Vehicle disability auxiliary control method and system, electronic equipment and storage medium

Abstract

The invention provides a vehicle disability auxiliary control method and system, electronic equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the following steps: obtaining multi-dimensional state information of a driver; determining respective risk characteristics of each piece of dimension state information according to the plurality of pieces of dimension state information; according to each risk feature, determining a risk contribution value corresponding to each piece of dimension state information; determining a safety factor according to each risk contribution value; and determining a vehicle disability auxiliary control level corresponding to the safety factor according to the safety factor, and executing vehicle disability auxiliary control according to the determined vehicle disability auxiliary control level. Therefore, the disability auxiliary control level can be determined in a self-adaptive mode, hierarchical control measures are executed, accurate recognition of the disability condition of the driver is achieved, corresponding safety intervention is triggered in time, and the driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle disability assistance control method, system, electronic device and storage medium. Background Technology

[0002] With the rapid popularization of Level 2-3 autonomous driving, vehicles still rely on drivers to maintain control in most scenarios. However, in real-world road environments, drivers may experience temporary or complete incapacitation due to fatigue, sudden illness, or distraction, which can easily lead to serious safety risks such as vehicle veergence or loss of control.

[0003] Based on the above problems, this application proposes a new vehicle disability assistance control method. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a vehicle disability assistance control method, system, electronic device, and storage medium to overcome or at least partially solve the above problems.

[0005] A first aspect of this application provides a vehicle disability assistance control method, the method comprising: The driver's status information is obtained in multiple dimensions, including at least: visual status information and vital signs status information. Based on the multiple dimensions of state information, the risk characteristics of each dimension of state information are determined. Based on each of the aforementioned risk characteristics, determine the risk contribution value corresponding to each of the aforementioned dimensional state information. Based on each of the aforementioned risk contribution values, a safety factor is determined, wherein the safety factor characterizes the driver's current overall disability risk status; Based on the safety factor, determine the vehicle disability assistance control level corresponding to the safety factor, and execute the vehicle disability assistance control according to the determined vehicle disability assistance control level.

[0006] Optionally, determining the risk contribution value corresponding to each of the various risk characteristics and the respective dimension of state information includes: If, based on the visual state information, it is determined that the driver has risk characteristics such as abnormal eye closure or abnormal head posture, the risk contribution value corresponding to the visual state information is calculated. If, based on the vital signs information, it is determined that the driver has risk characteristics of abnormal heart rate or abnormal blood oxygen saturation, the risk contribution value corresponding to the vital signs information is calculated. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital signs state information.

[0007] Optionally, the multiple dimensions of state information further include: operational disability state information and behavioral intention state information; determining the risk contribution value corresponding to each of the multiple dimensions of state information based on each of the risk characteristics includes: Based on the operational incapacity status information, if the risk characteristics of the driver not applying control force to the steering wheel during the duration are determined, the risk contribution value corresponding to the operational incapacity status information is calculated. Based on the behavioral intention state information, if it is determined that the driver has a risk characteristic of dangerous driving actions during vehicle operation, the risk contribution value corresponding to the behavioral intention state information is calculated. The dangerous driving actions include at least the action of unfastening the seat belt. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information, the risk contribution value corresponding to the vital signs state information, the risk contribution value corresponding to the operational disability state information, and the risk contribution value corresponding to the behavioral intention state information.

[0008] Optionally, the step of performing disability assistance control on the vehicle according to the determined vehicle disability assistance control level includes: When the vehicle disability assistance control level is at the first level, a driver prompting operation is performed to prompt the driver to resume normal driving. When the vehicle disability assistance control level is Level 2, driver intervention is performed to assist the driver in maintaining vehicle driving safety through the vehicle control system; When the vehicle disability assistance control level is Level 3, a tactile warning operation is performed to provide a tactile warning to the driver via a seat vibration device or a steering wheel vibration device; When the vehicle disability assistance control level is level four, an emergency safety stop operation is performed to bring the vehicle to a stop under the current driving conditions.

[0009] Optionally, the multiple dimensions of state information further include: seat state information; the method further includes: If the seat status information indicates that the driver is off the seat, an emergency safety stop operation is performed to mitigate the risk of vehicle incapacitation under the current driving conditions.

[0010] Optionally, the emergency safety stop operation of the vehicle includes: Obtain current lane information and surrounding traffic environment information; Based on the lane line information and the surrounding traffic environment information, if it is determined that the target lane meets the safe lane change conditions, the vehicle is controlled to turn on the turn signal on one side of the target lane to change lanes to the target lane. After the lane change is completed, the vehicle is controlled to decelerate to a stop, and the hazard warning lights are turned on when the vehicle stops, and a vehicle rescue call is triggered. If, based on the lane line information and the surrounding traffic environment information, it is determined that the target lane does not meet the conditions for safe lane changing, the vehicle is controlled to decelerate to a stop within the current lane, and the hazard warning lights are activated when the vehicle comes to a stop, while an emergency braking warning message is sent to vehicles behind.

[0011] Optionally, determining the safety factor based on each of the risk contribution values ​​includes: Obtain the initial value of the safety factor; When the risk characteristics corresponding to the target dimension state information meet the preset triggering conditions, the risk contribution value of the target dimension state information at the current moment is determined based on the basic deduction value corresponding to the target dimension state information, wherein the target dimension state information is any one of the multiple dimension state information; The risk contribution value of each target dimension state information at the current time is weighted and summed according to its corresponding preset weight to obtain the total risk contribution value at the current time. The safety factor at the current moment is obtained by subtracting the initial value of the safety factor from the total risk contribution value.

[0012] A second aspect of this application provides a vehicle disability assistance control system, the system comprising: The acquisition module is used to acquire multiple dimensions of the driver's status information, which includes at least: visual status information and vital sign status information. The first determining module is used to determine the risk characteristics of each dimension of state information based on the multiple dimensions of state information. The second determining module is used to determine the risk contribution value corresponding to each of the said risk characteristics and the state information of each dimension. The third determining module is used to determine a safety factor based on each of the aforementioned risk contribution values, wherein the safety factor characterizes the driver's current comprehensive disability risk status. The fourth determining module is used to determine the vehicle disability assistance control level corresponding to the safety factor based on the safety factor, and to perform disability assistance control on the vehicle according to the determined vehicle disability assistance control level.

[0013] Optionally, the second determining module, which determines the risk contribution value corresponding to each of the various risk characteristics and the state information of each dimension, includes: The first determining submodule is used to calculate the risk contribution value corresponding to the visual state information when it is determined that the driver has risk characteristics of abnormal eye closure or abnormal head posture based on the visual state information. The second determining submodule is used to calculate the risk contribution value corresponding to the vital signs information when it is determined that the driver has risk characteristics of abnormal heart rate or abnormal blood oxygen saturation based on the vital signs information. The third determining module, which determines the safety factor based on each of the aforementioned risk contribution values, includes: The third determining submodule is used to determine the safety factor based on the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital sign state information.

[0014] Optionally, the multiple dimensions of state information further include: operational disability state information and behavioral intention state information; the second determining module, which determines the risk contribution value corresponding to each of the multiple dimensions of state information based on each of the risk characteristics, includes: The fourth determination submodule is used to calculate the risk contribution value corresponding to the operational incapacity state information when the risk characteristics of the driver not applying control force to the steering wheel during the duration are determined based on the operational incapacity state information. The fifth determining submodule is used to calculate the risk contribution value corresponding to the behavioral intention state information when it is determined that the driver has a risk characteristic of dangerous driving actions during vehicle operation based on the behavioral intention state information. The dangerous driving actions include at least the action of unfastening the seat belt. The third determining module, which determines the safety factor based on each of the aforementioned risk contribution values, includes: The sixth determining submodule is used to determine the safety factor based on the risk contribution value corresponding to the visual state information, the risk contribution value corresponding to the vital signs state information, the risk contribution value corresponding to the operational disability state information, and the risk contribution value corresponding to the behavioral intention state information.

[0015] Optionally, the fourth determining module, which performs disability assistance control on the vehicle according to the determined vehicle disability assistance control level, includes: The first execution submodule is used to perform driver prompting operations when the vehicle disability assistance control level is at the first level, so as to prompt the driver to resume normal driving. The second execution submodule is used to perform driver intervention operations when the vehicle disability assistance control level is the second level, so as to assist the driver in maintaining vehicle driving safety through the vehicle control system. The third execution submodule is used to perform a tactile warning operation when the vehicle disability assistance control level is the third level, so as to provide a tactile warning to the driver through a seat vibration device or a steering wheel vibration device. The fourth execution submodule is used to perform an emergency safety stop operation on the vehicle when the vehicle disability assistance control level is level four, so as to stop the vehicle under the current driving conditions.

[0016] Optionally, the multiple dimensions of state information further include: seat state information; the system further includes: The fifth execution submodule is used to perform an emergency safety stop operation on the vehicle when the status item of the seat status information is detected as the driver being off the seat, so as to release the risk of vehicle incapacitation under the current driving conditions.

[0017] Optionally, the fifth execution submodule, which performs the emergency safety stop operation of the vehicle, includes: The acquisition sub-unit is used to acquire current lane line information and surrounding traffic environment information; The first determining subunit is used to control the vehicle to turn on the turn signal on one side of the target lane to change lanes to the target lane when the target lane meets the safe lane change conditions based on the lane line information and the surrounding traffic environment information. After the lane change is completed, the vehicle is controlled to decelerate to a stop and the hazard warning lights are turned on when the vehicle stops. The unit also triggers a vehicle rescue call. The second determining subunit is used to control the vehicle to decelerate to a stop in the current lane when it is determined, based on the lane line information and the surrounding traffic environment information, that the target lane does not meet the conditions for safe lane changing, and to activate the hazard warning lights when the vehicle stops, while sending an emergency braking warning message to vehicles behind.

[0018] Optionally, the third determining module, which determines the safety factor based on each of the risk contribution values, includes: The `get` submodule is used to obtain the initial value of the security factor; The seventh determination submodule is used to determine the risk contribution value of the target dimension state information at the current moment based on the basic deduction value corresponding to the target dimension state information when the risk feature corresponding to the target dimension state information meets the preset triggering conditions. The target dimension state information is any one of the multiple dimension state information. The summation submodule is used to sum the risk contribution values ​​of each target dimension state information at the current time according to their respective preset weights to obtain the total risk contribution value at the current time. The difference submodule is used to calculate the difference between the initial value of the safety factor and the total risk contribution value to obtain the safety factor at the current moment.

[0019] A third aspect of this application provides an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the vehicle disability assistance control method as described in the first aspect of this application.

[0020] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle disability assistance control method as described in the first aspect of this application.

[0021] The beneficial effects of this application are: This application provides a vehicle disability assistance control method, the method comprising: acquiring multiple dimensions of driver state information, the multiple dimensions of state information including at least: visual state information and vital sign state information; determining the risk characteristics of each dimension of state information based on the multiple dimensions of state information; determining the risk contribution value corresponding to each dimension of state information based on each risk characteristic; determining a safety factor based on each risk contribution value, the safety factor representing the driver's current comprehensive disability risk state; determining the vehicle disability assistance control level corresponding to the safety factor based on the safety factor, and executing vehicle disability assistance control according to the determined vehicle disability assistance control level. This application constructs a comprehensive safety factor by acquiring multiple dimensions of state information to quantify the driver's disability risk level. This enables adaptive determination of the disability assistance control level and execution of graded control measures, achieving accurate identification of driver disability and timely triggering of corresponding safety interventions, thereby improving driving safety. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating the steps of a vehicle disability assistance control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the system architecture of a vehicle disability assistance control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of a vehicle disability assistance control system provided in an embodiment of this application; Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0024] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0025] In a first aspect, this application provides a vehicle disability assistance control method, such as... Figure 1 As shown, the method includes: S101, acquire multiple dimensions of the driver's status information, including at least: visual status information and vital signs status information.

[0026] In this step, multiple dimensions of the driver's status information can be obtained through the vehicle's driver status monitoring system. In this application, the aforementioned multiple dimensions of status information include at least visual status information and vital sign status information. For example, visual status information can be collected by a driver monitoring camera to identify the driver's eyelid opening and closing, gaze direction, and head posture, etc.; vital sign status information can be obtained by physiological monitoring devices (such as heart rate sensors, blood oxygen sensors, or wearable devices) to reflect the driver's physiological indicators such as heart rate and blood oxygen saturation.

[0027] S102, Based on the multiple dimensions of state information, determine the risk characteristics of each dimension of state information.

[0028] In this step, risk characteristics are determined based on the status information of each dimension. Specifically, visual abnormalities such as fatigue-induced eye closure and gaze deviation can be identified based on visual status information, and physiological risk characteristics such as sudden drop in heart rate and abnormal blood oxygenation can be identified based on vital sign status information.

[0029] S103, based on each of the risk characteristics, determine the risk contribution value corresponding to each of the dimensional state information.

[0030] In this step, based on the aforementioned risk characteristics, the risk contribution value corresponding to each dimension of state information is calculated. In this application, the risk contribution value of each dimension of state information can be assigned based on factors such as the degree of abnormality of the risk characteristics, the duration, and the level of impact on driving safety, in order to quantify the contribution of each dimension to the overall driver disability risk.

[0031] S104. Based on each of the aforementioned risk contribution values, a safety factor is determined, wherein the safety factor characterizes the driver's current overall disability risk status.

[0032] In this step, a safety factor is determined based on the risk contribution value corresponding to each dimension of status information. This safety factor is a comprehensive quantitative indicator used to characterize the driver's current overall disability risk status. In this application, the value of the safety factor can be obtained by weighted fusion of risk contribution values ​​from different dimensions, reflecting different risk levels of the driver, from normal and mildly abnormal to highly suspected disability.

[0033] S105, based on the safety factor, determine the vehicle disability assistance control level corresponding to the safety factor, and execute the vehicle disability assistance control according to the determined vehicle disability assistance control level.

[0034] In this step, the corresponding vehicle disability assistance control level is determined based on the numerical range of the safety factor. Matching vehicle disability assistance control measures are then implemented for different risk levels. In some cases, such as when the safety factor is in a low-risk range, visual or voice prompts can be provided to the driver; when the disability risk is high, further control strategies such as tactile warnings, vehicle deceleration, and even emergency safe stopping can be triggered, achieving graded safety intervention based on risk level.

[0035] This application constructs a comprehensive safety factor by acquiring multi-dimensional state information to quantify the driver's disability risk level. This enables adaptive determination of the disability assistance control level and execution of tiered control measures, achieving accurate identification of driver disability and timely triggering of corresponding safety interventions, thereby improving driving safety.

[0036] In one embodiment, determining the risk contribution value corresponding to each of the respective dimension state information based on each of the risk characteristics includes: If, based on the visual state information, it is determined that the driver has risk characteristics such as abnormal eye closure or abnormal head posture, the risk contribution value corresponding to the visual state information is calculated. If, based on the vital signs information, it is determined that the driver has risk characteristics of abnormal heart rate or abnormal blood oxygen saturation, the risk contribution value corresponding to the vital signs information is calculated. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital signs state information.

[0037] In this embodiment, based on visual state information, when risk characteristics such as abnormal eye closure or abnormal head posture are detected in the driver, the risk contribution value corresponding to the visual state information is determined. Abnormal eye closure may include a duration of eye closure exceeding a preset threshold, and abnormal head posture may include an angle or duration of head deviation from a normal driving posture exceeding a preset threshold.

[0038] In some cases, visual state information is analyzed to identify the driver's eye state and head posture. When the duration of the driver's closed eyes exceeds a preset duration, and / or the driver's head posture deviates significantly from the normal driving posture (e.g., the offset angle exceeds a preset angle), the risk characteristic corresponding to the visual state information is determined to meet preset trigger conditions. Upon first meeting the preset trigger conditions, a basic deduction value corresponding to the visual state information is obtained, and the risk contribution value corresponding to the visual state information at the current moment is determined based on this basic deduction value. Specifically, upon first meeting the preset trigger conditions, the risk contribution value corresponding to the visual state information is the basic deduction value corresponding to the visual state information.

[0039] If, in subsequent moments, the driver is still detected to have abnormal eye closure or abnormal head posture, the risk contribution value corresponding to the visual state information at the previous moment is deducted step by step according to the basic deduction value corresponding to the visual state information. This can be understood as the risk contribution value corresponding to the visual state information at the current moment being the risk contribution value corresponding to the visual state information at the previous moment minus the basic deduction value corresponding to the visual state information.

[0040] Based on vital sign information, when a driver is detected to have abnormal heart rate or abnormal blood oxygen saturation, the risk contribution value corresponding to the vital sign information is determined. Abnormal heart rate and abnormal blood oxygen saturation can refer to the corresponding physiological parameters deviating from a preset safe range, or to a sudden change that persists for more than a preset duration.

[0041] In some cases, vital sign information is analyzed to identify the driver's heart rate and blood oxygen saturation parameters. When a deviation from a preset safe range is detected in the heart rate and / or blood oxygen saturation parameters, or when a sudden change occurs and persists for more than a preset duration, the risk characteristic corresponding to the vital sign information is determined to meet a preset trigger condition. Upon first meeting the preset trigger condition, a baseline deduction value corresponding to the vital sign information is obtained. Based on this baseline deduction value, the risk contribution value corresponding to the vital sign information at the current moment is determined. Specifically, upon first meeting the preset trigger condition, the risk contribution value corresponding to the vital sign information is the baseline deduction value.

[0042] If, at subsequent moments, abnormal heart rate and / or blood oxygen saturation parameters are continuously detected in the driver, then the risk contribution value corresponding to the vital signs status information at the previous moment is deducted step by step according to the basic deduction value corresponding to the vital signs status information. This can be understood as the risk contribution value corresponding to the vital signs status information at the current moment being the risk contribution value corresponding to the vital signs status information at the previous moment minus the basic deduction value corresponding to the vital signs status information.

[0043] Furthermore, based on the risk contribution value corresponding to each dimension of status information, a safety factor is determined, specifically including: A safety factor is calculated by fusing the risk contribution values ​​corresponding to visual state information and vital sign status information. The safety factor is a quantitative indicator used to characterize the driver's current overall disability risk status.

[0044] This embodiment quantifies the abnormal states of the visual dimension and the vital signs dimension into corresponding risk contribution values, and further integrates them to form a unified safety factor, thereby achieving a multi-dimensional and quantifiable assessment of the risk of driver disability. In this embodiment, the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital signs state information are weighted and summed according to their respective preset weights to obtain the total risk contribution value of the two, and the safety factor is obtained by subtracting it from the preset initial value of the safety factor.

[0045] In one embodiment, the multiple dimensions of state information further include: operational disability state information and behavioral intention state information; determining the risk contribution value corresponding to each of the multiple dimensions of state information based on each of the risk characteristics includes: Based on the operational incapacity status information, if the risk characteristics of the driver not applying control force to the steering wheel during the duration are determined, the risk contribution value corresponding to the operational incapacity status information is calculated. Based on the behavioral intention state information, if it is determined that the driver has a risk characteristic of dangerous driving actions during vehicle operation, the risk contribution value corresponding to the behavioral intention state information is calculated. The dangerous driving actions include at least the action of unfastening the seat belt. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information, the risk contribution value corresponding to the vital signs state information, the risk contribution value corresponding to the operational disability state information, and the risk contribution value corresponding to the behavioral intention state information.

[0046] In this embodiment, it is further explained that when the multiple-dimensional state information also includes operational disability state information and behavioral intention state information, the risk contribution value corresponding to each dimension of state information is determined according to each risk characteristic, specifically including the following process: Based on operational incapacity information, when a risk characteristic is detected where the driver has not applied steering wheel control force for a preset duration, the risk contribution value corresponding to the operational incapacity information is determined. The steering wheel control force can be obtained through a steering wheel torque sensor or a steering wheel contact detection device.

[0047] In some cases, operational incapacity status information is analyzed to identify the driver's force application to the steering wheel. When, during vehicle operation, the steering force applied to the steering wheel is detected to be below a preset pressure for a preset duration, the risk characteristic corresponding to the operational incapacity status information is determined to meet a preset trigger condition. Upon first meeting the preset trigger condition, a basic deduction value corresponding to the operational incapacity status information is obtained. Based on this basic deduction value, the risk contribution value corresponding to the operational incapacity status information at the current moment is determined. Specifically, upon first meeting the preset trigger condition, the risk contribution value corresponding to the operational incapacity status information is the basic deduction value.

[0048] In subsequent moments, if the risk characteristic of the driver still having steering wheel control force lower than the preset pressure threshold is continuously detected at different times, then the risk contribution value corresponding to the operation disability status information at the previous moment will be deducted step by step according to the basic deduction value corresponding to the operation disability status information. This can be understood as the risk contribution value corresponding to the operation disability status information at the current moment being the risk contribution value corresponding to the operation disability status information at the previous moment minus the basic deduction value corresponding to the operation disability status information.

[0049] Based on behavioral intent state information, when a risk characteristic of a driver engaging in dangerous driving actions during vehicle operation is detected, a risk contribution value corresponding to the behavioral intent state information is determined. This risk characteristic is used to characterize whether the driver has a clearly abnormal or high-risk behavioral intent. The dangerous driving actions include at least the action of unfastening the seat belt, and also include performing actions that are clearly unrelated to driving during vehicle operation.

[0050] In some cases, behavioral intent state information is analyzed to identify the driver's seatbelt usage status while the vehicle is in motion. When a driver is detected actively unfastening their seatbelt while the vehicle is in motion, it is determined that the risk characteristic corresponding to the behavioral intent state information meets a preset trigger condition. Upon first meeting the preset trigger condition, a basic deduction value corresponding to the behavioral intent state information is obtained. Based on this basic deduction value, the risk contribution value corresponding to the behavioral intent state information at the current moment is determined. Specifically, upon first meeting the preset trigger condition, the risk contribution value corresponding to the behavioral intent state information is the basic deduction value.

[0051] If, in subsequent moments, the risk characteristic of the driver actively unfastening the seatbelt is continuously detected at different times, then the risk contribution value corresponding to the behavioral intention state information at the previous moment will be deducted step by step according to the basic deduction value corresponding to the behavioral intention state information. This can be understood as the risk contribution value corresponding to the behavioral intention state information at the current moment being the risk contribution value corresponding to the behavioral intention state information at the previous moment minus the basic deduction value corresponding to the behavioral intention state information.

[0052] Furthermore, the safety factor is determined based on the risk contribution value corresponding to the status information of each dimension, specifically including: A safety factor is obtained by fusing the risk contribution values ​​corresponding to visual state information, vital sign status information, operational disability status information, and behavioral intent status information. This safety factor characterizes the driver's current comprehensive disability risk status. In this embodiment, the total risk contribution value is obtained by weighting and summing the risk contribution values ​​corresponding to visual state information, vital sign status information, operational disability status information, and behavioral intent status information according to their respective preset weights. The safety factor is then obtained by subtracting this sum from the preset initial value of the safety factor.

[0053] This embodiment, based on visual state information and vital sign status information, introduces operational disability status information and behavioral intention status information, and integrates them with visual state information and vital sign status information for evaluation, which can further improve the comprehensiveness and accuracy of driver disability risk identification.

[0054] In one embodiment, performing disability assistance control on the vehicle according to the determined vehicle disability assistance control level includes: When the vehicle disability assistance control level is at the first level, a driver prompting operation is performed to prompt the driver to resume normal driving. When the vehicle disability assistance control level is Level 2, driver intervention is performed to assist the driver in maintaining vehicle driving safety through the vehicle control system; When the vehicle disability assistance control level is Level 3, a tactile warning operation is performed to provide a tactile warning to the driver via a seat vibration device or a steering wheel vibration device; When the vehicle disability assistance control level is level four, an emergency safety stop operation is performed to bring the vehicle to a stop under the current driving conditions.

[0055] In this embodiment, the corresponding disability assistance control operations are further described according to the determined vehicle disability assistance control level: When the vehicle's disability assistance control level is at Level 1, a driver prompting operation is performed to prompt the driver to return to normal driving status. This prompting operation may include outputting prompt information to the driver through instrument display, head-up display, or voice broadcast to remind the driver of the current lack of attention or mild abnormal state.

[0056] When the vehicle disability assistance control level is Level 2, driver intervention is performed to assist the driver in maintaining vehicle safety through the vehicle control system. This intervention may include assisting in the adjustment of longitudinal or lateral control of the vehicle, such as limiting vehicle acceleration, assisting lane keeping, or guiding the driver to make safe maneuvers.

[0057] When the vehicle's disability assistance control level is Level 3, a tactile warning is activated, providing a tactile alert to the driver via seat or steering wheel vibration. This tactile warning is used to further enhance the driver's alertness when visual or auditory cues fail to elicit a response.

[0058] When the vehicle's disability assistance control level is Level 4, an emergency safety stop operation is performed, automatically decelerating and bringing the vehicle to a stop under the current driving conditions. This emergency safety stop operation can be controlled in conjunction with information about the vehicle's surrounding environment to complete the stopping process while ensuring driving safety.

[0059] In this embodiment, different safety factors correspond to different vehicle disability assistance control levels. When the safety factor is in the first interval, the vehicle disability assistance control level can be determined as Level 1; when the safety factor is in the second interval, the vehicle disability assistance control level can be determined as Level 2; when the safety factor is in the third interval, the vehicle disability assistance control level can be determined as Level 3; and when the safety factor is in the fourth interval, the vehicle disability assistance control level can be determined as Level 4. The interval values ​​of the first, second, third, and fourth intervals decrease sequentially.

[0060] This embodiment, through the aforementioned graded disability assistance control method, can progressively increase the intervention intensity according to the driver's disability risk level, effectively improving vehicle safety in scenarios where the driver is disabled while ensuring the continuity of the driving experience.

[0061] In one embodiment, the multiple-dimensional state information further includes: seat state information; the method further includes: If the seat status information indicates that the driver is off the seat, an emergency safety stop operation is performed to mitigate the risk of vehicle incapacitation under the current driving conditions.

[0062] In this embodiment, it is further explained that the multi-dimensional state information also includes seat state information.

[0063] When the seat status information indicates that the driver is out of the seat, the vehicle will automatically decelerate and stop under the current driving conditions to mitigate the risk of disability caused by the driver leaving the seat.

[0064] By using seat status information as an independent high-priority judgment condition, emergency safety stopping operations can be triggered without relying on comprehensive evaluation of status information from other dimensions. This enables rapid and reliable safety handling in extreme dangerous scenarios such as driver exiting the seat, further improving the safety and responsiveness of vehicle disability assistance control.

[0065] In one embodiment, the emergency safety stop operation of the vehicle includes: Obtain current lane information and surrounding traffic environment information; Based on the lane line information and the surrounding traffic environment information, if it is determined that the target lane meets the safe lane change conditions, the vehicle is controlled to turn on the turn signal on one side of the target lane to change lanes to the target lane. After the lane change is completed, the vehicle is controlled to decelerate to a stop, and the hazard warning lights are turned on when the vehicle stops, and a vehicle rescue call is triggered. If, based on the lane line information and the surrounding traffic environment information, it is determined that the target lane does not meet the conditions for safe lane changing, the vehicle is controlled to decelerate to a stop within the current lane, and the hazard warning lights are activated when the vehicle comes to a stop, while an emergency braking warning message is sent to vehicles behind.

[0066] In this embodiment, the emergency safety stop operation of the vehicle can be performed through the following process, specifically including: The system acquires the vehicle's current lane information and surrounding traffic environment information. Lane information is used to characterize the boundaries of the vehicle's lane and adjacent lanes, while surrounding traffic environment information reflects the distribution, distance, and relative motion of other road users around the vehicle.

[0067] Once the target lane meets the safe lane-changing conditions based on lane markings and surrounding traffic information, the vehicle activates the turn signal on the side of the target lane and is guided to change lanes. In practice, the target lane can be the right lane of the current vehicle's lane or the emergency lane. Safe lane-changing conditions include the absence of vehicles on the side of the target lane or the lane-changing operation not affecting the normal driving of vehicles on that side. After the lane change is completed, the vehicle is further controlled to gradually decelerate until it comes to a complete stop. Upon stopping, the hazard warning lights are activated, and the vehicle's emergency call function is triggered to obtain timely external assistance.

[0068] If, based on lane markings and surrounding traffic information, it is determined that the target lane does not meet the conditions for a safe lane change, the vehicle is controlled to remain within the current lane and decelerate until it comes to a complete stop, activating the hazard warning lights upon stopping. Simultaneously, an emergency braking warning message is sent to vehicles behind to alert them and reduce the risk of rear-end collisions.

[0069] This embodiment, through the aforementioned emergency safe parking strategy, enables the vehicle to adaptively select between parking on the side of the road or parking in the original lane based on the real-time road environment, achieving safe and controllable parking in scenarios where the driver is incapacitated, thereby further improving the vehicle's driving safety.

[0070] In one embodiment, determining the safety factor based on each of the risk contribution values ​​includes: Obtain the initial value of the safety factor; When the risk characteristics corresponding to the target dimension state information meet the preset triggering conditions, the risk contribution value of the target dimension state information at the current moment is determined based on the basic deduction value corresponding to the target dimension state information, wherein the target dimension state information is any one of the multiple dimension state information; The risk contribution value of each target dimension state information at the current time is weighted and summed according to its corresponding preset weight to obtain the total risk contribution value at the current time. The safety factor at the current moment is obtained by subtracting the initial value of the safety factor from the total risk contribution value.

[0071] In this embodiment, the process of determining the safety factor based on each risk contribution value is further explained.

[0072] First, obtain the initial value of the safety factor. The initial value of the safety factor is used to characterize the basic safety level when the driver is in a normal driving state. The initial value of the safety factor is preset.

[0073] For any one of the multiple dimensions of state information, if the risk feature corresponding to that dimension of state information meets the preset triggering conditions, the risk contribution value corresponding to that dimension of state information at the current moment is determined based on the basic deduction value corresponding to that dimension of state information.

[0074] Based on this, the risk contribution values ​​corresponding to the state information of each dimension at the current moment are weighted and summed according to their respective preset weights to obtain the total risk contribution value at the current moment.

[0075] The safety factor at the current moment is obtained by calculating the difference between the initial value of the safety factor and the total risk contribution value. The safety factor is used to characterize the driver's current comprehensive disability risk status, and its value decreases as the total risk contribution value increases.

[0076] Figure 2 A schematic diagram of the system architecture for a vehicle disability assistance control method is shown. As shown in the figure, the system can be divided into a sensor layer, a data processing and risk feature extraction layer, and a hierarchical decision-making and execution layer, with data transmission and control linkage between each layer in sequence.

[0077] The sensor layer is used to acquire multi-dimensional state information of the driver, including visual state information, vital sign information, operational incapacity information, seat state information, and behavioral intention information. Specifically, visual state information can be collected by the driver monitoring camera, vital sign information can be acquired by the vital sign monitoring device, operational incapacity information can be acquired by the steering wheel control force detection device, seat state information can be acquired by the seat occupancy sensor, and behavioral intention information can be acquired by the seat belt status sensor.

[0078] The data processing and risk feature extraction layer is used to analyze and process the aforementioned multiple dimensions of state information and extract corresponding risk features. This layer can identify risk features such as abnormal eye closure or abnormal head posture of the driver based on visual state information; identify risk features such as abnormal heart rate or abnormal blood oxygen saturation based on vital sign state information; identify risk features such as the driver not applying force to the steering wheel within a preset time period based on operational incapacity state information; confirm whether the driver is in an unseat state based on seat state information; and identify risk features such as the driver unfastening the seatbelt while the vehicle is in motion based on behavioral intention state information.

[0079] Based on this, the system calculates the corresponding risk contribution value for each dimension of risk characteristics, and performs a fusion operation on each risk contribution value to obtain a safety factor that characterizes the driver's current comprehensive disability risk status.

[0080] The tiered decision-making and execution layer determines the corresponding vehicle disability assistance control level based on the numerical range of safety factors and executes the matching disability assistance control operations. For example, when the vehicle disability assistance control level is Level 1, a driver prompt operation is executed; when the vehicle disability assistance control level is Level 2, a driver intervention operation is executed; when the vehicle disability assistance control level is Level 3, a tactile warning operation is executed; and when the vehicle disability assistance control level is Level 4, an emergency safety stop operation is executed.

[0081] Based on the same inventive concept, a second aspect of the embodiments of this application provides a vehicle disability assistance control system, such as... Figure 3 As shown, the system includes: The acquisition module 201 is used to acquire multiple dimensions of the driver's status information, which includes at least: visual status information and vital sign status information. The first determining module 202 is used to determine the risk characteristics of each dimension of state information based on the multiple dimension state information. The second determining module 203 is used to determine the risk contribution value corresponding to each of the various risk characteristics and the respective dimension state information. The third determining module 204 is used to determine a safety factor based on each of the aforementioned risk contribution values, wherein the safety factor characterizes the driver's current comprehensive disability risk status. The fourth determining module 205 is used to determine the vehicle disability assistance control level corresponding to the safety factor based on the safety factor, and to perform disability assistance control on the vehicle according to the determined vehicle disability assistance control level.

[0082] Optionally, the second determining module 203, which determines the risk contribution value corresponding to each of the various risk characteristics and the state information of each dimension, includes: The first determining submodule is used to determine the risk contribution value corresponding to the visual state information when the driver is found to have abnormal eye closure or abnormal head posture based on the visual state information. The second determining submodule is used to determine the risk contribution value corresponding to the vital signs status information when the driver is found to have abnormal heart rate or abnormal blood oxygen saturation based on the vital signs status information. The third determining module 204, which determines the safety factor based on the risk contribution value corresponding to each of the aforementioned dimension status information, includes: The third determining submodule is used to determine the safety factor based on the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital sign state information.

[0083] Optionally, the multiple dimensions of state information further include: operational disability state information and behavioral intention state information; the second determining module 203, which determines the risk contribution value corresponding to each of the multiple dimensions of state information based on each of the risk characteristics, includes: The fourth determining submodule is used to determine the risk contribution value corresponding to the operational incapacity state information when a risk characteristic is detected that the driver has not applied control force to the steering wheel for a period of time based on the operational incapacity state information. The fifth determining submodule is used to determine the risk contribution value corresponding to the behavioral intention state information when the risk characteristic of the driver unfastening the seat belt is detected based on the behavioral intention state information during vehicle operation. The third determining module 204, which determines the safety factor based on the risk contribution value corresponding to each of the aforementioned dimension status information, includes: The sixth determining submodule is used to determine the safety factor based on the risk contribution value corresponding to the visual state information, the risk contribution value corresponding to the vital signs state information, the risk contribution value corresponding to the operational disability state information, and the risk contribution value corresponding to the behavioral intention state information.

[0084] Optionally, the fourth determining module 205, which performs disability assistance control on the vehicle according to the determined vehicle disability assistance control level, includes: The first execution submodule is used to perform driver prompting operations when the vehicle disability assistance control level is at the first level, so as to prompt the driver to resume normal driving. The second execution submodule is used to perform driver intervention operations when the vehicle disability assistance control level is the second level, so as to assist the driver in maintaining vehicle driving safety through the vehicle control system. The third execution submodule is used to perform a tactile warning operation when the vehicle disability assistance control level is the third level, so as to provide a tactile warning to the driver through a seat vibration device or a steering wheel vibration device. The fourth execution submodule is used to perform an emergency safety stop operation on the vehicle when the vehicle disability assistance control level is level four, so as to stop the vehicle under the current driving conditions.

[0085] Optionally, the multiple dimensions of state information further include: seat state information; the system further includes: The fifth execution submodule is used to perform an emergency safety stop operation on the vehicle when the status item of the seat status information is detected as the driver being off the seat, so as to release the risk of vehicle incapacitation under the current driving conditions.

[0086] Optionally, the fifth execution submodule, which performs the emergency safety stop operation of the vehicle, includes: The acquisition sub-unit is used to acquire current lane line information and surrounding traffic environment information; The first determining subunit is used to control the vehicle to turn on the turn signal on one side of the target lane to change lanes to the target lane when the target lane meets the safe lane change conditions based on the lane line information and the surrounding traffic environment information. After the lane change is completed, the vehicle is controlled to decelerate to a stop and the hazard warning lights are turned on when the vehicle stops. The unit also triggers a vehicle rescue call. The second determining subunit is used to control the vehicle to decelerate to a stop in the current lane when it is determined, based on the lane line information and the surrounding traffic environment information, that the target lane does not meet the conditions for safe lane changing, and to activate the hazard warning lights when the vehicle stops, while sending an emergency braking warning message to vehicles behind.

[0087] Optionally, the third determining module 204, which determines the safety factor based on each of the risk contribution values, includes: The `get` submodule is used to obtain the initial value of the security factor; The seventh determination submodule is used to determine the risk contribution value of the target dimension state information at the current moment based on the basic deduction value corresponding to the target dimension state information when the risk feature corresponding to the target dimension state information meets the preset triggering conditions. The target dimension state information is any one of the multiple dimension state information. The summation submodule is used to sum the risk contribution values ​​of each target dimension state information at the current time according to their respective preset weights to obtain the total risk contribution value at the current time. The difference submodule is used to calculate the difference between the initial value of the safety factor and the total risk contribution value to obtain the safety factor at the current moment.

[0088] Based on the same inventive concept, a third aspect of the embodiments of this application provides a method as follows: Figure 4 The electronic device 100 shown includes a processor 120, a memory 110, and a program or instructions stored in the memory 110 and executable on the processor 120, wherein the program or instructions, when executed by the processor 120, implement the steps of the vehicle disability assistance control method as described in the first aspect of this application.

[0089] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle disability assistance control method as described in the first aspect of this application.

[0090] Each embodiment in this specification focuses on the differences from other embodiments. For the same or similar parts between the embodiments, please refer to each other.

[0091] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0095] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0096] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0097] The above provides a detailed description of a vehicle disability assistance control method, system, electronic device, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle disability assistance control method, characterized in that, The method includes: The driver's status information is obtained in multiple dimensions, including at least: visual status information and vital signs status information. Based on the multiple dimensions of state information, the risk characteristics of each dimension of state information are determined. Based on each of the aforementioned risk characteristics, determine the risk contribution value corresponding to each of the aforementioned dimensional state information. Based on each of the aforementioned risk contribution values, a safety factor is determined, wherein the safety factor characterizes the driver's current overall disability risk status; Based on the safety factor, determine the vehicle disability assistance control level corresponding to the safety factor, and execute the vehicle disability assistance control according to the determined vehicle disability assistance control level.

2. The vehicle disability assistance control method according to claim 1, characterized in that, The step of determining the risk contribution value corresponding to each of the various risk characteristics and the respective dimension of state information includes: If, based on the visual state information, it is determined that the driver has risk characteristics such as abnormal eye closure or abnormal head posture, the risk contribution value corresponding to the visual state information is calculated. If, based on the vital signs information, it is determined that the driver has risk characteristics of abnormal heart rate or abnormal blood oxygen saturation, the risk contribution value corresponding to the vital signs information is calculated. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information and the risk contribution value corresponding to the vital signs state information.

3. The vehicle disability assistance control method according to claim 2, characterized in that, The multiple dimensions of state information also include: operational disability state information and behavioral intention state information; determining the risk contribution value corresponding to each of the aforementioned risk characteristics includes: Based on the operational incapacity status information, if the risk characteristics of the driver not applying control force to the steering wheel during the duration are determined, the risk contribution value corresponding to the operational incapacity status information is calculated. Based on the behavioral intention state information, if it is determined that the driver has a risk characteristic of dangerous driving actions during vehicle operation, the risk contribution value corresponding to the behavioral intention state information is calculated. The dangerous driving actions include at least the action of unfastening the seat belt. The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: The safety factor is determined based on the risk contribution value corresponding to the visual state information, the risk contribution value corresponding to the vital signs state information, the risk contribution value corresponding to the operational disability state information, and the risk contribution value corresponding to the behavioral intention state information.

4. The vehicle disability assistance control method according to claim 1, characterized in that, The step of implementing vehicle disability assistance control according to the determined vehicle disability assistance control level includes: When the vehicle disability assistance control level is at the first level, a driver prompting operation is performed to prompt the driver to resume normal driving. When the vehicle disability assistance control level is Level 2, driver intervention is performed to assist the driver in maintaining vehicle driving safety through the vehicle control system; When the vehicle disability assistance control level is Level 3, a tactile warning operation is performed to provide a tactile warning to the driver via a seat vibration device or a steering wheel vibration device. When the vehicle disability assistance control level is level four, an emergency safety stop operation is performed to bring the vehicle to a stop under the current driving conditions.

5. The vehicle disability assistance control method according to claim 1, characterized in that, The multiple-dimensional state information also includes: seat state information; the method further includes: If the seat status information indicates that the driver is off the seat, an emergency safety stop operation is performed to mitigate the risk of vehicle incapacitation under the current driving conditions.

6. The vehicle disability assistance control method according to claim 4 or 5, characterized in that, The emergency safety stop operation of the vehicle includes: Obtain current lane information and surrounding traffic environment information; Based on the lane line information and the surrounding traffic environment information, if it is determined that the target lane meets the safe lane change conditions, the vehicle is controlled to turn on the turn signal on one side of the target lane to change lanes to the target lane. After the lane change is completed, the vehicle is controlled to decelerate to a stop, and the hazard warning lights are turned on when the vehicle stops, and a vehicle rescue call is triggered. If, based on the lane line information and the surrounding traffic environment information, it is determined that the target lane does not meet the conditions for safe lane changing, the vehicle is controlled to decelerate to a stop within the current lane, and the hazard warning lights are activated when the vehicle comes to a stop, while an emergency braking warning message is sent to vehicles behind.

7. The vehicle disability assistance control method according to claim 1, characterized in that, The determination of the safety factor based on each of the aforementioned risk contribution values ​​includes: Obtain the initial value of the safety factor; When the risk characteristics corresponding to the target dimension state information meet the preset triggering conditions, the risk contribution value of the target dimension state information at the current moment is determined based on the basic deduction value corresponding to the target dimension state information, wherein the target dimension state information is any one of the multiple dimension state information; The risk contribution value of each target dimension state information at the current time is weighted and summed according to its corresponding preset weight to obtain the total risk contribution value at the current time. The safety factor at the current moment is obtained by subtracting the initial value of the safety factor from the total risk contribution value.

8. A vehicle disability assistance control system, characterized in that, The system includes: The acquisition module is used to acquire multiple dimensions of the driver's status information, which includes at least: visual status information and vital sign status information. The first determining module is used to determine the risk characteristics of each dimension of state information based on the multiple dimensions of state information. The second determining module is used to determine the risk contribution value corresponding to each of the said risk characteristics and the state information of each dimension. The third determining module is used to determine a safety factor based on each of the aforementioned risk contribution values, wherein the safety factor characterizes the driver's current comprehensive disability risk status. The fourth determining module is used to determine the vehicle disability assistance control level corresponding to the safety factor based on the safety factor, and to perform disability assistance control on the vehicle according to the determined vehicle disability assistance control level.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the vehicle disability assistance control method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the vehicle disability assistance control method as described in any one of claims 1-7.

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