or Level 3, with higher levels indicating greater urgency.

[0104] For example, when the critical score range is [0, 0.3), the corresponding critical level is Level 1; when the critical score range is [0.3, 0.7), the corresponding critical level is Level 2; and when the critical score range is [0.7, 1], the corresponding critical level is Level 3.

[0105] S103: Determine the driver's alertness level based on driver status data.

[0106] In this step, after the controller obtains driving scenario data and driver status data, it needs to determine the driver's alertness level based on the driver status data in order to determine how to issue a reminder.

[0107] Specifically, based on each second data point in the driver status data and the second preset scoring strategy, a second data score is determined for each second data point.

[0108] The second preset scoring strategy includes the strategy corresponding to each second data point.

[0109] The strategy corresponding to the line of sight deviation angle is: calculate the deviation angle score based on the fifth preset formula and the line of sight deviation angle.

[0110] The fifth preset formula is: .in, Indicates the deviation angle score. This indicates the angle of visual deviation. When the visual deviation angle is less than 5 degrees, the driver is highly alert, and the deviation angle score is 1. When the visual deviation angle is greater than or equal to 5 degrees but less than 15 degrees, the driver's alertness decreases, and alertness decreases linearly with the increase of the visual deviation angle. When the visual deviation angle is greater than or equal to 15 degrees but less than 30 degrees, the driver's alertness decreases again, and alertness decreases linearly with the increase of the visual deviation angle. When the visual deviation angle is greater than or equal to 30 degrees, the driver's alertness is basically lost, and the deviation angle score is 0.

[0111] The strategy corresponding to eyelid closure degree is as follows: calculate the eyelid closure score based on the sixth preset formula and the eyelid closure degree.

[0112] The sixth preset formula is: .in, Indicates eyelid closure score, This indicates the degree of eyelid closure. When the eyelid closure degree is less than 0.1, the driver is highly alert, and the eyelid closure score is 1. When the eyelid closure degree is greater than or equal to 0.1 and less than 0.15, the driver's alertness decreases, and alertness decreases linearly with increasing eyelid closure degree; when the eyelid closure degree is greater than or equal to 0.15, the driver's alertness decreases again, and alertness decreases exponentially with increasing eyelid closure degree.

[0113] The strategy corresponding to the head turning angle is: calculate the head turning score based on the seventh preset formula and the head turning angle.

[0114] The seventh preset formula is: .in, Indicates head turning score, This indicates the head steering angle. When the head steering angle is greater than or equal to 0 degrees and less than 5 degrees, the driver is highly alert, and the head steering score is 1. When the head steering angle is greater than or equal to 5 degrees and less than 60 degrees, the driver's alertness is significantly reduced, and alertness decreases linearly as the head steering angle increases. When the head steering angle is greater than or equal to 60 degrees, the driver's alertness is essentially lost, and the head steering score is 0.

[0115] The strategy for determining the hand position and grip strength on the steering wheel is as follows: if the hand position is within the specified range, the position score is set to 0.5; if the hand position is outside the specified range, the position score is set to 0. If the grip strength is greater than the grip strength threshold, the grip strength score is set to 0.5; if the grip strength is less than or equal to the grip strength threshold, the grip strength score is set to 0. The position score and grip strength score are added together to obtain the hand operation score.

[0116] It should be noted that the position range can be the range corresponding to the three o'clock or nine o'clock position of the steering wheel. Grip strength and grip strength threshold can be characterized by torque. The grip strength threshold can be 0.5 Nm, 1 Nm, 1.5 Nm, etc. This application embodiment does not limit the position range and grip strength threshold, which can be determined according to the actual situation.

[0117] After the controller obtains the second data score corresponding to each second data point, it calculates the alertness score based on the second data score corresponding to each second data point and the second preset weight corresponding to each second data point.

[0118] That is, the alertness score is obtained by weighted summation based on the second data score and the second preset weight corresponding to each second data point.

[0119] It should be noted that the second preset weight can be 0.1, 0.2, 0.3, 0.4, 0.6, 0.7, 0.8, 0.9, etc. The embodiments of this application do not limit the second preset weight, which can be determined according to the actual situation.

[0120] Then, based on the pre-defined correspondence between alertness scoring ranges and alertness levels, the driver's alertness level corresponding to the alertness score is determined. First, the alertness scoring range to which the alertness score belongs is determined, and then the alertness level corresponding to that range is used as the driver's alertness level. The driver's alertness level is either Level 1, Level 2, Level 3, or Level 4. A higher level indicates a higher level of driver alertness.

[0121] For example, when the alertness score ranges from [0, 0.1), the corresponding alertness level is Level 1; when the alertness score ranges from [0.1, 0.4), the corresponding alertness level is Level 2; when the alertness score ranges from [0.4, 0.8), the corresponding alertness level is Level 3; and when the alertness score ranges from [0.8, 1], the corresponding alertness level is Level 4.

[0122] It should be noted that the execution order of steps S102 and S103 can be: step S102 is executed first, then step S103; step S103 is executed first, then step S102; or step S102 and step S103 are executed simultaneously. This embodiment does not limit the execution order of steps S102 and S103, and it can be determined according to the actual situation.

[0123] S104: Determine the takeover alert level based on the severity of the scenario and the driver's alertness level.

[0124] In this step, after obtaining the scenario urgency level and the driver's alertness level, the controller determines the takeover alert level based on these parameters. A higher takeover alert level results in more diverse alert methods and a greater level of alert.

[0125] Specifically, if the driver's alertness level is Level 4, then the takeover alert level is determined to be Level 1.

[0126] If the scenario's urgency level is Level 1 and the driver's alertness level is Level 2 or 3, then the takeover alert level is determined to be Level 2.

[0127] If the scenario's urgency level is Level 2 and the driver's alertness level is Level 3, then the takeover alert level is determined to be Level 3.

[0128] If the scenario's urgency level is Level 2 and the driver's alertness level is Level 2, then the takeover alert level is determined to be Level 4.

[0129] If the scenario's urgency level is Level 3 and the driver's alertness level is Level 2 or 3, then the takeover alert level is determined to be Level 5.

[0130] If the driver's alertness level is Level 1, then the takeover alert level is set to Level 6.

[0131] S105: Based on the alert strategy corresponding to the takeover alert level, a takeover alert is issued through at least one of the multiple alert devices in the vehicle.

[0132] In this step, after the controller determines the takeover alert level, it sends a takeover alert through at least one of the various alert devices in the vehicle according to the alert strategy corresponding to the takeover alert level.

[0133] The various reminder devices include speakers, display devices, fragrance devices, seat vibration motor arrays, steering wheel vibration motors, and seat belt tightening devices.

[0134] Specifically, if the takeover alert level is Level 1, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, or control the display device to operate according to the first flashing frequency.

[0135] If the takeover alert level is Level 2, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume level, and control the display device to operate according to the first flashing frequency.

[0136] If the takeover alert level is level three, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, and control the fragrance device to operate once.

[0137] If the takeover alert level is level four, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the fragrance device to operate according to the preset release frequency, and control the seat belt tightening device to operate once.

[0138] It should be noted that the preset release frequency can be 3Hz, 4Hz, 5Hz, etc. This application embodiment does not limit the preset release frequency, and it can be determined according to the actual situation.

[0139] If the takeover alert level is Level 5, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the seat vibration motor array to operate according to the first vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the first vibration intensity and the first preset vibration frequency, and control the seat belt tightening device to operate according to the first preset tightening frequency.

[0140] It should be noted that the preset vibration sequence can be the order of the vibration motors from the bottom to the middle of the seat.

[0141] If the takeover alert level is Level 6, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the second volume, control the display device to operate according to the second flashing frequency, control the seat vibration motor array to operate according to the second vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the second vibration intensity and the second preset vibration frequency, and control the seat belt tightening device to operate according to the second preset tightening frequency.

[0142] Among them, the second volume is greater than the first volume, the second flashing frequency is greater than the first flashing frequency, the second vibration intensity is greater than the first vibration intensity, the second preset vibration frequency is greater than the first preset vibration frequency, and the second preset tightening frequency is greater than the first preset tightening frequency.

[0143] Volume can be represented as a percentage; the first volume can be 30%, 40%, 50%, etc., and the second volume can be 70%, 80%, 100%, etc. Vibration intensity can also be represented as a percentage; the first vibration intensity can be 30%, 40%, 50%, etc., and the second vibration intensity can be 70%, 80%, 100%, etc. The first flashing frequency, the first preset vibration frequency, and the first preset tightening frequency can be 2Hz, 3Hz, 4Hz, etc., and the second flashing frequency, the second preset vibration frequency, and the second preset tightening frequency can be 5Hz, 7Hz, 10Hz, etc. This application does not limit the second volume, the first volume, the second flashing frequency, the first flashing frequency, the second vibration intensity, the first vibration intensity, the second preset vibration frequency, the first preset vibration frequency, the second preset tightening frequency, or the first preset tightening frequency; these can be determined according to actual conditions.

[0144] It should be noted that when the takeover alert level is Level 1, the driver is highly alert and can quickly take over the vehicle. Therefore, only one alert is needed, and no further alerts are required to avoid excessive interference with the driver. One alert refers to: playing a prompt message once through a speaker controlled by a first volume level, or emitting a prompt light through a display device controlled by a first flashing frequency for a preset duration. The preset duration can be 1 second, 2 seconds, 3 seconds, etc. This embodiment does not limit the preset duration and can be determined according to actual conditions.

[0145] It should be noted that if the takeover alert level is not Level 1, it indicates that the driver's alertness is low and further alerts are needed. In order to match the alert timing with the scenario and the driver's alertness, the controller also determines the alert duration based on at least one of the scenario's urgency level and the driver's alertness level. The alert duration is inversely proportional to the scenario's urgency level and directly proportional to the driver's alertness level.

[0146] The system can determine the alert duration corresponding to a scenario's critical level based on a preset correspondence between critical levels and duration. It can also determine the alert duration corresponding to a driver's alertness level based on a preset correspondence between alertness levels and duration. Furthermore, it can determine the alert duration corresponding to both the scenario's critical level and the driver's alertness level based on preset correspondences between critical levels, alertness levels, and duration.

[0147] Then, based on the reminder duration and the current time, a new takeover reminder time is determined. That is, the reminder duration is added to the current time to obtain the new takeover reminder time.

[0148] Subsequently, when a new takeover alert time is reached, a new takeover alert level will be determined based on the new driving scenario data and the new driver status data, and an alert will be issued according to the alert strategy corresponding to the new takeover alert level; if the new takeover alert level is not level one, the above process will be repeated until the new takeover alert level is level one.

[0149] It should be noted that when the controller determines that a takeover alert is required, that is, when the first alert is required, the current time will be used as the takeover alert time.

[0150] The vehicle takeover alert method provided in this embodiment acquires driving scenario data and driver status data when the takeover alert time is reached. Based on the driving scenario data, it determines the scenario urgency level; based on the driver status data, it determines the driver alertness level. Then, based on the scenario urgency level and the driver alertness level, it determines the takeover alert level and, according to the alert strategy corresponding to the takeover alert level, issues a takeover alert through at least one of multiple alert devices in the vehicle. This solution, by determining the takeover alert level based on driving scenario data and driver status data, and then issuing alerts through multiple alert devices in the vehicle based on the takeover alert level, effectively improves the alert success rate, enhances driving safety, and improves the matching degree between the takeover alert and the driving environment and driver status.

[0151] Figure 2 This is a flowchart illustrating a second embodiment of the vehicle takeover alert method provided in this application. Based on the above embodiments, this application describes the situation where the controller stops the vehicle and issues an alarm when it determines that the preset active takeover conditions are met. Figure 2 As shown, the vehicle takeover alert method specifically includes the following steps:

[0152] S201: Update reminder count.

[0153] In this step, in order to determine whether it is necessary to actively take over the vehicle to stop and issue an alarm, the controller needs to update the reminder count after each reminder, that is, to increment the reminder count by one to obtain the updated reminder count.

[0154] S202: Based on the collision duration, driver alertness level, number of updated alerts, and acquired vehicle fault information, if the preset active takeover conditions are determined to be met, control the vehicle to stop and issue an alarm.

[0155] In this step, after receiving the updated number of alerts, the controller, based on the collision duration, driver alertness level, updated number of alerts, and acquired vehicle fault information, determines that the preset active takeover conditions are met, and then controls the vehicle to stop and issues an alarm.

[0156] The pre-set conditions for proactive takeover include the first condition, the second condition, the third condition, and the fourth condition.

[0157] The pre-defined conditions for active takeover are: at least one of the first, second, third, and fourth conditions is met.

[0158] The first condition is: the collision duration is less than the preset collision duration threshold.

[0159] It should be noted that the preset collision duration threshold can be 0.4 seconds, 0.5 seconds, 0.7 seconds, etc. This application embodiment does not limit the preset collision duration threshold, which can be determined according to the actual situation.

[0160] The second condition is: the driver's alertness level is level four.

[0161] The third condition is: the number of reminders after the update is greater than the preset threshold.

[0162] It should be noted that the preset number of times threshold can be 2, 3, 4, etc. This application embodiment does not limit the preset number of times threshold, and it can be determined according to the actual situation.

[0163] The fourth condition is: vehicle fault information indicates a vehicle fault.

[0164] The first condition being met indicates an impending collision, requiring the vehicle to be brought to a stop and a warning signal to be issued. The second condition being met indicates a near-complete loss of driver alertness, requiring the vehicle to be brought to a stop and a warning signal to be issued. The third condition being met indicates the driver has failed to regain high alertness after multiple warnings, requiring the vehicle to be brought to a stop and a warning signal to be issued. The fourth condition being met indicates the vehicle may be out of control, requiring the vehicle to be brought to a stop and a warning signal to be issued.

[0165] The vehicle takeover alert method provided in this embodiment improves driving safety by controlling the vehicle to stop and issuing an alarm when preset active takeover conditions are met.

[0166] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0167] Figure 3 This is a schematic diagram of the structure of an embodiment of the vehicle takeover warning device provided in this application. Figure 3 As shown, the vehicle takeover warning device 30 includes:

[0168] The acquisition module 31 is used to acquire driving scenario data and driver status data when the takeover reminder time is reached at the current time.

[0169] Processing module 32 is used for:

[0170] Determine the severity level of the scenario based on driving scenario data;

[0171] Determine the driver's alertness level based on driver status data;

[0172] The takeover alert level is determined based on the severity of the scenario and the driver's level of alertness.

[0173] The reminder module 33 is used to issue a takeover reminder through at least one of a variety of reminder devices in the vehicle, according to the reminder strategy corresponding to the takeover reminder level.

[0174] Furthermore, driving scenario data includes at least one of the following: collision duration, obstacle distance, road curvature, and weather visibility;

[0175] Driver status data includes at least one of the following: gaze deviation angle, eyelid closure, head turning angle, hand position on the steering wheel, and grip strength.

[0176] Furthermore, various reminder devices include speakers, display devices, fragrance devices, seat vibration motor arrays, steering wheel vibration motors, and seat belt tensioners.

[0177] Furthermore, processing module 32 is specifically used for:

[0178] Based on each first data point in the driving scenario data and the first preset scoring strategy, determine the first data score corresponding to each first data point;

[0179] Calculate the scenario urgency score based on the first data score corresponding to each first data point and the first preset weight corresponding to each first data point;

[0180] Based on the pre-defined correspondence between the criticality scoring range and the criticality level, the criticality level of the scenario corresponding to the criticality score is determined.

[0181] Furthermore, processing module 32 is specifically used for:

[0182] Based on each second data point in the driver status data and the second preset scoring strategy, determine the second data score corresponding to each second data point;

[0183] Calculate the alertness score based on the second data score corresponding to each second data point and the second preset weight corresponding to each second data point;

[0184] Based on the pre-defined correspondence between alertness scoring ranges and alertness levels, the driver's alertness level corresponding to the alertness score is determined.

[0185] Furthermore, the scenario urgency level is Level 1, Level 2, or Level 3, and the driver's alertness level is Level 1, Level 2, Level 3, or Level 4; the processing module 32 is specifically used for:

[0186] If the driver's alertness level is Level 4, then the takeover alert level is determined to be Level 1;

[0187] If the scenario's urgency level is Level 1 and the driver's alertness level is Level 2 or Level 3, then the takeover alert level is determined to be Level 2.

[0188] If the scenario's urgency level is Level 2 and the driver's alertness level is Level 3, then the takeover alert level is determined to be Level 3.

[0189] If the scenario's urgency level is Level 2 and the driver's alertness level is Level 2, then the takeover alert level is determined to be Level 4.

[0190] If the scenario's urgency level is Level 3 and the driver's alertness level is Level 2 or 3, then the takeover alert level is determined to be Level 5.

[0191] If the driver's alertness level is Level 1, then the takeover alert level is set to Level 6.

[0192] Furthermore, if the takeover alert level is Level 1, the alert strategy corresponding to the takeover alert level is: to control the speaker to operate according to the first volume, or to control the display device to operate according to the first flashing frequency;

[0193] If the takeover alert level is Level 2, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume level, and control the display device to operate according to the first flashing frequency;

[0194] If the takeover alert level is level three, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, and control the fragrance device to operate once;

[0195] If the takeover alert level is level four, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the fragrance device to operate according to the preset release frequency, and control the seat belt tightening device to operate once;

[0196] If the takeover alert level is level five, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the seat vibration motor array to operate according to the first vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the first vibration intensity and the first preset vibration frequency, and control the seat belt tightening device to operate according to the first preset tightening frequency.

[0197] If the takeover alert level is level six, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the second volume, control the display device to operate according to the second flashing frequency, control the seat vibration motor array to operate according to the second vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the second vibration intensity and the second preset vibration frequency, and control the seat belt tightening device to operate according to the second preset tightening frequency.

[0198] Among them, the second volume is greater than the first volume, the second flashing frequency is greater than the first flashing frequency, the second vibration intensity is greater than the first vibration intensity, the second preset vibration frequency is greater than the first preset vibration frequency, and the second preset tightening frequency is greater than the first preset tightening frequency.

[0199] Furthermore, if the takeover alert level is not level one, processing module 32 is also used for:

[0200] The reminder duration is determined based on at least one of the scenario urgency level and the driver alertness level; the reminder duration is inversely proportional to the scenario urgency level and directly proportional to the driver alertness level.

[0201] Determine the new takeover reminder time based on the reminder duration and the current time.

[0202] Furthermore, the processing module 32 is also used for:

[0203] Update reminder count;

[0204] Based on the collision duration, driver alertness level, number of updated alerts, and acquired vehicle malfunction information, if the preset active takeover conditions are met, the vehicle will be brought to a stop and an alarm will be triggered.

[0205] The vehicle takeover reminder device provided in this embodiment is used to execute the technical solution in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0206] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 4 As shown, the electronic device 40 includes:

[0207] Processor 41, memory 42, and communication interface 43;

[0208] The memory 42 is used to store the executable instructions of the processor 41;

[0209] The processor 41 is configured to execute the technical solutions in any of the foregoing method embodiments by executing executable instructions.

[0210] Optionally, the memory 42 can be either standalone or integrated with the processor 41.

[0211] Optionally, when the memory 42 is a device independent of the processor 41, the electronic device 40 may further include:

[0212] Bus 44, memory 42 and communication interface 43 are connected to processor 41 through bus 44 and complete communication with each other. Communication interface 43 is used to communicate with other devices.

[0213] Optionally, the communication interface 43 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0214] Bus 44 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0215] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0216] The electronic device is used to execute the technical solutions in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0217] This application also provides a vehicle, which includes a controller.

[0218] The controller is used to execute the technical solutions in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0219] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the technical solutions provided in any of the foregoing method embodiments.

[0220] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in any of the foregoing method embodiments.

[0221] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0222] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle takeover alert method, characterized in that, include: When the takeover reminder time is reached at the current moment, acquire driving scenario data and driver status data; Based on the driving scenario data, the severity level of the scenario is determined; Based on the driver status data, the driver's alertness level is determined; The takeover alert level is determined based on the severity level of the scenario and the driver's alertness level. According to the alert strategy corresponding to the takeover alert level, a takeover alert is issued through at least one of multiple alert devices in the vehicle.

2. The method according to claim 1, characterized in that, The driving scenario data includes at least one of the following: collision duration, obstacle distance, road curvature, and weather visibility; The driver status data includes at least one of the following: gaze deviation angle, eyelid closure degree, head turning angle, hand position on the steering wheel, and grip strength.

3. The method according to claim 1, characterized in that, The various reminder devices include speakers, display devices, fragrance devices, seat vibration motor arrays, steering wheel vibration motors, and seat belt tightening devices.

4. The method according to claim 1, characterized in that, The step of determining the severity level of a driving scenario based on the driving scenario data includes: Based on each first data point in the driving scenario data and the first preset scoring strategy, determine the first data score corresponding to each first data point; Calculate the scenario urgency score based on the first data score corresponding to each first data point and the first preset weight corresponding to each first data point; Based on the preset correspondence between the crisis scoring range and the crisis level, the scenario crisis level corresponding to the scenario crisis score is determined.

5. The method according to claim 1, characterized in that, Determining the driver's alertness level based on the driver's state data includes: Based on each second data point in the driver status data and the second preset scoring strategy, determine the second data score corresponding to each second data point; Calculate the alertness score based on the second data score corresponding to each second data point and the second preset weight corresponding to each second data point; Based on the preset correspondence between alertness scoring range and alertness level, the driver's alertness level corresponding to the alertness score is determined.

6. The method according to claim 1, characterized in that, The scenario is classified as Level 1, Level 2, or Level 3, and the driver's alertness level is classified as Level 1, Level 2, Level 3, or Level 4. The scenario's urgency level and the driver's alertness level determine the takeover alert level, including: If the driver's alertness level is level four, then the takeover alert level is determined to be level one; If the scenario urgency level is Level 1 and the driver alertness level is Level 2 or Level 3, then the takeover alert level is determined to be Level 2. If the scenario urgency level is Level 2 and the driver alertness level is Level 3, then the takeover alert level is determined to be Level 3. If the scenario urgency level is Level 2 and the driver's alertness level is Level 2, then the takeover alert level is determined to be Level 4. If the scenario urgency level is Level 3 and the driver's alertness level is Level 2 or Level 3, then the takeover alert level is determined to be Level 5. If the driver's alertness level is Level 1, then the takeover alert level is determined to be Level 6.

7. The method according to claim 6, characterized in that, If the takeover alert level is Level 1, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, or control the display device to operate according to the first flashing frequency; If the takeover alert level is level two, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, and control the display device to operate according to the first flashing frequency; If the takeover alert level is level three, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, and control the fragrance device to operate once; If the takeover alert level is level four, the alert strategy corresponding to the takeover alert level is: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the fragrance device to operate according to the preset release frequency, and control the seat belt tightening device to operate once; If the takeover alert level is level five, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the first volume, control the display device to operate according to the first flashing frequency, control the seat vibration motor array to operate according to the first vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the first vibration intensity and the first preset vibration frequency, and control the seat belt tightening device to operate according to the first preset tightening frequency. If the takeover alert level is level six, the alert strategy corresponding to the takeover alert level is as follows: control the speaker to operate according to the second volume, control the display device to operate according to the second flashing frequency, control the seat vibration motor array to operate according to the second vibration intensity and the preset vibration sequence, control the steering wheel vibration motor to operate according to the second vibration intensity and the second preset vibration frequency, and control the seat belt tightening device to operate according to the second preset tightening frequency. Wherein, the second volume is greater than the first volume, the second flashing frequency is greater than the first flashing frequency, the second vibration intensity is greater than the first vibration intensity, the second preset vibration frequency is greater than the first preset vibration frequency, and the second preset tightening frequency is greater than the first preset tightening frequency.

8. The method according to claim 6, characterized in that, If the takeover alert level is not level one, the method further includes: The reminder duration is determined based on at least one of the scenario urgency level and the driver alertness level; the reminder duration is inversely proportional to the scenario urgency level and directly proportional to the driver alertness level. Based on the reminder duration and the current time, determine the new takeover reminder time.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Update reminder count; Based on the collision duration, the driver's alertness level, the number of updated alerts, and the acquired vehicle malfunction information, if the preset active takeover conditions are determined to be met, the vehicle will be stopped and an alarm will be triggered.

10. A vehicle takeover warning device, characterized in that, include: The acquisition module is used to acquire driving scenario data and driver status data when the takeover reminder time is reached at the current time. Processing module, used for: Based on the driving scenario data, the severity level of the scenario is determined; Based on the driver status data, the driver's alertness level is determined; The takeover alert level is determined based on the severity level of the scenario and the driver's alertness level. The reminder module is used to issue a takeover reminder through at least one of a variety of reminder devices in the vehicle, according to the reminder strategy corresponding to the takeover reminder level.

11. An electronic device, characterized in that, include: Processor, memory, communication interface; The memory is used to store the executable instructions of the processor; The processor is configured to execute the vehicle takeover alert method according to any one of claims 1 to 9 by executing the executable instructions.

12. A vehicle, characterized in that, Including the controller; The controller is used to execute the vehicle takeover alert method according to any one of claims 1 to 9.

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

14. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, is used to implement the vehicle takeover alert method according to any one of claims 1 to 9.

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