Vehicle control method and system, and vehicle

Abstract

A vehicle control method and system for a fatigue-induced misoperation. The method comprises: when a driver is in a preset fatigue state, determining whether an operation behavior of the driver for a vehicle is a misoperation behavior or not; and when it is determined that the operation behavior is a misoperation behavior, controlling an actuating mechanism corresponding to the operation behavior to inhibit the operation behavior.

Description

Vehicle control method, system and vehicle

[0001] This application claims priority to Chinese patent application No. 202410232071.8 filed on February 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of automobile technology, and in particular to a vehicle control method, system, and vehicle. Background Art

[0003] With the rapid development of automobile technology and the development of more and more autonomous driving technologies, the application of driving assistance functions is becoming more and more popular and more and more important. Summary of the Invention

[0004] The present disclosure provides a vehicle control method, system and vehicle, which can distinguish the driver's operating behavior according to the preset fatigue state. When the driver makes an erroneous operation in the fatigue state, the system can suppress the operation by controlling the actuator corresponding to the erroneous operation. The erroneous operation of the driver due to fatigue driving can be effectively suppressed, and the erroneous operation of the driver due to fatigue driving can be avoided to ensure driving safety.

[0005] A first aspect of the present disclosure discloses a vehicle control method, the method comprising:

[0006] When the driver is in a preset fatigue state, determining whether the driver's operation of the vehicle is an erroneous operation;

[0007] When it is determined that the operation behavior belongs to the erroneous operation behavior, the execution mechanism corresponding to the operation behavior is controlled to suppress the operation behavior.

[0008] In some embodiments, in the first aspect of the present disclosure, the method further comprises:

[0009] When the driver is in a preset fatigue state, the fatigue reminder item is executed;

[0010] The driver's operating behavior of the vehicle after the fatigue reminder is obtained to trigger the step of determining whether the driver's operating behavior of the vehicle is an erroneous operation behavior.

[0011] In some embodiments, determining whether the driver's operation of the vehicle is an erroneous operation includes:

[0012] Obtaining intelligent driving perception information of the vehicle;

[0013] Based on the intelligent driving perception information, determine whether the operation behavior is an erroneous operation behavior.

[0014] In some embodiments, judging whether the operation behavior is an erroneous operation behavior based on the intelligent driving perception information includes:

[0015] When the operation behavior is a steering behavior, determining whether the steering behavior is an erroneous operation behavior based on the intelligent driving perception information and the steering information;

[0016] When the operation behavior is an acceleration behavior, determining whether the acceleration behavior is an erroneous operation behavior based on the intelligent driving perception information and the accelerator pedal information;

[0017] When the operation behavior is a braking behavior, it is determined whether the braking behavior is an erroneous operation behavior based on the intelligent driving perception information and the brake pedal information.

[0018] In some embodiments, determining whether the steering behavior is an erroneous operation based on the intelligent driving perception information and the steering information includes:

[0019] When at least one of the following conditions is met: the steering direction is a dangerous steering direction or the steering speed is greater than a steering speed threshold, determining that the steering behavior is an erroneous operation behavior;

[0020] Here, at least one of the dangerous turn or the turning rate threshold is determined by the intelligent driving perception information.

[0021] In some embodiments, judging whether the acceleration behavior is an erroneous operation behavior based on the intelligent driving perception information and the accelerator pedal information includes:

[0022] When at least one of the following conditions is satisfied: the accelerator pedal speed is greater than a first speed threshold or the accelerator pedal depth is greater than a first depth threshold, determining that the acceleration behavior is an erroneous operation behavior;

[0023] Here, at least one of the first rate threshold or the first depth threshold is determined by the intelligent driving perception information.

[0024] In some embodiments, determining whether the braking behavior is an erroneous operation based on the intelligent driving perception information and the brake pedal information includes:

[0025] When at least one of the following conditions is satisfied: a brake pedal velocity is greater than a second velocity threshold or a brake pedal depth is greater than a second depth threshold, determining that the braking behavior is an erroneous operation behavior;

[0026] Here, at least one of the second rate threshold or the second depth threshold is determined by the intelligent driving perception information.

[0027] In some embodiments, intelligent driving perception information includes one or more of camera collection information, radar collection information, and high-precision map information.

[0028] In some embodiments, when it is determined that the operation behavior is the erroneous operation behavior, controlling the actuator corresponding to the operation behavior to suppress the operation behavior includes:

[0029] When it is determined that the operation behavior is the erroneous operation behavior, the actuator corresponding to the operation behavior is controlled to stop or reversely increase resistance.

[0030] In some embodiments, controlling the actuator corresponding to the operation behavior to stop or reversely increase resistance includes:

[0031] When the actuator is a power steering mechanism, controlling the power steering mechanism to stop or reversely increase resistance;

[0032] When the actuator is a brake booster mechanism, controlling the brake booster mechanism to stop or reversely increase resistance;

[0033] When the actuator is an acceleration assist mechanism, the acceleration assist mechanism is controlled to stop or reversely increase resistance.

[0034] In some embodiments, the method further comprises:

[0035] determining a fatigue level of the driver based on at least one of facial image information or physiological information of the driver;

[0036] When the fatigue level exceeds a preset level, it is determined that the driver is in the preset fatigue state.

[0037] In some embodiments, determining the driver's fatigue level based on at least one of the driver's facial image information or physiological information includes:

[0038] Based on at least one of the facial image information or physiological information of the driver, a fuzzy algorithm is used to determine the fatigue level of the driver; wherein the fatigue level includes mild fatigue, moderate fatigue and severe fatigue.

[0039] In some embodiments, the fatigue reminder items include:

[0040] Execute at least one of a voice reminder, a vehicle display reminder, a HUD (Head-up display) reminder, a smell reminder, and a seat vibration reminder.

[0041] A second aspect of the present disclosure discloses a vehicle control system, which includes a judgment unit and a control unit.

[0042] The judgment unit is used to judge whether the driver's operation behavior of the vehicle is an erroneous operation behavior when the driver is in a preset fatigue state;

[0043] The control unit is used to control the actuator corresponding to the operation behavior to suppress the operation behavior when it is determined that the operation behavior belongs to the erroneous operation behavior.

[0044] In some embodiments, in the second aspect of the present disclosure, the system further includes an acquisition unit.

[0045] The acquisition unit is used to acquire the driver's operating behavior of the vehicle after the fatigue reminder, so as to trigger the step of determining whether the driver's operating behavior of the vehicle is an erroneous operation behavior.

[0046] In some embodiments, in the second aspect of the present disclosure, the acquisition unit is further configured to acquire intelligent driving perception information of the vehicle;

[0047] The judgment unit is further used to judge whether the operation behavior is an erroneous operation behavior based on the intelligent driving perception information.

[0048] The third aspect of the present disclosure discloses a controller, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, it implements part or all of the steps in any one of the vehicle control methods disclosed in the first aspect of the present disclosure.

[0049] The fourth aspect of the present disclosure discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute part or all of the steps in any vehicle control method disclosed in the first aspect of the present disclosure.

[0050] A fifth aspect of the present disclosure discloses a vehicle, comprising a controller disclosed in the third aspect of the present disclosure, or a computer-readable storage medium disclosed in the fourth aspect of the present disclosure.

[0051] Compared with the related art, the present disclosure has the following beneficial effects:

[0052] In this disclosure, based on the preset fatigue state and the driver's operating behavior, when the driver makes an erroneous operation while in a fatigued state, the corresponding actuator is controlled to suppress the operation. This shows that this disclosure can effectively suppress erroneous operations caused by driver fatigue, avoiding erroneous operations caused by driver fatigue and ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] FIG1 is a flow chart of a vehicle control method according to some embodiments;

[0055] FIG2 is a schematic diagram of the structure of a vehicle control system according to some embodiments;

[0056] FIG3 is a schematic structural diagram of a controller according to some embodiments. DETAILED DESCRIPTION

[0057] To help those skilled in the art better understand the solutions of the present disclosure, the following will provide a clear and complete description of the technical solutions in some embodiments of the present disclosure, in conjunction with the accompanying drawings of some embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative work shall fall within the scope of protection of the present disclosure.

[0058] The terms "first," "second," and so on, in the specification and claims of this disclosure and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or end.

[0059] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] In related technologies, when some vehicles detect that the driver is in a fatigued state, they only remind the driver to take a rest through voice, instrument and other reminders, which cannot ensure the driver's driving safety.

[0061] To address the aforementioned issues, some embodiments of the present disclosure provide a vehicle control method, system, and vehicle. These vehicle control methods and devices can detect a driver's fatigue state and determine whether their operating behavior is an error. These methods and devices can then effectively suppress driver errors caused by fatigue, thereby avoiding these errors and ensuring driving safety. These are described in detail below.

[0062] FIG1 is a flow chart of a vehicle control method according to some embodiments. The method described in FIG1 can be applied to a vehicle control system, which can be an independent device or integrated into a controller, and this disclosure does not limit this. As shown in FIG1 , the vehicle control method can include the following operations:

[0063] 101. When the driver is in a preset fatigue state, determine whether the driver's operation of the vehicle constitutes an erroneous operation.

[0064] In some embodiments of the present disclosure, a variety of sensors and algorithms are used to detect the driver's fatigue state. For example, by monitoring the driver's eye movements, heart rate, respiratory rate and other physiological indicators, or analyzing the driver's driving habits, vehicle trajectory and other data, it can be determined whether the driver is in a state of fatigue. Once it is determined that the driver is in a state of fatigue, the system will begin to closely monitor their operating behaviors and determine whether these behaviors are incorrect operations based on preset rules and algorithms. For example, when the driver is in a state of fatigue, they may experience slow reactions, inaccurate operations, etc. At this time, it will be determined whether their operations are incorrect operations.

[0065] 102. When it is determined that the operation behavior is an erroneous operation behavior, the actuator corresponding to the control operation behavior is controlled to suppress the operation behavior.

[0066] In some embodiments of the present disclosure, once the driver's operating behavior is determined to be an incorrect operation, the vehicle immediately activates an intervention mechanism to suppress the incorrect operation by controlling the vehicle's relevant actuators. For example, if the driver is judged to have made excessive steering operations while fatigued, the vehicle may automatically adjust the steering wheel angle to return the vehicle to the correct driving trajectory. Similarly, if the driver is detected to have stepped on the brake pedal while fatigued, but it is determined that this was not the driver's true intention, the vehicle may temporarily disable the brake system to prevent the vehicle from stopping suddenly.

[0067] It can be seen that the method described in some embodiments of the present disclosure can timely and accurately judge and suppress erroneous operations based on the driver's fatigue state and his operating behavior, thereby greatly improving driving safety.

[0068] In some embodiments, the method may further include the following operations: executing a fatigue reminder item when the driver is in a preset fatigue state;

[0069] The driver's operating behavior of the vehicle after the fatigue reminder is obtained to trigger the step of determining whether the driver's operating behavior of the vehicle is an erroneous operation behavior.

[0070] In some embodiments of the present disclosure, a fatigue reminder program is executed when the driver is in a preset fatigue state. This fatigue reminder program can make the driver aware of their fatigue and remind them to rest or take other measures to restore their energy. Fatigue reminder programs can include sound prompts, vibration prompts, light prompts, etc. to ensure that the driver notices this information. When the fatigue reminder is executed, the driver's vehicle operation behavior after the reminder is captured. After a simple reminder, the driver's fatigue state is "awakened", making it easy for the driver to make incorrect operations, which may lead to traffic accidents. Therefore, it is necessary to further determine whether the driver's vehicle operation behavior is incorrect. By analyzing the driver's operation behavior after the fatigue reminder, the vehicle can more accurately determine whether the driver is affected by fatigue and take appropriate measures accordingly. In some embodiments, the driver's steering wheel angle rate and acceleration or brake pedal depth rate after the reminder are monitored and compared with the driver's driving style and road conditions when awake to identify and determine whether the driving behavior is abnormal.

[0071] It can be seen that the method described in some embodiments of the present disclosure can introduce a fatigue reminder item to give drivers timely reminders when they are in a fatigued state, and judge whether it is necessary to suppress misoperations based on the operating behavior after the reminder, thereby more comprehensively ensuring driving safety.

[0072] In some other embodiments, determining whether the driver's operation of the vehicle is an erroneous operation includes:

[0073] Obtain the vehicle's intelligent driving perception information;

[0074] Based on the intelligent driving perception information, determine whether the operation behavior is an erroneous operation.

[0075] In some embodiments of the present disclosure, intelligent driving perception information of the vehicle is obtained. Intelligent driving perception information refers to information about the vehicle's surrounding environment and the vehicle's own status obtained by various vehicle sensors (such as radar, camera, ultrasonic sensor, etc.). This information includes but is not limited to the vehicle's speed, acceleration, direction, position, and the position, speed, and direction of surrounding obstacles.

[0076] Based on the acquired intelligent driving perception information, it is determined whether the driver's operating behavior is an erroneous operation. For example, the system can determine whether the driver has made abnormal operations such as oversteering and sudden braking while in a fatigued state based on information such as the vehicle's speed, acceleration, and direction. At the same time, it can also be combined with information about surrounding obstacles to determine whether the driver's operation may lead to dangerous situations such as collisions. In this process, it is also possible to combine high-precision maps and perception systems to identify dangerous areas around the vehicle in advance, set preset limits on the accelerator pedal damping, and set preset limits on the steering assist strength. In some embodiments, it is detected that the driver is in a preset fatigue state and anti-misoperation detection is initiated to obtain the vehicle's intelligent driving perception information.

[0077] For example, a vehicle is on a highway at a speed of 100 km / h, with no vehicles in front or behind at a safe distance. The driver is reminded at this time. If the driver 'wakes up' and wants to turn the steering wheel in a general direction, the system will use high-precision map recognition to determine that the driver is making a wrong operation, which is very likely to cause an accident, and will suppress it through the steering wheel power assist device to keep the vehicle direction stable. Changes in the steering wheel feel can also remind the driver of wrong operation.

[0078] For example, a vehicle is traveling at 50 km / h on an urban road, maintaining a safe distance from both the vehicle ahead and behind. Following traffic is a relatively safe speed. The driver is alerted at this point, and if they quickly press the brake pedal after being startled, the system, by identifying the distance and speed of the following vehicles, determines that a rear-end collision is highly likely. It then identifies driver error and suppresses it through the brake assist system. Simultaneously, the Lane Centering Assist (LCC) system activates its automatic following mode, making the vehicle's deceleration less noticeable and the brake pedal feel harder, alerting the driver to the error and preventing an accident.

[0079] For example, when the vehicle is on a country road, the perception system combined with the high-precision map detects that there is a field ridge outside the road 3m to the left and a forest outside the road 7m to the right. The fatigue detection system detects that the driver is severely fatigued and the steering wheel rotation rate is abnormal, triggering the error operation system to reduce the steering wheel assistance. At the same time, it uses sound, car display, steering wheel vibration and other methods to remind the driver to ensure stable and safe driving of the vehicle.

[0080] It can be seen that the method described in some embodiments of the present disclosure can more accurately determine whether the driver's operating behavior is an erroneous operation, thereby improving the accuracy and reliability of the system and being able to adapt to different driving environments and road conditions.

[0081] In this embodiment, judging whether an operation behavior is an erroneous operation behavior based on intelligent driving perception information includes:

[0082] When the operation behavior is a steering behavior, determine whether the steering behavior is an erroneous operation based on the intelligent driving perception information and steering information;

[0083] When the operation behavior is acceleration, determine whether the acceleration behavior is an erroneous operation based on the intelligent driving perception information and accelerator pedal information;

[0084] When the operation behavior is braking, determine whether the braking behavior is an erroneous operation based on the intelligent driving perception information and brake pedal information.

[0085] In some embodiments of the present disclosure, the process of determining whether an operation behavior is an erroneous operation based on intelligent driving perception information is further refined, and judgments are made on three common driving operations: steering, acceleration, and braking.

[0086] When the driver performs a steering operation, the vehicle not only considers intelligent driving perception information (such as obstacles around the vehicle and road conditions), but also combines steering information (such as steering wheel angle, turn signal status, etc.) to make a comprehensive judgment. For example, if it detects that the driver suddenly turns sharply without obvious steering requirements, or the steering operation is obviously inconsistent with the surrounding traffic environment, the vehicle may judge this steering behavior as an error.

[0087] When the driver accelerates, the system also considers intelligent driving perception information (such as vehicle speed, acceleration, and distance to the vehicle ahead) and combines it with accelerator pedal information (such as the force and speed of the accelerator pedal) to make a judgment. If it detects that the driver suddenly presses the accelerator pedal when it should not, or the acceleration operation is inconsistent with the surrounding traffic conditions, the acceleration behavior will be judged as an error.

[0088] When the driver performs a braking operation, the system also considers intelligent driving perception information (such as vehicle speed, distance to the vehicle ahead, braking distance, etc.) and combines it with brake pedal information (such as brake pedal pressure and speed) to make a judgment. If it detects that the driver suddenly presses the brake pedal without obvious braking need, or the braking operation is obviously inconsistent with the surrounding traffic environment, the system will judge this braking behavior as an error.

[0089] It can be seen that the method described in some embodiments of the present disclosure can use intelligent driving perception information and driving operation information to accurately determine whether the driver's operating behavior is an erroneous operation, and take corresponding measures to intervene, thereby improving driving safety.

[0090] In this embodiment, judging whether the steering behavior is an erroneous operation based on the intelligent driving perception information and the steering information includes:

[0091] When at least one of the following conditions is met: the steering direction is a dangerous steering direction or the steering speed is greater than a steering speed threshold, determining that the steering behavior is an erroneous operation behavior;

[0092] Here, at least one of the dangerous turning or turning rate thresholds is determined by intelligent driving perception information.

[0093] In some embodiments of the present disclosure, a dangerous turn direction means that the driver's steering direction is inconsistent with the vehicle's current traffic environment or road conditions, which may lead to a collision or other safety risks. For example, a sudden turn without a turn signal or without a turn signal, or a turn on a road where turns are prohibited, etc.

[0094] Dangerous steering behavior can be identified using intelligent driving perception information, such as surrounding obstacles, road signs, and traffic lights. The steering rate is greater than the steering rate threshold. Here, steering rate refers to the speed or acceleration of the driver's steering wheel. Excessive steering rate can cause vehicle loss of control or instability, increasing safety risks. The steering rate threshold can be dynamically adjusted based on different driving environments and road conditions to ensure accurate and reliable judgments. The steering rate threshold is determined based on intelligent driving perception information, such as vehicle speed, acceleration, and distance to surrounding obstacles.

[0095] It can be seen that the method described in some embodiments of the present disclosure can use intelligent driving perception information and driving operation information to accurately determine whether the driver's steering behavior is an erroneous operation, accurately identify potential safety risks, and take corresponding measures to intervene in time to improve driving safety.

[0096] In this embodiment, judging whether the acceleration behavior is an erroneous operation behavior based on the intelligent driving perception information and the accelerator pedal information includes:

[0097] When at least one of the following conditions is satisfied: the accelerator pedal speed is greater than a first speed threshold or the accelerator pedal depth is greater than a first depth threshold, determining that the acceleration behavior is an erroneous operation behavior;

[0098] Here, at least one of the first rate threshold or the first depth threshold is determined by intelligent driving perception information.

[0099] In some embodiments of the present disclosure, the accelerator pedal rate is greater than a first rate threshold, where the accelerator pedal rate refers to the speed or acceleration at which the driver steps on the accelerator pedal. If the accelerator pedal rate is too fast, it may cause the vehicle to accelerate suddenly, increasing safety risks. The first rate threshold can be dynamically adjusted according to different driving environments and road conditions to ensure the accuracy and reliability of the judgment. The first rate threshold can be determined based on intelligent driving perception information, such as the vehicle's speed, acceleration, distance to the vehicle ahead, and other information.

[0100] The accelerator pedal depth is greater than the first depth threshold. Here, accelerator pedal depth refers to the force or displacement of the accelerator pedal pressed by the driver. Excessive accelerator pedal depth can also cause sudden acceleration of the vehicle, increasing risk. The first depth threshold can also be dynamically adjusted based on different driving environments and road conditions to ensure accurate and reliable judgment. The first depth threshold can also be determined based on intelligent driving perception information.

[0101] It can be seen that the method described in some embodiments of the present disclosure can determine whether the acceleration behavior is an erroneous operation by combining intelligent driving perception information and accelerator pedal information. This method can more accurately identify potential safety risks and take corresponding measures to intervene in a timely manner.

[0102] In some other embodiments, judging whether the braking behavior is an erroneous operation based on the intelligent driving perception information and the brake pedal information includes:

[0103] When at least one of the following conditions is satisfied: a brake pedal velocity is greater than a second velocity threshold or a brake pedal depth is greater than a second depth threshold, determining that the braking behavior is an erroneous operation behavior;

[0104] Here, at least one of the second rate threshold or the second depth threshold is determined by intelligent driving perception information.

[0105] In some embodiments of the present disclosure, the brake pedal rate is greater than a second rate threshold, where the brake pedal rate refers to the speed or acceleration at which the driver depresses the brake pedal. If the brake pedal rate is too fast, the vehicle may suddenly brake, increasing the risk. The second rate threshold can be dynamically adjusted according to different driving environments and road conditions to ensure the accuracy and reliability of the judgment. The second rate threshold can be determined based on intelligent driving perception information, such as the vehicle's speed, acceleration, and distance to the vehicle ahead.

[0106] The brake pedal depth exceeds the second depth threshold. Here, brake pedal depth refers to the force or displacement of the driver's brake pedal. Excessive brake pedal depth can also cause the vehicle to brake suddenly, increasing risk. The second depth threshold can also be dynamically adjusted based on different driving environments and road conditions to ensure accurate and reliable judgment. The second depth threshold can also be determined based on intelligent driving perception information.

[0107] It can be seen that the method described in some embodiments of the present disclosure can determine whether the braking behavior is an erroneous operation by combining intelligent driving perception information and brake pedal information, more accurately identify potential safety risks, and take corresponding measures to intervene in a timely manner.

[0108] In some further embodiments, the intelligent driving perception information includes one or more of camera collection information, radar collection information, and high-precision map information.

[0109] In some embodiments of the present disclosure, intelligent driving perception information includes one or more of camera acquisition information, radar acquisition information, and high-precision map information. These intelligent driving perception information provide the vehicle with rich environmental data and driving status data, and can more accurately determine whether the driver's operating behavior is a misoperation. For example, camera acquisition information can provide real-time video images around the vehicle to help the system identify important information such as obstacles, traffic signs, lane lines, etc. on the road. Radar acquisition information can detect objects around the vehicle, including other vehicles, pedestrians, bicycles, etc., by transmitting and receiving radio waves, and obtain their distance, speed, direction and other data. High-precision map information provides detailed information such as the precise layout of the road, traffic signals, speed limit areas, etc., providing an important reference basis for vehicles.

[0110] It can be seen that the method described in some embodiments of the present disclosure can combine these intelligent driving perception information to more comprehensively understand the environment and status around the vehicle, thereby more accurately judging whether the driver's operating behavior is an erroneous operation.

[0111] In some embodiments, when it is determined that the operation behavior is an erroneous operation behavior, controlling the actuator corresponding to the operation behavior to suppress the operation behavior includes:

[0112] When it is determined that the operation behavior is an erroneous operation behavior, the actuator corresponding to the operation behavior is controlled to stop or increase the resistance in the reverse direction.

[0113] In some embodiments of the present disclosure, when it is determined that the driver's operating behavior is an erroneous operation, the vehicle will control the actuator corresponding to the operating behavior to suppress the erroneous operation. For example, a control signal can be sent to the actuator to stop or reversely increase the resistance, thereby preventing the occurrence of erroneous operation. For example, when it is determined that the driver's acceleration behavior is an erroneous operation, the accelerator pedal actuator can be controlled to reduce or stop the drive of the transmitter or motor, thereby reducing the speed of the vehicle. For another example, when it is determined that the driver's braking behavior is an erroneous operation, the brake pedal actuator can be controlled to increase the braking force, causing the vehicle to decelerate or stop faster.

[0114] It can be seen that the method described in some embodiments of the present disclosure can utilize a variety of intelligent driving perception information to provide more comprehensive vehicle surrounding environment and status data, so as to determine whether the driver's operating behavior is an erroneous operation by combining intelligent driving perception information and driving operation information, and take corresponding measures to intervene to hinder the action of the actuator corresponding to the operating behavior, thereby effectively improving driving safety.

[0115] In yet other embodiments, controlling the actuator corresponding to the operation behavior to stop or reversely increase resistance includes:

[0116] When the actuator is a power steering mechanism, the power steering mechanism is controlled to stop or increase resistance in the reverse direction;

[0117] When the actuator is a brake booster mechanism, the brake booster mechanism is controlled to stop or increase resistance in the reverse direction;

[0118] When the actuator is an acceleration assist mechanism, the acceleration assist mechanism is controlled to stop or increase resistance in the reverse direction.

[0119] In some embodiments of the present disclosure, a detailed description is given of how to control the actuator corresponding to the operating behavior to stop or reversely increase the resistance. Depending on the different types of actuators, corresponding control measures are taken to suppress the occurrence of erroneous operations. When the actuator is a steering power mechanism, the erroneous operation can be suppressed by controlling the steering power mechanism to stop working or reversely increase the resistance. For example, a control signal can be sent to the steering power mechanism so that it no longer provides assistance, thereby causing the driver to feel greater resistance when steering. Alternatively, the resistance of the steering power mechanism can be increased so that the driver needs more force to turn the steering wheel, thereby suppressing erroneous operations.

[0120] When the actuator is a brake booster, erroneous operation can be suppressed by controlling the brake booster to stop working or reversely increasing resistance. For example, the vehicle's control system can send a control signal to the brake booster to stop providing assistance, so that the driver feels greater resistance when stepping on the brake pedal. Alternatively, the resistance of the brake booster can be increased so that the driver needs to exert more force to step on the brake pedal, thereby suppressing erroneous operation. When the actuator is an accelerator, erroneous operation can be suppressed by controlling the accelerator to stop working or reversely increasing resistance. For example, the vehicle's control system can send a control signal to the accelerator to stop providing assistance, so that the driver feels greater resistance when stepping on the accelerator pedal. Alternatively, the resistance of the accelerator can be increased so that the driver needs to exert more force to step on the accelerator pedal, thereby suppressing erroneous operation.

[0121] It can be seen that the method described in the embodiment of the present disclosure can more accurately suppress the occurrence of erroneous operation behaviors and improve driving safety. At the same time, it also has strong flexibility and adaptability and can be applied to different types of vehicles and actuators.

[0122] In some further embodiments, the method further comprises:

[0123] determining a driver's fatigue level based on at least one of facial image information or physiological information of the driver;

[0124] When the fatigue level exceeds a preset level, it is determined that the driver is in a preset fatigue state.

[0125] In some embodiments of the present disclosure, at least one of the driver's facial image information or physiological information is further introduced to determine the driver's fatigue level. The driver's facial image information can be collected using an onboard camera or other sensor. By analyzing this image information, the driver's eye condition, facial expression, and other features can be identified to infer their fatigue level. For example, the vehicle control system can detect indicators such as the driver's eyelid droop and blinking frequency, which are often closely related to fatigue. Furthermore, the driver's physiological information, such as heart rate, blood pressure, and respiratory rate, can be collected to further assess their fatigue state. This physiological information can be obtained using onboard biosensors or other medical devices. By analyzing this physiological data, the system can more accurately determine whether the driver is fatigued. When it is determined that the driver's fatigue level exceeds a preset level, the driver is considered to be in a preset fatigue state. At this point, appropriate measures can be taken to alert the driver or automatically adjust the vehicle's status to ensure driving safety. For example, the system can use voice prompts, vibration reminders, and other methods to inform the driver to take a break.

[0126] In some embodiments, the fatigue level may include: not tired and other fatigue levels; here, the other fatigue levels indicate driver fatigue, which may include mild fatigue, moderate fatigue, and severe fatigue.

[0127] It can be seen that the method described in some embodiments of the present disclosure can evaluate the driver's fatigue state by introducing at least one of facial image information or physiological information, and more comprehensively understand the driver's physical condition, so as to take timely measures to prevent safety accidents caused by fatigue driving.

[0128] In this embodiment, determining the driver's fatigue level based on at least one of the driver's facial image information or physiological information includes:

[0129] Based on at least one of the driver's facial image information or physiological information, a fuzzy algorithm is used to determine the driver's fatigue level; wherein the fatigue level includes mild fatigue, moderate fatigue and severe fatigue.

[0130] In some embodiments of the present disclosure, the collected biometric features of driver fatigue are fuzzified using a fuzzy algorithm. The main fuzzy factors are the biometric features of fatigue driving and the collected facial features. The driver's fatigue state is then graded to distinguish the driver's fatigue level. The fuzzy algorithm divides the fatigue level into three levels: mild, moderate, and severe. This transforms the abstract driver fatigue state into a quantifiable and executable graded mechanism.

[0131] It can be seen that the method described in some embodiments of the present disclosure can transform the abstract driver fatigue state into a quantifiable hierarchical mechanism for decision execution.

[0132] In some further embodiments, the fatigue reminder items include:

[0133] Execute at least one of voice reminder, vehicle display reminder, HUD reminder, smell reminder, and seat vibration reminder.

[0134] In some embodiments of the present disclosure, when the system detects that the driver's fatigue level exceeds a preset level and determines that the driver is in a preset fatigue state, a series of fatigue reminder programs will be activated. The fatigue reminder program is designed to issue reminders to the driver in various ways to ensure that their attention and alertness are restored in a timely manner. For example, the fatigue reminder program may include at least one of the following methods:

[0135] Voice Reminder: The vehicle's voice system will issue voice reminders to the driver, such as "Please take a break, you may feel tired." This direct language reminder can quickly attract the driver's attention.

[0136] Vehicle display reminders: The vehicle's display can display relevant fatigue reminders, such as "You are driving fatigued, please take a break." This visual reminder method can effectively convey information without taking the driver's eyes off the road.

[0137] HUD reminder: Fatigue reminder information is projected into the driver's front field of view through the head-up display, so that the driver can see relevant reminders without lowering his head, further improving driving safety.

[0138] Smell reminder: A specific smell, such as fresh mint or coffee, can be released to stimulate the driver's sense of smell and remind him or her of fatigue.

[0139] Seat vibration reminder: When driver fatigue is detected, the car seat can emit slight vibrations to remind the driver to pay attention to his physical condition through tactile sensation.

[0140] It can be seen that the method described in some embodiments of the present disclosure can timely remind the driver of fatigue status through multiple sensory stimulations and take corresponding measures to restore alertness, which can more effectively improve driving safety and reduce the risk of traffic accidents caused by fatigue driving.

[0141] FIG2 is a schematic diagram of the structure of a vehicle control system according to some embodiments. Here, the system described in FIG2 can be an independent system, or it can be integrated into a control device, or it can be integrated into a processor, and this disclosure does not limit this. It should be noted that the vehicle control system refers to the steps in a vehicle control method described in the above embodiment, which will not be repeated here. As shown in FIG2, the vehicle control system 200 can include a judgment unit 201 and a control unit 202.

[0142] The judgment unit 201 is used to determine whether the driver's operation of the vehicle is an erroneous operation when the driver is in a preset fatigue state;

[0143] The control unit 202 is configured to control the actuator corresponding to the operation behavior to suppress the operation behavior when determining that the operation behavior is an erroneous operation behavior.

[0144] In some embodiments of the present disclosure, the vehicle control system includes a judgment unit and a control unit for judging whether the driver's operation of the vehicle is an erroneous operation when the driver is in a preset fatigue state, and taking corresponding measures to suppress the operation when it is judged to be an erroneous operation.

[0145] The judgment unit is a core component of the system, responsible for monitoring the driver's operating behavior in real time and determining whether these operations are incorrect based on the driver's fatigue level. When the driver is in a preset fatigue state, the judgment unit will be more sensitive to their operating behavior to ensure that potential incorrect operations are detected and addressed promptly. This judgment can be based on various factors, such as the suddenness and abnormality of the operation, and its compatibility with the current driving environment.

[0146] The control unit is responsible for taking appropriate measures to suppress misoperation when the judgment unit identifies it. These measures may include, but are not limited to: sending control signals to the actuator to stop or reverse the increase in resistance, thereby preventing the misoperation; adjusting parameters such as the vehicle's speed and direction to reduce the driver's burden and reduce the risk of accidents; and reminding the driver to pay attention to their physical condition and restore alertness through various means such as voice, vision, and touch. For other details of this vehicle control system, refer to the steps in the vehicle control method described in the above embodiment and are not detailed here.

[0147] It can be seen that the system described in some embodiments of the present disclosure can effectively identify and handle erroneous operations when the driver is in a fatigued state, thereby improving driving safety and reducing the risk of traffic accidents caused by fatigue driving.

[0148] In some embodiments, as shown in FIG2 , the system may further include an acquisition unit 203 for acquiring the driver's operating behavior of the vehicle after the fatigue reminder, so as to trigger the step of determining whether the driver's operating behavior of the vehicle is an erroneous operation behavior.

[0149] In some embodiments of the present disclosure, the acquisition unit is responsible for acquiring the driver's vehicle operating behavior data after receiving the fatigue reminder. This operating behavior data serves as a new input to trigger the determination unit to determine whether the driver's operating behavior constitutes an incorrect operation.

[0150] It can be seen that the system described in some embodiments of the present disclosure can dynamically and in real time monitor the driver's reactions and operations after receiving a fatigue reminder, so as to more accurately determine whether his operating behavior is still an erroneous operation, and after determining that it is an erroneous operation, take corresponding measures to suppress the operating behavior and ensure driving safety.

[0151] This design demonstrates the system's continuous attention to the driver's status and its high priority for driving safety. By acquiring and analyzing the driver's operating behavior data in real time, the system can more accurately assess the driver's driving status and take timely intervention measures when necessary, effectively avoiding potential safety risks.

[0152] In other embodiments, as shown in FIG2 , the acquisition unit 203 is further configured to acquire intelligent driving perception information of the vehicle;

[0153] The judgment unit 201 is further used to judge whether the operation behavior is an erroneous operation behavior based on the intelligent driving perception information.

[0154] In some embodiments of the present disclosure, the acquisition unit is used not only to obtain the driver's operational behavior data after the fatigue reminder, but also to obtain the vehicle's intelligent driving perception information. Intelligent driving perception information includes but is not limited to camera acquisition information, radar acquisition information, and high-precision map information, etc. This data provides the system with rich data on the vehicle's surrounding environment and vehicle status.

[0155] The judgment unit uses this intelligent driving perception information to determine whether the driver's operating behavior is an erroneous operation. For example, the judgment unit can combine the driver's operating behavior data, intelligent driving perception information, and the driver's fatigue state to conduct a comprehensive analysis and judgment. For example, when the system detects that the driver suddenly turns sharply without obvious steering needs, and this steering behavior is inconsistent with the road information collected by the camera and the obstacle information collected by the radar, combined with the driver's fatigue state, the judgment unit may determine that this steering behavior is an erroneous operation.

[0156] It can be seen that the system described in some embodiments of the present disclosure can more comprehensively evaluate whether the driver's operating behavior constitutes an erroneous operation, thereby improving the accuracy and reliability of the judgment. At the same time, the use of intelligent driving perception information for judgment also enables the system to adapt to different driving environments and road conditions, thereby improving the flexibility and practicality of the system.

[0157] Figure 3 is a schematic diagram of the structure of a controller according to some embodiments. The controller described in Figure 3 can be a standalone device or integrated into a vehicle processing device, and this disclosure is not limited to this. As shown in Figure 3, the controller 300 may include a memory 301 storing executable program code, a processor 302 coupled to the memory 301, and the processor 302 calling the executable program code stored in the memory 301 to execute some or all of the steps of the vehicle control method described in the above-mentioned embodiments of the present disclosure.

[0158] Some embodiments of the present disclosure disclose a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps of the vehicle control method in the above embodiments of the present disclosure.

[0159] Some embodiments of the present disclosure disclose a vehicle, which includes the controller in the above embodiments of the present disclosure, or the computer-readable storage medium in the above embodiments of the present disclosure.

[0160] The device embodiments described above are merely illustrative. The modules described herein as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of some embodiments of the present disclosure. Those of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0161] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the relevant art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0162] It should be noted that the computer program code required for the operation of each part of the present disclosure can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C language, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages, etc. The program coding can be run entirely on a computer (PC, embedded intelligent device, etc.), or run on a user's computer as an independent software package, or run partially on the user's computer and partially on a remote computer, or run entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network form, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0163] Finally, it should be noted that the vehicle control method and system disclosed in some embodiments of the present disclosure are only preferred embodiments of the present disclosure, and are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A vehicle control method, comprising: When the driver is in a preset fatigue state, determining whether the driver's operation of the vehicle is an erroneous operation; When it is determined that the operation behavior belongs to the erroneous operation behavior, the execution mechanism corresponding to the operation behavior is controlled to suppress the operation behavior.

2. The method according to claim 1, further comprising: When the driver is in a preset fatigue state, the fatigue reminder item is executed; The driver's operating behavior of the vehicle after the fatigue reminder is obtained to trigger the step of determining whether the driver's operating behavior of the vehicle is an erroneous operation behavior.

3. The method according to claim 1 or 2, wherein: The determining whether the driver's operation of the vehicle is an erroneous operation includes: Obtaining intelligent driving perception information of the vehicle; Based on the intelligent driving perception information, determine whether the operation behavior is an erroneous operation behavior.

4. The method according to claim 3, wherein: The determining, based on the intelligent driving perception information, whether the operation behavior is an erroneous operation behavior includes: When the operation behavior is a steering behavior, determining whether the steering behavior is an erroneous operation behavior based on the intelligent driving perception information and the steering information; When the operation behavior is an acceleration behavior, determining whether the acceleration behavior is an erroneous operation behavior based on the intelligent driving perception information and the accelerator pedal information; When the operation behavior is a braking behavior, it is determined whether the braking behavior is an erroneous operation behavior based on the intelligent driving perception information and the brake pedal information.

5. The method according to claim 4, wherein The determining, based on the intelligent driving perception information and the steering information, whether the steering behavior is an erroneous operation includes: When at least one of the following conditions is met: the steering direction is a dangerous steering direction or the steering speed is greater than a steering speed threshold, determining that the steering behavior is an erroneous operation behavior; Among them, at least one of the dangerous turn or the turning rate threshold is determined by the intelligent driving perception information.

6. The method according to claim 4, wherein: The determining, based on the intelligent driving perception information and the accelerator pedal information, whether the acceleration behavior is an erroneous operation behavior includes: When at least one of the following conditions is satisfied: the accelerator pedal speed is greater than a first speed threshold or the accelerator pedal depth is greater than a first depth threshold, determining that the acceleration behavior is an erroneous operation behavior; Among them, at least one of the first rate threshold or the first depth threshold is determined by the intelligent driving perception information.

7. The method according to claim 4, wherein: The determining, based on the intelligent driving perception information and the brake pedal information, whether the braking behavior is an erroneous operation includes: When at least one of the following conditions is satisfied: a brake pedal velocity is greater than a second velocity threshold or a brake pedal depth is greater than a second depth threshold, determining that the braking behavior is an erroneous operation behavior; Among them, at least one of the second rate threshold or the second depth threshold is determined by the intelligent driving perception information.

8. The method according to any one of claims 3 to 7, wherein: The intelligent driving perception information includes one or more of camera collection information, radar collection information and high-precision map information.

9. The method according to any one of claims 1 to 8, wherein: When it is determined that the operation behavior is the erroneous operation behavior, controlling the actuator corresponding to the operation behavior to suppress the operation behavior includes: When it is determined that the operation behavior is the erroneous operation behavior, the actuator corresponding to the operation behavior is controlled to stop or reversely increase resistance.

10. The method according to claim 9, wherein: The controlling the actuator corresponding to the operation behavior to stop or reversely increase resistance includes: When the actuator is a power steering mechanism, controlling the power steering mechanism to stop or reversely increase resistance; When the actuator is a brake booster mechanism, controlling the brake booster mechanism to stop or reversely increase resistance; When the actuator is an acceleration assist mechanism, the acceleration assist mechanism is controlled to stop or reversely increase resistance.

11. The method according to any one of claims 1 to 10, further comprising: determining a fatigue level of the driver based on at least one of facial image information or physiological information of the driver; When the fatigue level exceeds a preset level, it is determined that the driver is in the preset fatigue state.

12. The method according to claim 11, wherein The step of determining the driver's fatigue level based on at least one of the driver's facial image information or physiological information includes: Based on at least one of the facial image information or physiological information of the driver, a fuzzy algorithm is used to determine the fatigue level of the driver; wherein the fatigue level includes mild fatigue, moderate fatigue and severe fatigue.

13. The method according to claim 2, wherein the fatigue reminder item comprises: Execute at least one of voice reminder, vehicle display reminder, HUD reminder, smell reminder, and seat vibration reminder.

14. A vehicle control system comprising: a judgment unit, configured to judge whether the driver's operation of the vehicle constitutes an erroneous operation when the driver is in a preset fatigue state; The control unit is used to control the execution mechanism corresponding to the operation behavior to suppress the operation behavior when it is determined that the operation behavior belongs to the erroneous operation behavior.

15. A controller comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction implements the method according to any one of claims 1 to 13 when executed by the processor.

16. A computer-readable storage medium storing a computer program, wherein when the computer program is executed, the method according to any one of claims 1 to 13 is implemented.

17. A vehicle comprising the controller according to claim 15 or the computer-readable storage medium according to claim 16.

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