Vehicle emergency stop warning control method and system and vehicle

Abstract

The invention provides a vehicle emergency stop warning control method and system and a vehicle, and the vehicle emergency stop warning control method comprises the following steps: responding to a driver abnormal state detection signal or an emergency stop request signal initiated by a user, and controlling the vehicle to decelerate until the vehicle is completely braked; after the vehicle is braked, a controllable release mechanism on the vehicle is controlled to release the warning device; after the warning device is released, the vehicle is controlled to drive forwards by a preset distance, the warning device is recognized through an image obtained by a visual sensor, and if recognition is successful within the preset driving distance, the vehicle is controlled to stop; if it is detected that the included angle between the warning surface of the warning structure and the center line of the lane exceeds a preset threshold range, a rotation instruction is sent to a warning device, so that the warning device drives the warning structure to rotate around a vertical axis according to the rotation instruction, and the posture of the warning structure is adjusted; and after confirming that the posture of the warning structure is adjusted in place, controlling the vehicle to continuously run for a preset safe distance along the current lane and then stop.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety warning technology, and in particular to a vehicle emergency stop warning control method, system and vehicle. Background Technology

[0002] Currently, most warning devices installed on vehicles on the market are manual devices, requiring the driver to stop the vehicle and manually place them several tens of meters behind it.

[0003] Existing automatic walking warning devices are also based on driver operation. The driver controls the warning device to move backward via mobile phone or other means, without considering the placement plan in emergency situations such as when the driver loses consciousness, without the driver's participation.

[0004] Moreover, the warning devices designed with these technologies are mostly capable of sensing road conditions and traveling tens of meters, making them highly complex and costly. Furthermore, drivers need to get out of their vehicles to place the mobile warning devices, which then need to travel tens of meters behind the vehicle to stop, requiring judgment of lane trajectory and driving direction. This necessitates greater power reserves and more stringent requirements for trajectory control, further contributing to the high complexity and cost of the equipment. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a vehicle emergency stop warning control method, system and vehicle.

[0006] In a first aspect, the present invention discloses a vehicle emergency stop warning control method, comprising the following steps:

[0007] In response to a driver abnormality detection signal or an emergency stop request signal initiated by the user, the vehicle is controlled to safely change lanes in the current lane or to the emergency lane, and then decelerates to a complete stop.

[0008] After the vehicle comes to a stop, the controllable release mechanism on it releases the warning device;

[0009] After the warning device is released, the vehicle is controlled to travel forward a preset distance, and the warning device is identified by the image obtained by the visual sensor. If the recognition is successful within the preset travel distance, the vehicle is controlled to stop.

[0010] Send an unfold command to the warning device so that the warning device can drive its warning structure to switch from a folded state to an unfolded state according to the unfold command;

[0011] The image obtained by the visual sensor identifies the posture of the warning structure. If the angle between the warning surface of the warning structure and the center line of the lane exceeds the preset threshold range, a rotation command is sent to the warning device so that the warning device drives the warning structure to rotate around the vertical axis according to the rotation command, thereby adjusting the posture of the warning structure so that the angle between the warning surface of the warning structure and the center line of the lane is within the preset threshold range.

[0012] Once the warning structure is confirmed to be in the correct position, control the vehicle to continue traveling along the current lane for a preset safe distance before stopping.

[0013] In some embodiments, the preset threshold range is from 90°-a° to 90°+a°, where a is the allowable angle error.

[0014] In some embodiments, during the step of controlling the vehicle to travel forward a preset distance, if the vehicle has traveled beyond the preset distance and the warning device is still not detected, the vehicle is controlled to stop and a manual reminder or fault handling is triggered.

[0015] In some embodiments, controlling a vehicle to continue traveling along the current lane for a preset safe distance includes: determining the preset safe distance based on the grade of the road where the vehicle is located, and controlling the vehicle to continue traveling along the current lane for the preset safe distance.

[0016] Secondly, the present invention also discloses a vehicle emergency stop warning control system, including a warning device, a visual sensor and an intelligent driving domain controller, wherein the warning device is fixed to the rear of the vehicle by a controllable release mechanism;

[0017] The intelligent driving domain controller is configured to perform the steps in the vehicle emergency stop warning control method as described in the first aspect.

[0018] In some embodiments, the warning device includes a base, a control module, a wireless communication module, a power module, a rotating mechanism, and a deployment drive device; the rotating mechanism contains a rotation drive device, the base is disposed above the rotating mechanism and connected to the rotation drive device, and is driven to rotate by the rotation drive device; the warning structure and the deployment drive device are disposed on the base, and the deployment drive device is used to drive the warning structure to deploy; the power module supplies power to the warning device, the wireless communication module is electrically connected to the control module, and the control module is electrically connected to both the deployment drive device and the rotating drive device.

[0019] In some embodiments, the intelligent driving domain controller integrates a warning device identification module and an attitude determination module. The warning device identification module is used to identify warning devices based on images acquired by a visual sensor, and the attitude determination module is used to identify the attitude of the warning structure based on images acquired by a visual sensor.

[0020] In some embodiments, the controllable release mechanism includes a locking structure electrically connected to a body controller, the body controller being configured to control the locking structure to lock and release the warning device, the warning device having a latch structure for cooperating with the locking structure, and the body controller being electrically connected to an intelligent driving domain controller.

[0021] In some embodiments, the vision sensor is electrically connected to the intelligent driving domain controller, and the intelligent driving domain controller is electrically connected to the vehicle's HMI.

[0022] Thirdly, the present invention also discloses a vehicle including the vehicle emergency stop warning control system as described in the second aspect.

[0023] The present invention has at least the following beneficial effects:

[0024] This invention concentrates the perception and decision-making functions on the vehicle side. The warning device only needs to perform the unfolding and rotating actions, without the need for a moving mechanism and environmental perception sensors. It can realize the automatic warning function without the driver having to get out of the vehicle, and supports automatic release in emergency situations such as when the driver loses consciousness, thus reducing the complexity and cost of the warning device. Attached Figure Description

[0025] Figure 1 A flowchart illustrating a vehicle emergency stop warning control method provided in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a vehicle emergency stop warning control system provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the warning device after step S2 provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the warning device after step S3 provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of a warning device provided in an embodiment of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0031] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0032] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0033] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0034] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0035] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0036] Currently, most of the warning devices installed on vehicles on the market are manual devices, requiring the driver to stop the vehicle and manually place them several tens of meters behind the vehicle.

[0037] The existing automatic walking warning device 1 is also based on driver operation. The driver controls the warning device 1 to move backward via mobile phone or other means, without considering the placement scheme in emergency situations such as when the driver loses consciousness, without the driver's participation.

[0038] Moreover, the warning devices 1 designed with related technologies mostly include the ability to sense road scenes and travel tens of meters, resulting in high equipment complexity and cost. Furthermore, the driver needs to get out of the vehicle to place the mobile warning device 1, and the warning device 1 needs to travel tens of meters behind the vehicle to stop, requiring judgment of lane trajectory, driving direction, etc. The equipment needs to have greater power reserves and higher requirements for driving trajectory control, resulting in high equipment complexity and cost.

[0039] The present invention is mainly designed to automatically release the warning device 1 and adjust the angle of the warning frame when the driver is unconscious while the driving assistance is activated, which causes the vehicle to need to leave the lane or pull over.

[0040] This invention simplifies the mechanical and electrical complexity of the warning device. The device only needs to perform two actions: deploying the tripod and rotating at a certain angle in place. It does not require the device to detect the surrounding environment. This reduces the cost of components needed for configuring detection sensors and long-distance movement, and the device consumes less power, allowing for the use of smaller batteries. This lowers equipment costs, and replacement costs are low in the event of damage or loss.

[0041] This invention makes full use of the existing resources of the vehicle, reusing intelligent driving system resources, Bluetooth, etc., without significantly increasing the cost of the vehicle.

[0042] This invention supports the intelligent driving system to automatically release the warning device 1 when the driver is unconscious, thereby improving the safety of assisted driving.

[0043] Figure 1 This is a flowchart illustrating a vehicle emergency stop warning control method provided in an embodiment of this disclosure. Figure 1 As shown, the vehicle emergency stop warning control method includes the following steps:

[0044] S1. In response to a driver abnormality detection signal or an emergency stop request signal initiated by the user, control the vehicle to safely change lanes in the current lane or to the emergency lane, and then decelerate to a complete stop.

[0045] S2. After the vehicle comes to a stop, control the controllable release mechanism on it to release the warning device 1. The status of the warning device 1 is as follows: Figure 3 ;

[0046] S3. After releasing the warning device 1, control the vehicle to travel forward a preset distance (see the status of the warning device 1). Figure 4 The image recognition warning device 1, obtained through the visual sensor 3, controls the vehicle to stop if it successfully recognizes the image within a preset driving distance.

[0047] Send an unfold command to the warning device 1 so that the warning device 1 can drive its warning structure to switch from a folded state to an unfolded state according to the unfold command;

[0048] S4. The posture of the warning structure is recognized by the image obtained by the vision sensor 3. If the angle between the warning surface of the warning structure and the center line of the lane exceeds the preset threshold range, a rotation command is sent to the warning device 1 so that the warning device 1 can drive the warning structure to rotate around the vertical axis according to the rotation command, adjust the posture of the warning structure, and make the angle between the warning surface of the warning structure and the center line of the lane enter the preset threshold range.

[0049] S5. Once the warning structure is confirmed to be in the correct position, control the vehicle to continue driving along the current lane for a preset safe distance and then stop.

[0050] This invention concentrates the perception and decision-making functions on the vehicle side. The warning device 1 only needs to perform the unfolding and rotating actions, without the need for a moving mechanism and environmental perception sensors. It can realize the automatic warning function without the driver having to get out of the vehicle, and supports automatic release in emergency situations such as when the driver loses consciousness, thus reducing the complexity and cost of the warning device 1.

[0051] In some embodiments, the step between S3 and S4 further includes: sending an unfolding command to the warning device 1, so that the warning device 1 can drive its warning structure to switch from a folded state to an unfolded state according to the unfolding command. The warning structure of the warning device 1 can be foldable or non-foldable.

[0052] In some embodiments, the present invention further includes the following steps: using the image obtained by the vision sensor 3 to identify whether the warning structure is fully deployed; and when it is confirmed that the warning structure is fully deployed and the posture is adjusted in place, controlling the vehicle to continue driving along the current lane for a preset safe distance and then stopping.

[0053] In some embodiments, the preset threshold range is from 90°-a° to 90°+a°, where a is the allowable angle error.

[0054] Preferably, the angle between the warning surface of the warning structure and the center line of the lane is 90 degrees.

[0055] This invention uses a forward-looking camera to detect the perpendicularity of a warning structure (such as a warning sign) to the lane centerline. Based on the detection results, it requests the base of the warning structure (such as the warning sign) to rotate to a suitable angle. The forward-looking camera then checks again to see if the warning structure (such as the warning sign) has rotated to the correct position. If it has, the vehicle moves forward to a safe distance and then stops, ending the process. If it has not rotated to the correct position, the angle is repeatedly adjusted until the requirement is met. The angle between the warning surface of the warning structure and the lane centerline is 90 degrees, ensuring that the warning surface of the warning device 1 faces oncoming vehicles, maximizing the warning effect.

[0056] In some embodiments, during the step of controlling the vehicle to travel forward a preset distance, if the vehicle has traveled beyond the preset distance and the warning device 1 is still not detected, the vehicle is controlled to stop and a manual reminder or fault handling is triggered.

[0057] In some embodiments, controlling a vehicle to continue traveling along the current lane for a preset safe distance includes: determining the preset safe distance based on the grade of the road where the vehicle is located, and controlling the vehicle to continue traveling along the current lane for the preset safe distance.

[0058] The preset safety distance is dynamically adjusted according to the road grade. For example, the preset safety distance is 100 to 150 meters in the highway scenario and 30 to 50 meters in the urban road scenario.

[0059] Based on the same inventive concept, see [link to inventive concept] Figure 2 The present invention also discloses a vehicle emergency stop warning control system, including a warning device 1, a vision sensor 3 and an intelligent driving domain controller, wherein the warning device 1 is fixed to the rear of the vehicle by a controllable release mechanism;

[0060] The intelligent driving domain controller is configured to perform the steps in the vehicle emergency stop warning control method as described in any of the above embodiments.

[0061] This invention fixes the warning device 1 to the rear of the vehicle and configures it with a controllable release mechanism, allowing the vehicle to automatically release the warning device 1 without the driver needing to get out of the vehicle. The visual sensor 3 of the intelligent driving domain controller identifies the posture of the warning device 1 and controls its deployment and posture adjustment via wireless communication, centralizing the perception and decision-making functions at the vehicle end. The warning device 1 only needs to perform deployment and in-situ rotation actions, eliminating the need for a moving mechanism and environmental perception sensors, significantly simplifying the complexity of the warning device 1.

[0062] In some embodiments, see Figure 5 The warning device 1 includes a base 12, a control module, a wireless communication module, a power module, a rotating mechanism 11, and an unfolding drive device. The rotating mechanism contains the rotating drive device, and the base is located above the rotating mechanism and connected to the rotating drive device, which drives the base to rotate. The warning structure 13 and the unfolding drive device are located on the base, and the unfolding drive device is used to drive the warning structure 13 to unfold. The power module supplies power to the warning device 1, the wireless communication module is electrically connected to the control module, and the control module is electrically connected to both the unfolding drive device and the rotating drive device.

[0063] In some embodiments, the wireless communication module employs a Bluetooth communication module. The Bluetooth communication module is used to communicate with the vehicle, receive control commands, and provide real-time feedback on the device's status.

[0064] The warning device 1 is equipped with a power interface, which is electrically connected to the power module. When the warning device 1 is fixed on the vehicle, the power interface is connected to the power supply on the vehicle, and the power supply on the vehicle charges the warning device 1.

[0065] In some embodiments, the power module uses a small storage battery to power the warning device 1 after it is removed from the vehicle.

[0066] In some embodiments, the rotation drive device employs a rotation control motor to drive the angle adjustment of the warning structure. The unfolding drive device employs an unfolding control motor to drive the unfolding or folding of the warning structure.

[0067] The present invention uses a rotation control motor to drive the base to rotate in order to adjust the orientation of the warning structure; the deployment control motor is used to drive the warning structure to deploy. This warning device 1 has a simple structure, containing only the basic components required for deployment and rotation functions, eliminating the need for environmental sensing sensors and long-distance movement mechanisms, significantly reducing the complexity and cost of the equipment.

[0068] In some embodiments, the warning structure includes two triangular warning brackets, which are symmetrically arranged. The warning device 1 is visible from four directions after being unfolded. The warning device 1 is designed with a square, flat base structure, and a foldable triangular bracket structure on the upper platform. Two symmetrical triangular bracket structures can be designed, along with a locking mechanism for locking to the vehicle body 2, and a charging interface. Of course, the warning structure is not limited to the above embodiments. The warning structure can also be a warning sign.

[0069] In some embodiments, the warning device 1 may be selectively designed with a flashing light circuit and an audible warning circuit to increase audible and optical alerts.

[0070] In some embodiments, the intelligent driving domain controller integrates a warning device 1 identification module and a posture determination module. The warning device 1 identification module is used to identify the warning device 1 based on the image acquired by the vision sensor 3, and the posture determination module is used to identify the posture of the warning structure based on the image acquired by the vision sensor 3. This invention fully utilizes the existing intelligent driving system resources and computing power of the vehicle by integrating dedicated identification and determination modules into the intelligent driving domain controller.

[0071] In some embodiments, the vehicle emergency stop warning control system includes a human-machine interface (HMI) controller, a body 2 controller, and an intelligent driving system. The HMI controller is used to set the driver's release switch for the warning device 1, Bluetooth communication between the intelligent driving system and the warning device 1, and information prompts throughout the control process. The body 2 controller is used to lock and unlock the warning device 1 latch, thus fixing and releasing the warning device 1. The intelligent driving system includes an intelligent driving domain controller, sensors such as cameras, millimeter-wave radar, lidar, and ultrasonic radar, and performs driver assistance / autonomous driving functions. The intelligent driving domain controller integrates a warning device 1 recognition and attitude judgment module. Using video data input from the rear surround view camera, combined with image processing and a warning device 1 recognition algorithm, it outputs the position of the warning device 1 behind the vehicle and the angle of its tripod relative to the lane centerline. The intelligent driving domain controller also integrates a warning device 1 deployment control and base rotation control module. The body 2 controller and the HMI controller respectively implement the request to release the warning device 1 and the deployment and rotation operations of the warning device 1.

[0072] The intelligent driving domain controller is configured to acquire an image of the area behind the vehicle via the vision sensor 3, and to identify the angular deviation of the warning device 1 relative to the lane centerline using an image processing algorithm. The vision sensor 3 can clearly capture the image of the warning device 1 behind the vehicle, and calculate the angular deviation between the warning device 1 and the lane centerline using the image processing algorithm, providing accurate control basis for attitude adjustment.

[0073] In some embodiments, the controllable release mechanism includes a locking structure electrically connected to a vehicle body 2 controller. The vehicle body 2 controller is configured to control the locking structure to lock and release the warning device 1. The warning device 1 has a latch structure for cooperating with the locking structure. The vehicle body 2 controller is electrically connected to an intelligent driving domain controller. The vehicle body 2 controller controls the controllable release mechanism to release the warning device 1, acquires images through a vision sensor 3 and determines the posture of the warning device 1 based on the images, and controls the warning device 1 to unfold the warning structure and adjust its posture via wireless communication. The locking structure is controlled by the vehicle body 2 controller. When the vehicle body 2 controller receives a release command, it controls the locking structure to unlock, and the warning device 1 falls to the ground under gravity. This release mechanism has a simple and reliable structure, achieving automatic release through electronic control without requiring the driver to leave the vehicle.

[0074] This release mechanism has a simple and reliable structure, and it is automatically released through the electronic control of the vehicle body controller.

[0075] In some embodiments, the vision sensor 3 is electrically connected to the intelligent driving domain controller, and the intelligent driving domain controller is electrically connected to the vehicle HMI.

[0076] This invention enables an automatic warning function that requires the driver to leave the vehicle. Through a complete process of automatic release of the warning device 1, vehicle forward positioning, visual posture recognition, and wireless control adjustment, the driver does not need to leave the vehicle to manually place the warning device 1, avoiding the safety hazards of operating it while driving at high speeds, such as on highways, and significantly improving the convenience and safety of operation.

[0077] This invention supports automatic warnings in emergency situations such as driver loss of consciousness. By detecting abnormal driver status through the driving assistance system and automatically triggering the release and adjustment process of the warning device 1, the vehicle can autonomously place the warning device 1 in emergency situations where the driver loses consciousness and is unable to control the vehicle, effectively reducing the risk of rear-end collisions and significantly improving the safety of assisted driving.

[0078] This invention significantly reduces the complexity and cost of the warning device 1. By centralizing the perception and decision-making functions at the vehicle end, the warning device 1 only needs to perform two simple actions: deploying the warning structure and rotating in place. It eliminates the need for environmental perception sensors (such as cameras and radar), a long-distance driving power system, and a complex control system for determining lane trajectory. The warning device 1 requires only a small battery, a Bluetooth communication module, and two control motors. The device has low power consumption, a simple mechanical structure, and significantly reduced manufacturing costs. Replacement costs are also significantly reduced in the event of damage or loss.

[0079] This invention makes full use of existing vehicle resources without significantly increasing the overall vehicle cost. It reuses existing intelligent driving system resources (such as rearview cameras, computing power of the intelligent driving domain controller), Bluetooth communication resources, and vehicle body controller resources, requiring only the addition of the release mechanism and warning device 1 itself, resulting in a limited increase in overall vehicle cost.

[0080] This invention achieves precise control of the posture of the warning device 1. The visual sensor 3 on the vehicle identifies the angular deviation of the warning device 1 relative to the lane centerline, and the device is rotated and its posture adjusted via wireless communication to ensure that the warning surface of the device 1 is aligned with the lane direction, thus improving the warning effect.

[0081] This invention supports both manual and automatic operating modes. A manual release function is provided via the vehicle's HMI controller, allowing the driver to actively trigger it when needed; an automatic release function is provided via the driver assistance system, enabling automatic release in emergency situations. The combination of these two modes enhances the system's applicability and flexibility.

[0082] Based on the same inventive concept, the present invention also discloses a vehicle including a vehicle emergency stop warning control system as described in any of the above embodiments.

[0083] The vehicle body 2 is provided with a mounting cavity for accommodating the warning device 1. For example, a storage space for the warning device 1 can be designed on the rear side of the vehicle chassis, under the trunk. During normal driving, the warning device 1 is fixed in this position. In the event of an emergency stop, the vehicle can control the release of the fixing device to lower the warning device 1. A door lock structure can be used to lock and release the vehicle body 2 and the warning device 1. The electrical control equipment is located below the warning device 1 to lower the center of gravity and improve the stability of the equipment.

[0084] During the driving assistance process, if the driver exhibits abnormal behavior such as not holding the steering wheel, not looking ahead for an extended period, or having their eyes closed for a prolonged period, the driving assistance function will slow down and gradually bring the vehicle to a stop after changing lanes in the current lane or into the emergency lane. Then, follow these steps to release the warning device 1:

[0085] After the vehicle comes to a stop, open the fixing structure of the warning device 1 at the rear of the chassis and lower the warning device 1.

[0086] The vehicle moves forward a few meters, stops after the rearview camera on the vehicle body 2 detects the warning device 1, and activates the warning device 1 via Bluetooth communication.

[0087] The rearview camera identifies whether the direction of the warning device 1 is the same as the direction of the lane. If there is an angular deviation, the warning device 1 is notified to rotate the angle and adjust its posture via Bluetooth communication.

[0088] Once the warning device 1 is deployed and its posture is adjusted to the correct position, the vehicle will continue to travel forward along the lane for several tens of meters and then stop, depending on the road level and condition.

[0089] When the driver is driving manually, the warning device 1 can be released by setting a switch on the entertainment screen. Then, the driver can complete steps 2, 3, and 4 above by following the voice prompts, which reduces the hassle of the driver having to get out of the car to operate it.

[0090] Once the driver regains consciousness or the emergency is over, the device can be retrieved and installed in position 2 of the vehicle body from a safe location.

[0091] This system design, in the event of a driver malfunction and emergency braking, automatically releases warning device 1, effectively reducing the risk of rear-end collisions and improving driving safety. Furthermore, the electrical design of warning device 1 is simple, requiring only a small battery, Bluetooth communication, and a rotary motor. More control decisions are made on the vehicle side, which has higher computing power. The vehicle controls the device's position by releasing warning device 1, identifies its direction using a rearview camera, and issues rotation commands accordingly. Warning device 1 is low-cost and does not support movement. Through the vehicle's intelligent driving system's recognition technology, the system controls the warning device 1's attitude and maintains a safe distance from the vehicle.

[0092] The vehicle is also equipped with a driver assistance system. This system includes components such as a driver monitoring camera, a steering wheel torque sensor, an adaptive cruise control module, and a lane keeping assist module. The driver monitoring camera is mounted on the dashboard above the steering wheel and monitors the driver's face and eye status in real time. The driver assistance system can detect abnormal driver states, including hands off the steering wheel for more than 5 seconds, eyes deviating from the road for more than 3 seconds, or eyes closed for more than 2 seconds. When an abnormal driver state is detected, the driver assistance system determines that the driver may have lost consciousness or is in a state where they are unable to drive normally.

[0093] By adopting the above technical solution, in emergency situations such as driver loss of consciousness, the vehicle can autonomously complete the release, deployment, attitude adjustment, and positioning of the warning device 1 without driver intervention, effectively reducing the risk of rear-end collisions and significantly improving the safety of assisted driving. Simultaneously, the warning device 1 only needs to perform two simple actions: deployment and rotation in place, eliminating the need for environmental perception sensors, long-distance driving power systems, and complex trajectory control systems. Furthermore, this invention fully utilizes the vehicle's existing intelligent driving system resources. The rear-view camera 19 is a standard configuration of the vehicle's intelligent driving system, used for functions such as reversing image and blind spot monitoring. This embodiment reuses this camera for warning device 1 recognition, eliminating the need for additional cameras. The intelligent driving domain controller has powerful image processing and algorithm computing capabilities, integrating the warning device 1 recognition and attitude judgment module, requiring only the addition of software algorithms.

[0094] Based on the same inventive concept, embodiments of the present invention also provide an electronic device, including: one or more processors, a memory, and one or more I / O interfaces. The memory stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the vehicle emergency stop warning control methods described in the above embodiments; the one or more I / O interfaces are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0095] Among them, the processor is a device with data processing capabilities, including but not limited to the central processing unit (CPU); the memory is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically such as SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the processor and the memory, including but not limited to the data bus (Bus).

[0096] In some embodiments, the processor, memory, and I / O interfaces are interconnected via a bus, and thus connected to other components of the computing device.

[0097] In some embodiments, the one or more processors include a field-programmable gate array (FPGA).

[0098] This invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the vehicle emergency stop warning control methods described in the above embodiments. The computer-readable storage medium may be volatile or non-volatile.

[0099] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described vehicle emergency stop warning control method.

[0100] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0101] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0102] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0103] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0104] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0105] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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-readable program instructions.

[0106] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0107] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A vehicle emergency stop warning control method, characterized in that, Includes the following steps: In response to a driver abnormality detection signal or an emergency stop request signal initiated by the user, the vehicle is controlled to safely change lanes in the current lane or to the emergency lane, and then decelerates to a complete stop. After the vehicle comes to a stop, the controllable release mechanism on it releases the warning device; After the warning device is released, the vehicle is controlled to travel forward a preset distance, and the warning device is identified by the image obtained by the visual sensor. If the recognition is successful within the preset travel distance, the vehicle is controlled to stop. The image obtained by the visual sensor identifies the posture of the warning structure. If the angle between the warning surface of the warning structure and the center line of the lane exceeds the preset threshold range, a rotation command is sent to the warning device so that the warning device drives the warning structure to rotate around the vertical axis according to the rotation command, thereby adjusting the posture of the warning structure so that the angle between the warning surface of the warning structure and the center line of the lane is within the preset threshold range. Once the warning structure is confirmed to be in the correct position, control the vehicle to continue traveling along the current lane for a preset safe distance before stopping.

2. The method according to claim 1, characterized in that: Before identifying the posture of the warning structure, the following steps are also included: sending an unfolding command to the warning device so that the warning device can drive its warning structure to switch from a folded state to an unfolded state according to the unfolding command.

3. The method according to claim 1, characterized in that, In the step of controlling the vehicle to travel forward a preset distance, if the vehicle has traveled beyond the preset distance and the warning device is still not detected, the vehicle is controlled to stop and a manual reminder or fault handling is triggered.

4. The method according to claim 1, characterized in that: Controlling a vehicle to continue traveling along the current lane at a preset safe distance includes: determining the preset safe distance based on the road grade where the vehicle is located, and controlling the vehicle to continue traveling along the current lane at the preset safe distance.

5. A vehicle emergency stop warning control system, characterized in that: It includes a warning device, a visual sensor, and an intelligent driving domain controller, wherein the warning device is fixed to the rear of the vehicle via a controllable release mechanism; The intelligent driving domain controller is configured to perform the steps in the vehicle emergency stop warning control method as described in any one of claims 1 to 4.

6. The system according to claim 5, characterized in that: The warning device includes a base, a control module, a wireless communication module, a power module, a rotating mechanism, and a deployment drive device. The rotating mechanism contains a rotation drive device, and the base is positioned above the rotating mechanism and connected to the rotation drive device, which drives the base to rotate. The warning structure and the deployment drive device are mounted on the base, and the deployment drive device is used to drive the warning structure to deploy. The power module supplies power to the warning device, the wireless communication module is electrically connected to the control module, and the control module is electrically connected to both the deployment drive device and the rotating drive device.

7. The system according to claim 5, characterized in that: The intelligent driving domain controller integrates a warning device identification module and an attitude judgment module. The warning device identification module is used to identify warning devices based on images acquired by a visual sensor, and the attitude judgment module is used to identify the attitude of the warning structure based on images acquired by a visual sensor.

8. The system according to claim 7, characterized in that: The controllable release mechanism includes a locking structure, which is electrically connected to the body controller. The body controller is configured to control the locking structure to lock and release the warning device. The warning device is provided with a latch structure for cooperating with the locking structure. The body controller is electrically connected to the intelligent driving domain controller.

9. The system according to claim 7, characterized in that: The vision sensor is electrically connected to the intelligent driving domain controller, and the intelligent driving domain controller is electrically connected to the vehicle's HMI.

10. A vehicle, characterized in that: Includes the vehicle emergency stop warning control system as described in any one of claims 5 to 9.

Images