Vehicle control method and device

Abstract

The invention discloses a vehicle control method and device, and relates to the technical field of vehicles. The specific embodiment of the method comprises the following steps: in response to the detected abnormal driving state of a driver, sending inquiry information to the driver; and in response to a received feedback result of the driver for the inquiry information, the vehicle is controlled to enter an automatic driving mode, the vehicle is driven to a target area, a rescue requesting signal is sent out, and the target area is determined according to the personnel density corresponding to all the areas at the current time. According to the implementation mode, the driving safety of the vehicle is ensured under the condition that the state of the driver is abnormal, meanwhile, the situation that the vehicle is parked in a depopulated area for a long time and the abnormal state of the driver is not found is avoided, the possibility that the abnormal state of the driver is found is improved, and the probability that the driver obtains timely rescue is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle control method and apparatus. Background Technology

[0002] When driving, drivers may encounter sudden physical abnormalities or be injured in traffic accidents. Due to impaired consciousness or physical limitations, drivers may be unable to take measures to seek help, such as calling for help or calling the police, which reduces the likelihood of them receiving external assistance and delays their treatment. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a vehicle control method and apparatus, comprising: responding to detecting an abnormal driving state of a driver, sending an inquiry message to the driver; responding to receiving feedback from the driver regarding the inquiry message, controlling the vehicle to enter an autonomous driving mode, driving to a target area, and sending a signal requesting assistance, wherein the target area is determined based on the population density of various areas at the current time. Thus, by inquiring with the driver and determining to activate the autonomous driving mode based on the driver's feedback, the safety of vehicle operation is ensured even when the driver is in an abnormal state. Simultaneously, by controlling the vehicle to drive to a target area where certain conditions are met, the situation of the vehicle remaining parked in an uninhabited area for an extended period without the driver's abnormal state being detected is avoided, increasing the likelihood of detecting the driver's abnormal state and increasing the probability of the driver receiving timely assistance.

[0004] To achieve the above objectives, a vehicle control method is provided according to one aspect of the present invention.

[0005] A vehicle control method according to an embodiment of the present invention includes:

[0006] In response to detecting an abnormal driving state of the driver, an inquiry message is sent to the driver;

[0007] In response to receiving feedback from the driver regarding the inquiry information, the system controls the vehicle to enter autonomous driving mode, drive to the target area, and send a signal requesting assistance. The target area is determined based on the population density of each area at the current time.

[0008] Optionally, the method provided by the present invention further includes: acquiring map data and determining multiple location markers located within a preset range around the vehicle based on the map data;

[0009] Based on the historical visitor data corresponding to the locations indicated by the multiple location identifiers, predict the population density corresponding to the locations indicated by the multiple location identifiers at the current time;

[0010] Based on the population density corresponding to the locations indicated by the multiple location markers, the target area is determined from the areas corresponding to the multiple location markers.

[0011] Optionally, predicting the population density corresponding to each of the locations indicated by the multiple location identifiers at the current time based on historical visitor data corresponding to each location indicated by the multiple location identifiers includes:

[0012] Analyze the historical visitor data to obtain the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods;

[0013] Based on the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods, the population density corresponding to the locations indicated by the multiple location identifiers at the current time is determined.

[0014] Optionally, determining the population density of the locations indicated by the multiple location identifiers at the current time based on the number of visitors corresponding to the locations at different time periods includes:

[0015] For each location marker indicating the target location:

[0016] Determine the number of visitors to the target location for each of the different time periods;

[0017] Based on the historical visitor data, determine the average visit duration of visitors to the target location;

[0018] Based on the number of visitors corresponding to the different time periods and the average visit duration, calculate the target number of visitors leaving and entering the target location during the different time periods;

[0019] The population density of the target location is calculated based on the number of target visitors, the duration of the different time periods, and the area of ​​the target location.

[0020] Optionally, the method provided by the present invention further includes: acquiring map data, wherein the map data includes location identifiers and their corresponding population densities;

[0021] Based on the location identifier and its corresponding population density, a target area with a population density greater than a density threshold is determined from the area corresponding to the location identifier.

[0022] Optionally, determining the target area with a population density greater than a density threshold from the area corresponding to the location identifier includes:

[0023] The map data also includes distance information corresponding to the location identifier;

[0024] From the regions corresponding to the location identifiers, candidate areas with a population density greater than the density threshold are identified;

[0025] Based on the distance information, a target area whose distance to the vehicle is less than a first distance threshold is determined from the candidate area.

[0026] Optionally, the method provided by the present invention further includes: collecting environmental information outside the vehicle in real time, and resolving the external personnel density based on the external environmental information;

[0027] Determine whether the personnel density is greater than a density threshold;

[0028] In response to the personnel density being greater than the density threshold, the area where the vehicle is located is determined as the target area.

[0029] Optionally, the method provided by the present invention further includes: in response to receiving a vehicle takeover request input by a person outside the vehicle, controlling the vehicle to stop and ending the automatic driving mode.

[0030] Optionally, the method provided by the present invention further includes: in response to receiving feedback from the driver regarding the inquiry information, sending a distress signal to the outside of the vehicle.

[0031] Optionally, the method provided by the present invention further includes: in response to detecting that the distance between a person outside the vehicle and the vehicle is less than a second distance threshold, controlling the image acquisition device to start, so as to record the interaction process between the person and the vehicle.

[0032] Optionally, the method provided by the present invention further includes: responding to receiving a distress signal from a person outside the vehicle to the driver;

[0033] Unlock the vehicle doors and / or open the vehicle windows, and issue a prompt to assist the driver.

[0034] To achieve the above objectives, according to another aspect of the present invention, a vehicle control device is provided.

[0035] A vehicle control device according to an embodiment of the present invention includes:

[0036] The detection module is used to send an inquiry message to the driver in response to the detection of an abnormal driving state of the driver;

[0037] The control module is used to respond to the feedback from the driver regarding the inquiry information, control the vehicle to enter the autonomous driving mode, drive to the target area and send a signal requesting rescue, wherein the target area is determined based on the population density of each area at the current time.

[0038] To achieve the above objectives, according to another aspect of the present invention, an electronic device for vehicle control is provided.

[0039] An electronic device for vehicle control according to an embodiment of the present invention includes: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle control method according to an embodiment of the present invention.

[0040] To achieve the above objectives, according to another aspect of the present invention, a computer-readable storage medium is provided.

[0041] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a vehicle control method according to an embodiment of the present invention.

[0042] One embodiment of the above invention has the following advantages or beneficial effects: In response to detecting an abnormal driving state, an inquiry message is sent to the driver; in response to receiving feedback from the driver regarding the inquiry message, the vehicle is controlled to enter autonomous driving mode, drive to a target area, and send a request for assistance signal. The target area is determined based on the population density of various areas at the current time. Thus, by inquiring with the driver and determining to activate the autonomous driving mode based on the driver's feedback, the safety of vehicle operation is ensured even when the driver is in an abnormal state. Simultaneously, by controlling the vehicle to drive to a target area where certain conditions are met, the situation of the vehicle remaining parked in an uninhabited area for an extended period without the driver's abnormal state being detected is avoided, increasing the likelihood of detecting the driver's abnormal state and increasing the probability of the driver receiving timely assistance.

[0043] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0044] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0045] Figure 1 This is a schematic flowchart of a vehicle control method according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of a module of a control system for executing a vehicle control method according to an embodiment of the present invention;

[0047] Figure 3 This is a flowchart illustrating another vehicle control method according to an embodiment of the present invention;

[0048] Figure 4 This is a schematic flowchart of another vehicle control method according to an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram illustrating the main steps of determining a target area according to an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the main modules of a vehicle control device according to an embodiment of the present invention;

[0051] Figure 7 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied;

[0052] Figure 8 This is a schematic diagram of the structure of a computer system suitable for implementing terminal devices or servers of the present invention. Detailed Implementation

[0053] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0054] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0055] Figure 1 This is a schematic diagram of the main steps of a vehicle control method according to an embodiment of the present invention.

[0056] like Figure 1 As shown, the vehicle control method of this embodiment mainly includes steps S101-S102:

[0057] Step S101: In response to detecting an abnormal driving state, an inquiry message is sent to the driver. In an optional embodiment of the present invention, an in-vehicle camera can be used to acquire facial images and / or sitting posture images of the driver, and the facial images and / or sitting posture images can be analyzed to determine whether the driver's facial expression and / or sitting posture are abnormal. Abnormal facial expression can refer to a distorted state of the driver's face due to physical pain. Abnormal sitting posture may be caused by the driver losing consciousness and being unable to control body movements, or it may be caused by physical limitations that prevent the driver from supporting a normal driving state, such as slumping over the steering wheel, leaning to one side of the steering wheel, or leaning to one side of the driver's seat. The driver's state can also be judged based on sound. Specifically, sound acquisition devices, such as in-vehicle microphones and cameras, can be used to collect the sounds emitted by the driver. Based on the sounds, such as groans caused by physical pain, it can be determined whether the driver's state is abnormal. In addition, the driver's physical pain can be caused by a sudden illness or by injuries caused by a collision in a traffic accident.

[0058] If the driver's driving condition is determined to be abnormal, the vehicle's in-vehicle voice interaction module is activated. A question is then posed through this module, such as, "Are you currently unable to drive?" or "Do you need me to activate autonomous driving?" The driver's response generally falls into three categories: First, the driver answers affirmatively, such as "Yes," "I cannot drive now," or "Activate autonomous driving." Second, the driver answers negatively, such as "No," "No need," "I can drive," or "Autonomous driving is not needed." Third, the driver does not respond to the question. It is understood that the above driver responses are examples and not intended to be limiting.

[0059] Step S102: In response to receiving feedback from the driver regarding the inquiry, the vehicle is controlled to enter autonomous driving mode, drive to the target area, and send a request for assistance. The target area is determined based on the population density of each area at the current time. Considering that the driver may not have responded to the inquiry due to unconsciousness or inability to speak, for safety reasons, a lack of response is considered a situation where the driver is unable to drive or requires the activation of the autonomous driving function. Therefore, if the driver's feedback indicates a response corresponding to either the first or third scenario, the vehicle's autonomous driving function is activated.

[0060] When an abnormal driving condition is detected, the vehicle may be in a moving state or a stationary state. When the vehicle is in motion, activating the autonomous driving function upon detecting the abnormal driving condition ensures driving safety and prevents traffic accidents caused by the driver's inability to drive properly due to physical discomfort, thus avoiding further injury to the driver. Furthermore, once the autonomous driving function is activated, the vehicle is automatically guided to a target area. Since this target area has a large number of people, the probability of the vehicle and driver's abnormal condition being noticed is greatly increased, preventing the driver's abnormal condition from going unnoticed for a long time and increasing the likelihood of the driver receiving assistance. Simultaneously, the vehicle sends out a distress signal. This distress signal can be a light signal emitted by the headlights, with the flashing frequency indicating the urgency of the distress request; it can also be an audio signal emitted by the external speakers; or it can be a pre-recorded distress message played through the external speakers. By controlling the vehicle to send out a distress signal, the probability of the vehicle and driver's abnormal condition being noticed is further increased, further enhancing the likelihood of the driver receiving assistance.

[0061] Target areas can be determined based on pre-defined population density levels for various locations, which can be categorized according to the nature of each location. For example, the population density level at a crossroads in the same area is higher than that at other non-crossroads locations; the population density level at the entrances and exits of a shopping mall is higher than that at the entrances and exits of a residential community, and so on. In other words, based on people's general understanding of various locations, population density levels are categorized, and locations with higher population density levels are identified as target areas. However, the accuracy of target area determination in this way is relatively low. To further improve the accuracy of target area determination, in addition to the population density levels categorized according to the nature of the location, historical visitor data can be used to more accurately calculate the corresponding population density for each location within a historical time period. The current population density for each location can be estimated by referring to historical data, and the target area can be determined based on the population density estimated from historical data, making the determined target area more accurate.

[0062] To increase the likelihood of the driver receiving assistance, determining the target area is a key issue in this embodiment. Since the target area is determined based on the population density of the corresponding area, determining the population density of each area naturally becomes crucial to improving the driver's chances of rescue. The following further explains how to determine the target area based on historical visitor data from various locations. In an optional embodiment of the invention, the method further includes: acquiring map data and determining multiple location markers within a preset range around the vehicle based on the map data; predicting the population density of each location indicated by the multiple location markers at the current time based on historical visitor data corresponding to the locations indicated by the multiple location markers; and determining the target area from the areas corresponding to the multiple location markers based on the population density of the locations indicated by the multiple location markers. Specifically, after detecting an abnormal driver status, the system first uses a navigation map to determine the vehicle's current location and then finds location markers within a preset range around the current location, such as within 5 kilometers or 3 kilometers. These location markers include intersection markers, shopping mall markers, office building markers, hospital markers, subway station markers, train station markers, scenic spot markers, etc. Based on the historical visitor data of this location or place, the system predicts the population density of each location or place at the current time. The system then identifies the areas with higher population density among multiple locations or places as target areas and controls the vehicle to automatically drive to those target areas.

[0063] Further, in an optional embodiment of the present invention, predicting the personnel density corresponding to the locations indicated by the multiple location identifiers at the current time based on the historical visitor data corresponding to the locations indicated by the multiple location identifiers includes: analyzing the historical visitor data to obtain the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods; and determining the personnel density corresponding to the locations indicated by the multiple location identifiers at the current time based on the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods. For example, based on the historical visitor data of an intersection, the pedestrian and / or vehicle traffic flow passing through the intersection at different time periods within a day, such as 7:00-9:00, 9:00-12:00, 12:00-14:00, 14:00-17:00, and 17:00-19:00, can be analyzed. Based on the pedestrian and / or vehicle traffic flow in each time period, the number of people passing through the intersection can be calculated, where vehicles include any vehicle, such as bicycles, electric bicycles, motorcycles, cars, etc. When calculating the number of people, one vehicle can be counted as one person. Furthermore, when dividing time periods, it's possible to distinguish between different time slots within a weekday and different time slots within a holiday. For example, based on historical visitor data for shopping mall A, we can analyze the number of visitors during different time slots on weekdays and holidays, such as 7:00-9:00, 9:00-12:00, 12:00-14:00, 14:00-17:00, 17:00-19:00, and 19:00-22:00. It can be seen that different locations or venues, depending on their characteristics, will have different visitor numbers at different times. For example, on a weekday from 7:00-9:00, there are more visitors at an intersection than at a shopping mall. Additionally, the number of visitors at the same location or venue also varies throughout the day. For instance, the number of visitors at an intersection during the morning rush hour (7:00-9:00) on a weekday differs from the later morning hours (9:00-12:00). Therefore, based on the above, when determining the target area, it is necessary to consider the type of venue indicated by the location marker and the impact of the current time period on the number of visitors, so as to accurately select the target area with high population density.

[0064] Based on the historical visitor count and duration of each time period, the number of historical visitors per unit time can be calculated. Combined with the area of ​​each location, the number of visitors per unit area per unit time can be calculated, i.e., the population density of that location. It's important to note that if the location is open-air, such as an intersection, the population density can be determined based on the number of visitors per unit time and the intersection's area. However, if the location is indoors, such as a shopping mall, the visitor count for each time period refers to the number of visitors inside the mall. Since visitors cannot assist a driver indoors, the population density cannot be directly calculated based on this visitor count, the mall's area, and the duration of each time period. Therefore, this population density is meaningless for assisting a driver.

[0065] When the venue is indoors, it is impossible to directly calculate the personnel density based on the number of visitors at different times. In an optional embodiment of the present invention, determining the personnel density of the venues indicated by the multiple location markers at the current time based on the number of visitors corresponding to the venues at different time periods includes: for each target venue indicated by a location marker: determining the number of visitors corresponding to the target venue at different time periods; determining the average visit duration of visitors corresponding to the target venue based on the historical visitor data; calculating the number of target visitors leaving and entering the target venue at different time periods based on the number of visitors corresponding to the different time periods and the average visit duration; and calculating the personnel density of the target venue based on the number of target visitors, the duration of the different time periods, and the area of ​​the target venue. Specifically, after calculating the historical number of visitors corresponding to each venue at different time periods, the personnel density of the intersection at each time period is calculated based on the historical number of visitors in that time period, the duration of each time period, and the average duration of visitors passing through the intersection. Based on the needs of drivers in emergency vehicles, it is necessary to calculate the personnel density around the shopping mall, such as at the mall entrances and exits. Having obtained the number of visitors to the mall for each time period, we can combine the duration of each time period with the average visit duration per visitor (the average time spent in the mall) to calculate the number of visitors entering and exiting the mall per unit time. Then, based on the number of visitors entering and exiting the mall per unit time, we can calculate the number of visitors passing through the mall's surroundings, such as the mall's entrances and exits, per unit time. Combining this with the area corresponding to the entrances and exits, we can calculate the corresponding population density of the mall. It should be noted that determining the target area based on the population density of each location—for example, if the mall has the highest population density, it means that the area corresponding to the mall's entrances and exits is the target area, where the population density is relatively high.

[0066] To increase the likelihood of drivers receiving assistance, determining the target area is a key issue in this embodiment. In an optional embodiment of the invention, the method further includes: acquiring map data, the map data including location markers and their corresponding population densities; and, based on the location markers and their corresponding population densities, determining a target area from the areas corresponding to the location markers where the population density is greater than a density threshold. In this embodiment, the target area refers to an area with a relatively high population density at the current moment, such as near a commercial area or an intersection. Determining which area has a high population density at the current moment can be done using real-time satellite map data; therefore, a target area with a high population density can be determined based on real-time satellite map data. This embodiment demonstrates high accuracy in determining the target area based on real-time satellite map data, indirectly increasing the probability of drivers receiving assistance.

[0067] Determining the target area solely based on population density may result in a target area that is too far from the vehicle's current location, hindering timely assistance for the driver. Therefore, in determining the target area, distance must be considered in addition to population density. Thus, in an optional embodiment of the present invention, determining the target area with a population density greater than a density threshold from the area corresponding to the location identifier includes: the map data also includes distance information corresponding to the location identifier; determining candidate areas with a population density greater than the density threshold from the area corresponding to the location identifier; and determining, based on the distance information, a target area from the candidate areas whose distance to the vehicle is less than a first distance threshold. After determining multiple candidate areas based on the location identifiers and their corresponding population densities included in the map data, the distance between each candidate area and the vehicle's current location is determined based on the distance information included in the map data. Based on this distance, a target area whose distance does not exceed a preset range is determined from the multiple candidate areas. The preset range is an area centered on the vehicle's current location with a preset distance, such as 5 kilometers, as its radius. Multiple candidate areas A, B, and C are 3 kilometers, 5 kilometers, and 8 kilometers from the vehicle's current location, respectively. Candidate area A can be selected as the target area. Additionally, different weights can be assigned to the distance and population density of the candidate areas. Based on these weights, a target area can be selected more scientifically and rationally from multiple candidate areas. For example, candidate areas A, B, and C are 3 km, 5 km, and 8 km from the vehicle's current location, respectively, and their population densities are 0.5 people / m², 2 people / m², and 2 people / m², respectively. In this case, the influence of distance and population density on determining the target area can be adjusted by setting weights. If only distance is considered, the weight corresponding to distance can be set to 1 and the weight corresponding to population density to 0; if only population density is considered, the weight corresponding to distance can be set to 0 and the weight corresponding to population density to 1. For cases where both distance and population density are considered, the weight corresponding to distance can be adjusted between 0 and 1, and the weight corresponding to population density can be adjusted accordingly within the same range.

[0068] While a vehicle is en route to a target area, it may encounter a sudden increase in the number of people in a particular area, such as attendees leaving a meeting venue or workers leaving a factory in a short period of time. In such cases, the current area can be designated as the target area, potentially allowing the driver to receive assistance sooner. Therefore, in an optional embodiment of this invention, the method further includes: real-time collection of environmental information outside the vehicle; analyzing the external environmental information to determine the external population density; determining whether the population density is greater than a density threshold; and, in response to the population density being greater than the density threshold, identifying the area where the vehicle is located as the target area. To ensure the driver receives assistance as early as possible, the external environmental information is monitored in real-time while the vehicle is en route to the target area. When the external environmental information meets the condition of high population density, the current area where the vehicle is located is designated as the target area, meaning the vehicle is parked in the area with high population density. This increases the time it takes for the vehicle to reach the target area, making it more likely that the driver will receive assistance sooner.

[0069] In addition, to attract the attention of outsiders, after determining that the driver's driving condition is abnormal, a distress signal is sent to the outside of the vehicle to increase the probability of the driver receiving assistance. In an optional embodiment of the present invention, the method further includes: in response to receiving feedback from the driver regarding the inquiry information, sending a distress signal to the outside of the vehicle. This distress signal can be generated through at least one of the following operations: turning on the rearview lights; turning on the hazard lights; turning on the SOS distress signal; turning on the buzzer; or broadcasting the distress signal via voice, etc.

[0070] In an optional embodiment of the present invention, the method further includes: responding to receiving a vehicle takeover request input by a person outside the vehicle, controlling the vehicle to stop and ending the automatic driving mode. After the external person notices an abnormal situation with the vehicle, they input a vehicle takeover request into the vehicle's external voice interaction module, such as "stop," "let me drive," or "I need to rescue someone." After receiving the vehicle takeover request through the external voice interaction module, the vehicle stops and switches from automatic driving mode to manual driving mode to facilitate the rescuer's operation of the vehicle to assist the driver, such as moving the driver to the back seat and having the rescuer drive the vehicle to a medical facility, or opening the car door to remove the driver from the vehicle and perform first aid (such as artificial respiration, chest compressions, etc.).

[0071] To improve rescue efficiency, the vehicle door automatically opens after the rescuer's intention to help is confirmed. However, if the door is deformed and cannot be opened due to a traffic accident, the window can be automatically opened to facilitate rescue of the driver inside the vehicle. In an optional embodiment of the invention, the method further includes: in response to receiving a rescue intention from a person outside the vehicle to the driver; unlocking the door and / or opening the window, and issuing an operation prompt for rescue of the driver. When a rescue action by a person outside the vehicle is detected, such as banging on the window and calling the driver, or attempting to open the door or break the window (since there are many people in the area, this action can be identified as a rescue action rather than vandalism or theft), the door can be unlocked to facilitate rescue of the driver. The window glass can also be lowered to its lowest position while unlocking the door, or lowered to its lowest position if the door cannot be opened. Opening the window allows ventilation inside the vehicle, allowing the driver to take in fresh air, and also facilitates the rescuer in removing the driver from the vehicle, making rescue operations easier. To further improve rescue efficiency, a notification message indicating that the car door is unlocked can be sent when the car door is unlocked, thus preventing the rescuer from performing unnecessary operations without knowing that the door is unlocked, which would prolong the rescue time.

[0072] Furthermore, to protect rescuers and prevent them from being mistreated or extorted after rescuing the driver, the rescue process can be recorded using an image acquisition device. Recording the rescue process also provides a reference for subsequent treatment of the driver; for example, it can record the first aid procedures performed by the rescuer, providing a reference for subsequent medical personnel. In an optional embodiment of the invention, the method further includes: in response to detecting that the distance between a person outside the vehicle and the vehicle is less than a second distance threshold, controlling the image acquisition device to start recording the interaction between the person and the vehicle. When an external person is detected approaching the vehicle, the vehicle's image acquisition device is activated to record the actions performed by the external person on the vehicle or driver, as well as the voice interaction with the vehicle's external voice interaction module, so as to facilitate the later reconstruction of the rescue scene based on the recorded video or image data.

[0073] Furthermore, to alleviate the concerns of people outside the vehicle before providing assistance, while activating the image acquisition device, the system can also inform them via voice that the vehicle's image recording function is enabled. This allows them to know that their rescue efforts can be recorded and that the recorded data can serve as evidence later, thus giving them peace of mind to assist the driver and indirectly increasing the probability of the driver receiving help.

[0074] The vehicle control method described in the above embodiments will be further explained below through a specific example.

[0075] The executing entity in this embodiment can be the vehicle control system 200, which may include: a control host 201, an in-vehicle camera 202, an external camera 2031 and / or radar 2032, a voice assistant (including an in-vehicle microphone 204, an in-vehicle speaker 205, an external microphone 206, and an external speaker 207), an autonomous driving terminal 208, a data communication module 209, and an alarm module 210, such as... Figure 2 As shown. In this embodiment, the vehicle control method executed by the control system includes the following main steps S301-S306, as follows: Figure 3 As shown:

[0076] Step S301: The in-vehicle camera 202 acquires the driver's facial image, sitting posture image and / or the driver's voice information, and sends the acquired facial image, sitting posture image and / or voice information to the control host 201.

[0077] Step S302: The control host 201 determines that the driver's driving state is abnormal based on the received facial image, sitting posture image and / or sound information, and controls the in-vehicle speaker 205 to issue an inquiry message.

[0078] Step S303: The in-vehicle microphone 204 receives the driver's affirmative answer or does not receive the driver's answer, and sends the driver's answer status to the control host 201.

[0079] Step S304: Based on the received response, the control host 201 controls the autonomous driving terminal 208 to activate the autonomous driving function.

[0080] Step S305: The control host 201 obtains real-time data of the satellite map through the data communication module 209, determines the target area based on the real-time data, and sends the target area to the autonomous driving terminal 208.

[0081] Step S306: The autonomous driving terminal 208 determines the navigation route based on the received target area, and controls the vehicle to drive to the target area according to the navigation route.

[0082] In this embodiment, the vehicle control method executed by the control system 200 further includes the following main steps S401-S405, such as... Figure 4 As shown:

[0083] Step S401: In response to determining that the driver's driving status is abnormal, the control host 201 controls the vehicle alarm module 210 to send a distress message to the outside of the vehicle.

[0084] Step S402: The vehicle exterior camera 2031 and / or radar 2032 detect the presence of people outside the vehicle and send the detected presence of people outside the vehicle to the control host 201.

[0085] Step S403: The control host 201 determines the distance between the person outside the vehicle and the vehicle based on the person's location. If the distance is less than the second distance threshold, the control host 2031 controls the external camera 2031 to collect video data. The external camera 2031 then sends the collected video data to the control host 201.

[0086] Step S404: The control host 201 determines the rescue intention of the person outside the vehicle based on the received video data or the voice information input by the person outside the vehicle received by the external microphone, and controls the door to unlock and / or controls the window to open.

[0087] Step S405: The control host 201 sends out a prompt message that the door has been unlocked through the external speaker 207.

[0088] The following specific embodiment further illustrates how the target area is determined in the vehicle control method of the above embodiment. In this embodiment, determining the target area mainly includes steps S501-S507, such as... Figure 5 As shown:

[0089] Step S501: Obtain map data and determine multiple location markers within a preset range around the vehicle based on the map data.

[0090] Step S502: Obtain historical visitor data corresponding to the locations indicated by the multiple location identifiers and analyze the historical visitor data to obtain the number of visitors corresponding to the locations indicated by the multiple location identifiers in different time periods.

[0091] Step S503: For each target location indicated by a location identifier: determine the number of visitors corresponding to the target location in the different time periods.

[0092] Step S504: Determine the average visit duration of visitors corresponding to the target location based on the historical visitor data.

[0093] Step S505: Calculate the number of target visitors leaving and entering the target location during the different time periods based on the number of visitors corresponding to the different time periods and the average visit duration.

[0094] Step S506: Calculate the population density of the target location based on the number of target visitors, the duration of the different time periods, and the area of ​​the target location.

[0095] Step S507: Determine the target area from the areas corresponding to the locations indicated by the multiple location markers based on the population density of each location.

[0096] The vehicle control method of this invention, in response to detecting an abnormal driving state of the driver, sends an inquiry message to the driver; in response to receiving feedback from the driver regarding the inquiry message, it controls the vehicle to enter autonomous driving mode, drive to a target area, and send a request for assistance signal. The target area is determined based on the population density of various areas at the current time. Thus, by inquiring with the driver and determining to activate the autonomous driving mode based on the driver's feedback, the method ensures vehicle safety even when the driver is in an abnormal state. Furthermore, by controlling the vehicle to drive to a target area where certain population conditions are met, it avoids situations where the vehicle remains parked in an uninhabited area for an extended period without the driver's abnormal state being detected, increasing the likelihood of the driver's abnormal state being discovered and the probability of the driver receiving timely assistance.

[0097] Figure 6 This is a schematic diagram of the main modules of a vehicle control device according to an embodiment of the present invention.

[0098] like Figure 6 As shown, the vehicle control device 600 of this embodiment includes:

[0099] The detection module 601 is used to send an inquiry message to the driver in response to the detection of an abnormal driving state of the driver;

[0100] The control module 602 is used to respond to the feedback result received from the driver regarding the inquiry information, control the vehicle to enter the autonomous driving mode, drive to the target area and send a signal requesting rescue, wherein the target area is determined according to the population density of each area at the current time.

[0101] In an optional embodiment of the present invention, the control module 602 is further configured to acquire map data, the map data including location identifiers and their corresponding population densities; and, based on the location identifiers and their corresponding population densities, determine a target area from the area corresponding to the location identifiers where the population density is greater than a density threshold.

[0102] In an optional embodiment of the present invention, the control module 602 is further configured to, when the map data further includes distance information corresponding to the location identifier, determine a candidate area from the area corresponding to the location identifier where the population density is greater than a density threshold; and, based on the distance information, determine a target area from the candidate area where the distance to the vehicle is less than a first distance threshold.

[0103] In an optional embodiment of the present invention, the control module 602 is further configured to collect environmental information outside the vehicle in real time, parse the external personnel density based on the external environmental information, determine whether the personnel density is greater than a density threshold, and, in response to the personnel density being greater than the density threshold, determine the area where the vehicle is located as the target area.

[0104] In an optional embodiment of the present invention, the control module 602 is further configured to control the vehicle to stop and terminate the automatic driving mode in response to receiving a vehicle takeover request input by a person outside the vehicle.

[0105] In an optional embodiment of the present invention, the control module 602 is further configured to send a distress signal to the outside of the vehicle in response to receiving feedback from the driver regarding the inquiry information.

[0106] In an optional embodiment of the present invention, the control module 602 is further configured to control the image acquisition device to start in response to detecting that the distance between a person outside the vehicle and the vehicle is less than a second distance threshold, so as to record the interaction process between the person and the vehicle.

[0107] In an optional embodiment of the present invention, the control module 602 is further configured to respond to receiving a request for assistance from a person outside the vehicle to the driver; unlock the vehicle door and / or open the vehicle window, and issue an operation prompt for the driver to provide assistance.

[0108] The vehicle control device of this invention, in response to detecting an abnormal driving state of the driver, sends an inquiry message to the driver; in response to receiving the driver's feedback on the inquiry message, it controls the vehicle to enter autonomous driving mode, drive to a target area, and send a signal requesting assistance. The target area is determined based on the population density of various areas at the current time. Thus, by inquiring with the driver and determining to activate the autonomous driving mode based on the driver's feedback, the device ensures vehicle safety even when the driver is in an abnormal state. Furthermore, by controlling the vehicle to drive to a target area where certain population conditions are met, it avoids situations where the vehicle remains parked in an uninhabited area for an extended period without the driver's abnormal state being detected, increasing the likelihood of the driver's abnormal state being discovered and the probability of the driver receiving timely assistance.

[0109] Figure 7 An exemplary system architecture 700 is shown that can be applied to the vehicle control method or vehicle control device of the present invention.

[0110] like Figure 7As shown, system architecture 700 may include detection device 701, network 702, and controller 703. Network 702 serves as the medium for providing a communication link between detection device 701 and controller 703. Network 702 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0111] Users can use controller 703 to interact with detection device 701 via network 702 to receive or send data. Detection device 701 can be an image acquisition device, such as a camera, used to collect the driver's driving status, such as facial expressions, posture, and / or voice, and also to collect environmental information outside the vehicle, sending the collected driving status and environmental information to controller 703. Controller 703 can be a server providing various vehicle services, which can be deployed on the vehicle or in the cloud. Controller 703 can determine whether the driver's state is abnormal based on the driving status collected by monitoring device 701. If an abnormal driver state is determined, controller 703 determines the target area based on environmental information or map data, and controls the vehicle to drive to that target area.

[0112] It should be noted that the vehicle control method provided in this embodiment of the invention can be executed by the controller 703, and correspondingly, the vehicle control device can be set in the controller 703.

[0113] It should be understood that Figure 7 The number of detection devices, networks, and controllers shown is merely illustrative. Any number of detection devices, networks, and controllers can be used depending on implementation needs.

[0114] The following is for reference. Figure 8 It shows a schematic diagram of the structure of a computer system 800 suitable for implementing an electronic device according to embodiments of the present invention. Figure 8 The detection device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0115] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 802 or programs loaded from storage section 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the computer system 800. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0116] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0117] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs the functions defined above in the system of this invention.

[0118] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0119] 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 code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated 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 a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0120] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including a detection module and a control module. The names of these modules do not necessarily limit the module itself; for example, the control module can also be described as "a module that controls the vehicle to travel to the target area."

[0121] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: in response to detecting an abnormal driving state of the driver, issue an inquiry message to the driver; and in response to receiving feedback from the driver regarding the inquiry message, control the vehicle to enter an autonomous driving mode, drive to a target area, and issue a request for assistance signal, wherein the target area is determined based on the population density of various areas at the current time.

[0122] According to the technical solution of this invention, in response to detecting an abnormal driving state of the driver, an inquiry message is sent to the driver; in response to receiving the driver's feedback on the inquiry message, the vehicle is controlled to enter autonomous driving mode, drive to a target area, and send a signal requesting assistance. The target area is determined based on the population density of various areas at the current time. Thus, by inquiring with the driver and determining to activate the autonomous driving mode based on the driver's feedback, the safety of vehicle operation is ensured even when the driver is in an abnormal state. Simultaneously, by controlling the vehicle to drive to a target area where certain conditions are met, the situation of the vehicle remaining parked in an uninhabited area for an extended period without the driver's abnormal state being detected is avoided, increasing the likelihood of detecting the driver's abnormal state and increasing the probability of the driver receiving timely assistance.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: In response to detecting an abnormal driving state of the driver, an inquiry message is sent to the driver; In response to receiving feedback from the driver regarding the inquiry information, the system controls the vehicle to enter autonomous driving mode, drive to the target area, and send a signal requesting assistance. The target area is determined based on the population density of each area at the current time.

2. The method according to claim 1, characterized in that, Also includes: Acquire map data and determine multiple location markers within a preset range around the vehicle based on the map data; Based on the historical visitor data corresponding to the locations indicated by the multiple location identifiers, predict the population density corresponding to the locations indicated by the multiple location identifiers at the current time; Based on the population density corresponding to the locations indicated by the multiple location markers, the target area is determined from the areas corresponding to the multiple location markers.

3. The method according to claim 2, characterized in that, The step of predicting the population density corresponding to each of the locations indicated by the multiple location identifiers at the current time based on historical visitor data for each location indicated by the multiple location identifiers includes: Analyze the historical visitor data to obtain the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods; Based on the number of visitors corresponding to the locations indicated by the multiple location identifiers at different time periods, the population density corresponding to the locations indicated by the multiple location identifiers at the current time is determined.

4. The method according to claim 3, characterized in that, The step of determining the population density of each of the locations indicated by the multiple location identifiers at the current time based on the number of visitors corresponding to the locations at different time periods includes: For each location marker indicating the target location: Determine the number of visitors to the target location for each of the different time periods; Based on the historical visitor data, determine the average visit duration of visitors to the target location; Based on the number of visitors corresponding to the different time periods and the average visit duration, calculate the target number of visitors leaving and entering the target location during the different time periods; The population density of the target location is calculated based on the number of target visitors, the duration of the different time periods, and the area of ​​the target location.

5. The method according to claim 1, characterized in that, Also includes: Acquire map data, which includes location markers and their corresponding population densities; Based on the location identifier and its corresponding population density, a target area with a population density greater than a density threshold is determined from the area corresponding to the location identifier.

6. The method according to claim 5, characterized in that, Determining the target area with a population density greater than a density threshold from the area corresponding to the location identifier includes: The map data also includes distance information corresponding to the location identifier; From the area corresponding to the location identifier, determine the candidate area where the population density is greater than the density threshold; Based on the distance information, a target area whose distance to the vehicle is less than a first distance threshold is determined from the candidate area.

7. The method according to claim 1, characterized in that, Also includes: Real-time collection of environmental information outside the vehicle; and analysis of the external environmental information to determine the density of people outside. Determine whether the population density is greater than the density threshold; In response to the personnel density being greater than the density threshold, the area where the vehicle is located is determined as the target area.

8. The method according to any one of claims 1-7, characterized in that, Also includes: In response to receiving a vehicle takeover request from a person outside the vehicle, the system controls the vehicle to stop and terminates the autonomous driving mode.

9. The method according to any one of claims 1-7, characterized in that, Also includes: In response to receiving feedback from the driver regarding the inquiry, a distress signal is sent to the outside of the vehicle.

10. The method according to any one of claims 1-7, characterized in that, Also includes: In response to detecting that the distance between a person outside the vehicle and the vehicle is less than a second distance threshold, the image acquisition device is activated to record the interaction process between the person and the vehicle.

11. The method according to any one of claims 1-7, characterized in that, Also includes: In response to receiving a distress signal from a person outside the vehicle to the driver; Unlock the vehicle doors and / or open the vehicle windows, and issue a prompt to assist the driver.

12. A vehicle control device, characterized in that, include: The detection module is used to send an inquiry message to the driver in response to the detection of an abnormal driving state of the driver; The control module is used to respond to the feedback from the driver regarding the inquiry information, control the vehicle to enter the autonomous driving mode, drive to the target area and send a signal requesting rescue, wherein the target area is determined based on the population density of each area at the current time.

13. An electronic device for vehicle control, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-11.

14. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-11.

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