Control method and apparatus, and vehicle

Abstract

A control method, comprising: acquiring hands-off risk assessment information, the hands-off risk assessment information comprising one or more of a state of a driver, environmental information around a vehicle, and a driving state of the vehicle; and when the vehicle is in an intelligent driving state, giving a hands-off warning to the driver on the basis of the hands-off risk assessment information. The method can be applied to intelligent vehicles or electric vehicles, and helps to improve the flexibility of hands-off warning, the degree of intelligence of vehicles, and the driving experience of users. The present application further relates to a control apparatus, a control system, and a vehicle.

Description

Control method, device and vehicle

[0001] The present application claims priority to the Chinese patent application No. 2024111499271, filed on August 20, 2024, with the State Intellectual Property Office of China, and the Chinese patent application No. 2024111499271 has the title of “Control method, device and vehicle”, the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of intelligent driving, and more particularly, to a control method, device and vehicle. BACKGROUND

[0003] With the development of intelligent driving technology, intelligent driving systems are gradually popularized. However, when the vehicle is in an intelligent driving state, the vehicle can detect the hands-off of the driver. For example, after detecting that the duration of the hands-off of the driver reaches a fixed duration, the user will be warned. The existing hands-off warning mechanism is relatively fixed and cannot meet the needs of different scenarios, resulting in poor driving experience of the user. SUMMARY

[0004] The present application provides a control method, device and vehicle, which helps to improve the flexibility of hands-off warning, helps to improve the intelligent degree of the vehicle, and also helps to improve the driving experience of the user.

[0005] In a first aspect, a control method is provided, which includes: obtaining hands-off risk assessment information, the hands-off risk assessment information including one or more of the state of the driver, the environmental information around the vehicle, and the driving state of the vehicle; when the vehicle is in an intelligent driving state, performing hands-off warning on the driver according to the hands-off risk assessment information.

[0006] Based on the above technical solution, the vehicle can perform hands-off warning on the driver according to the hands-off risk assessment information. In this way, different hands-off warning mechanisms can be performed under different hands-off risk assessment information, so that the way of hands-off warning is more intelligent, and also more in line with the current scenario, which helps to improve the intelligent degree of the vehicle, and also helps to improve the driving experience of the user.

[0007] In some possible implementation manners, the state of the driver includes one or more of a distraction state, a fatigue state, or whether there is a dangerous action.

[0008] In some possible implementation manners, the state of the driver includes physiological feature information (such as heart rate, respiratory rate, and other physiological indicators) of the driver, which can be used to discover potential health problems of the driver in advance.

[0009] In some possible implementation manners, the environment information around the vehicle includes one or more of information of a road where the vehicle is located, information of an obstacle around the vehicle, and weather conditions.

[0010] In some possible implementation manners, the driving state of the vehicle includes one or more of a position, a speed, an acceleration, and a heading angle of the vehicle.

[0011] In some possible implementation manners, the obtaining of the hand-off risk assessment information includes: obtaining hand-off risk assessment information when the driver is hand-off.

[0012] In some possible implementation manners, the hand-off of the driver can be understood as the hands of the driver being separated from a steering wheel.

[0013] With reference to the first aspect, in some possible implementation manners of the first aspect, the hand-off warning of the driver according to the hand-off risk assessment information includes: obtaining a first time length according to the hand-off risk assessment information; controlling the warning device to not perform the hand-off warning on the driver within the first time length from the hand-off of the driver, and controlling the warning device to perform the hand-off warning on the driver after the first time length from the hand-off of the driver is detected.

[0014] Based on the technical solution described above, the vehicle can obtain a hand-off warning time length without reminding according to the hand-off risk assessment information. In this way, by dynamically adjusting the time length without reminding, the driving experience of the user in different scenarios can be met. For example, when the state of the driver is good, a longer time length without reminding can be obtained, so as to avoid disturbing the driver when the state of the driver is good. For another example, when the state of the driver is not good, a shorter time length without reminding can be obtained, so as to control the warning device to perform the warning on the driver after the shorter time length without reminding, thereby improving the attention of the driver, making the driver hold the steering wheel as soon as possible, ensuring that the driver can take over the vehicle in time when needed, and helping to improve the driving safety of the user.

[0015] In some possible implementation manners, the method further includes: determining a first risk level according to the hand-off risk assessment information when the hand-off of the driver is detected, the first risk level corresponding to the first time length; and wherein the controlling of the warning device to not perform the hand-off warning on the driver within the first time length from the hand-off of the driver includes: when a second risk level determined according to the hand-off risk assessment information obtained within the first time length is the same as the first risk level, controlling the warning device to not perform the hand-off warning on the driver within the first time length.

[0016] Based on the technical solution, the first duration can be determined according to the hand-off risk assessment information when the driver is off the hand. The hand-off risk assessment information is continuously detected within the first duration from when the driver is off the hand. If the risk level within the first duration is the same as the risk level when the driver is off the hand, the warning device can be controlled to warn the driver to off the hand after the first duration ends.

[0017] In combination with the first aspect, in some implementations of the first aspect, according to the hand-off risk assessment information, before the driver is warned to off the hand, the method further includes: obtaining a first hand-off warning progress, the first hand-off warning progress corresponding to a first hand-off warning level; wherein the hand-off risk assessment information, the driver is warned to off the hand, includes: when the hand-off risk assessment information meets a preset condition, the first hand-off warning progress is adjusted to a second hand-off warning progress, the second hand-off warning progress corresponding to a second hand-off warning level higher than the first hand-off warning level.

[0018] Based on the technical solution, when the hand-off risk assessment information meets the preset condition, the hand-off warning progress can be adjusted to the hand-off warning progress under a higher hand-off warning level. In this way, through the higher level hand-off warning progress, the driver can quickly concentrate attention, so that the driver can hold the steering wheel as soon as possible, and ensure that the driver can take over the vehicle in time when needed, which helps to improve the driving safety of the user.

[0019] In combination with the first aspect, in some implementations of the first aspect, when the hand-off risk assessment information meets the preset condition, the first hand-off warning progress is adjusted to the second hand-off warning progress, including: according to the hand-off risk assessment information, determining a first risk level, the first risk level corresponding to the second hand-off warning level; when the first hand-off warning progress is located before the second hand-off warning progress, the first hand-off warning progress is adjusted to the starting point of the second hand-off warning progress.

[0020] Based on the technical solution, when the risk level obtained according to the hand-off risk assessment information is high and the hand-off warning level corresponding to the current hand-off warning progress is low, the hand-off warning progress can be adaptively adjusted to the starting point of the hand-off warning progress corresponding to the high hand-off warning level. Through the sudden change of the hand-off warning progress, the attention of the driver can be quickly pulled back, so that the driver can hold the steering wheel as soon as possible, and ensure that the driver can take over the vehicle in time when needed, which helps to improve the driving safety of the user.

[0021] In some possible implementation manners, the determining the first risk level according to the hand-off risk assessment information comprises: inputting the environment information around the vehicle and the driving state of the vehicle into a prediction model to obtain an environment risk level; determining a state of the driver according to an image collected by an in-cabin camera; and determining the first risk level according to the environment risk level and the state of the driver.

[0022] With reference to the first aspect, in some possible implementation manners of the first aspect, before the hand-off warning is given to the driver according to the hand-off risk assessment information, the method further includes: obtaining a third hand-off warning progress, the third hand-off warning progress corresponding to a third hand-off warning level; and wherein the hand-off warning given to the driver according to the hand-off risk assessment information comprises: determining a second risk level according to the hand-off risk assessment information, the second risk level corresponding to a fourth hand-off warning level; and when the third hand-off warning level is greater than or equal to a preset warning level, or the fourth hand-off warning level is the third hand-off warning level, the third hand-off warning progress is maintained.

[0023] Based on the above technical solution, when the risk level obtained according to the hand-off risk assessment information is high and the hand-off warning level corresponding to the current hand-off warning progress is high, the current hand-off warning progress can be maintained, and the user cannot use the intelligent driving function after the highest hand-off warning level is directly reached.

[0024] With reference to the first aspect, in some possible implementation manners of the first aspect, the method further includes: after the control alarm device enters the hand-off warning, determining a first steering wheel torque according to the hand-off risk assessment information, the first steering wheel torque being a torque required to remove the hand-off warning; and determining whether to remove the hand-off warning according to the first steering wheel torque.

[0025] Based on the above technical solution, a threshold value of the steering wheel torque detection can be determined according to the hand-off risk assessment information. In this way, different threshold values can be obtained under different hand-off risk assessment information. For example, when the state of the driver is good and the environment risk level is low, a lower threshold value can be obtained. At this time, the driver applies a lower torque to the steering wheel, so that the vehicle removes the hand-off warning, which can ensure the driving safety of the user, and avoid that the user applies a larger torque to remove the hand-off warning, which helps to improve the driving comfort of the driver. For another example, when the state of the driver is not good and the environment risk level is high, a higher threshold value can be obtained. At this time, the driver needs to apply a higher torque to the steering wheel to make the vehicle remove the hand-off warning. In this way, the higher threshold value can make the driver concentrate on the attention and apply a larger torque to remove the hand-off warning, which helps to quickly pull back the attention of the driver and ensure that the driver can take over the vehicle in time when needed, and helps to improve the driving safety of the user.

[0026] In some implementations of the first aspect, the method further includes: when the progress of the hands-off warning reaches the highest level of the hands-off warning progress for the first time in the driving trip, prohibiting the driver from activating the intelligent driving state within a preset time period; or when the number of times that the hands-off warning progress reaches the highest level in the driving trip is greater than or equal to a preset number of times, prohibiting the driver from activating the intelligent driving state in the driving trip.

[0027] According to the above technical solution, when the hands-off warning progress reaches the highest level for the first time in a single driving trip of the vehicle, the driver can be prohibited from activating the intelligent driving function within a preset time period; and when the hands-off warning progress reaches the highest level multiple times, the driver can be prohibited from using the intelligent driving function in the current driving trip. In this way, by implementing a punishment mechanism on the driver, the attention of the driver during the driving of the vehicle can be improved, which helps to improve the driving safety of the user.

[0028] In a second aspect, a control device is provided, including: an acquisition unit configured to acquire hands-off risk assessment information, the hands-off risk assessment information including one or more of a state of a driver, environmental information around a vehicle, and a driving state of the vehicle; and a control unit configured to, when the vehicle is in an intelligent driving state, perform hands-off warning on the driver according to the hands-off risk assessment information.

[0029] In some implementations of the second aspect, the acquisition unit is further configured to acquire a first time period according to the hands-off risk assessment information, and the control unit is specifically configured to: control an alarm device to not perform hands-off warning on the driver within the first time period from when the driver is hands-off, and control the alarm device to perform hands-off warning on the driver after detecting that the first time period from when the driver is hands-off has elapsed.

[0030] In some implementations of the second aspect, the acquisition unit is further configured to acquire a first hands-off warning progress before the control unit controls the alarm device to perform hands-off warning on the driver, the first hands-off warning progress corresponding to a first hands-off warning level; and the control unit is specifically configured to: when the hands-off risk assessment information meets a preset condition, adjust the first hands-off warning progress to a second hands-off warning progress, the second hands-off warning progress corresponding to a second hands-off warning level that is higher than the first hands-off warning level.

[0031] In some implementations of the second aspect, the device further includes: a first determination unit configured to determine a first risk level according to the hands-off risk assessment information, the first risk level corresponding to the second hands-off warning level; and the control unit is specifically configured to: when the first hands-off warning progress is located before the second hands-off warning progress, adjust the first hands-off warning progress to a starting point of the second hands-off warning progress.

[0032] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a first determining unit, the obtaining unit is further configured to obtain a third hands-off warning progress corresponding to a third hands-off warning level before the control unit performs the hands-off warning to the driver; the first determining unit is configured to determine a second risk level corresponding to a fourth hands-off warning level according to the hands-off risk assessment information; and the control unit is configured to maintain the third hands-off warning progress when the third hands-off warning level is greater than or equal to a preset warning level, or the fourth hands-off warning level is the third hands-off warning level.

[0033] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a second determining unit configured to determine a first steering wheel torque required to cancel the hands-off warning according to the hands-off risk assessment information after the warning apparatus performs the hands-off warning to the driver; and the second determining unit is further configured to determine whether to cancel the hands-off warning according to the first steering wheel torque.

[0034] With reference to the second aspect, in some implementations of the second aspect, the control unit is further configured to: prohibit the driver from activating the intelligent driving state within a preset time period when the progress of the hands-off warning reaches the highest hands-off warning progress for the first time in a driving trip; or prohibit the driver from activating the intelligent driving state in the driving trip when the progress of the hands-off warning reaches the highest hands-off warning progress for the second time in the driving trip.

[0035] A third aspect provides a control apparatus, which includes a memory and a processor, the memory is configured to store a computer program, and the processor is configured to execute the computer program in the memory, so that the control apparatus can implement the method in any possible implementation manner of the first aspect.

[0036] A fourth aspect provides a control system, which includes a warning apparatus and the control apparatus in any one of the second aspect or the third aspect.

[0037] A fifth aspect provides a vehicle, which includes the control apparatus in any possible implementation manner of the second aspect or the third aspect, or includes the control system in the fourth aspect.

[0038] The vehicle in the present application is a vehicle in a broad sense, which can be a traffic tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. The type of the vehicle is not limited in the embodiments of the present application.

[0039] In a sixth aspect, a computer program product is provided, which includes computer program codes, when the computer program codes are run on a computer, the computer program codes cause the computer to execute the method in any possible implementation of the first aspect.

[0040] In a seventh aspect, a computer readable storage medium is provided, which stores a computer program, when the computer program is run on a computer, the computer program causes the computer to execute the method in any possible implementation of the first aspect.

[0041] In an eighth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0042] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application.

[0043] FIG. 2 is a schematic block diagram of an intelligent driving system according to an embodiment of the present application.

[0044] FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present application.

[0045] FIG. 4 is a schematic diagram of a hand-off warning progress according to an embodiment of the present application.

[0046] FIG. 5 is a schematic diagram of another hand-off warning progress according to an embodiment of the present application.

[0047] FIG. 6 is a schematic diagram of another hand-off warning progress when the environmental risk level is low environmental risk and the state of the driver is good (corresponding to a low risk level) according to an embodiment of the present application.

[0048] FIG. 7 is a schematic diagram of another hand-off warning progress when the environmental risk level is low environmental risk and the state of the driver is not good (corresponding to a medium risk level) according to an embodiment of the present application.

[0049] FIG. 8 is a schematic diagram of changing a hand-off warning progress according to an embodiment of the present application.

[0050] FIG. 9 is another schematic diagram of changing a hand-off warning progress according to an embodiment of the present application.

[0051] FIG. 10 is an execution strategy after entering a hand-off warning L1 according to an embodiment of the present application.

[0052] FIG. 11 is a schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; in this document, "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", which describes the association relationship of the associated objects, which means that there can be three relationships, for example, at least one of A and B, which can represent: A exists alone, A and B exist together, and B exists alone.

[0054] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as "first" and "second" in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be considered as redundant limitation because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more.

[0055] FIG. 1 is a functional block diagram of a vehicle 100 provided by the embodiments of the present application. The vehicle 100 can include a perception system 110, a computing platform 120 and a display device 130, wherein the perception system 110 can include one or more sensors that sense information about the environment around the vehicle 100. For example, the perception system 110 can include a positioning system, which can be a global positioning system (GPS), a Beidou system or other positioning system. For another example, the perception system 110 can include one or more of an inertial measurement unit (IMU), an acceleration sensor, a laser radar, a millimeter wave radar, an ultrasonic radar and a camera.

[0056] Some or all functions of the vehicle 100 can be controlled by the computing platform 120. The computing platform 120 can include one or more processors, such as processors 121 through 12n (n is a positive integer), which are circuits having a processing capability of signals. In one implementation, the processors can be circuits having an instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processors can be circuits having a certain function implemented by a logic relationship of hardware circuits, which is fixed or reconfigurable. For example, the processors can be hardware circuits implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration. It can be understood that the processor loads instructions to implement the functions of the above units. In addition, the processors can also be hardware circuits designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like. In addition, the computing platform 120 can also include a memory for storing instructions, and some or all of the processors 121 through 12n can call the instructions in the memory to implement corresponding functions.

[0057] The display device 130 in the cabin is mainly divided into two categories, the first category is a vehicle display screen, and the second category is a projection display screen, such as a head up display (HUD). The vehicle display screen is a physical display screen and is an important component of the in-vehicle infotainment system. Multiple display screens can be provided in the cabin, such as a digital instrument display screen, a center control screen, a display screen in front of a passenger (also referred to as a front passenger) at a co-driver position, a display screen in front of a left rear passenger, and a display screen in front of a right rear passenger, or even a vehicle window can be used as a display screen for display. The head up display, also known as a head-up display system, is mainly used for displaying driving information such as speed, navigation, etc. on a display device (such as a windshield) in front of the driver. This reduces the time for the driver to change his / her line of sight and avoids changes in the pupil caused by the driver's line of sight, thereby improving driving safety and comfort. The HUD includes, for example, a combiner-HUD (C-HUD) system, a windshield-HUD (W-HUD) system, and an augmented reality HUD (AR-HUD). It should be understood that other types of systems can also appear as the technology evolves, and the present application does not limit this.

[0058] The display device 130 described above is illustrated by taking the vehicle display screen and the projection display screen as examples, and embodiments of the present application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0059] Optionally, the structure of the vehicle 100 described above is only schematic, and in actual applications, various components in the vehicle 100 described above can be added or deleted according to actual needs.

[0060] The vehicle 100 can include an intelligent driving system, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors (including but not limited to laser radar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, and inertial measurement unit) on the vehicle to obtain information from the surroundings of the vehicle, and analyzes and processes the obtained information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminding, etc., thereby improving the safety, automation level, and comfort of vehicle driving.

[0061] For example, FIG. 2 shows a schematic block diagram of an intelligent driving system according to an embodiment of the present application. The intelligent driving system can include three functional modules: a perception module 210, a planning module 220, and a control module 230. The perception module 210 perceives the environment around the vehicle through sensors and outputs corresponding perception data to the planning module 220. The planning module 220 obtains information of road elements based on the information obtained by the perception module 210. The planning module 220 can determine the physical connectivity of the vehicle from the current position to a sampling point based on the current position of the vehicle and the information of the road elements, and plan a driving trajectory of the vehicle from the current position to the sampling point when the vehicle is physically connected from the current position to the sampling point. The planning module 220 can determine a strategy space of the vehicle according to the driving trajectory. The planning module 220 can send the strategy space to the control module 230. The control module 230 can evaluate in the Euclidean space based on the strategy space, thereby making a behavior decision or an interaction decision of the vehicle.

[0062] The perception module 210, the planning module 220, and the control module 230 described above can be located in the computing platform 120 described above.

[0063] The degree to which a vehicle-based driving automation system is capable of performing dynamic driving tasks is divided into levels 0 to 5 (or L0-L5) according to the role allocation in performing dynamic driving tasks and the presence or absence of design operational range (ODD) restrictions, such as external conditions suitable for the functional operation of the driving automation system as determined when the driving automation system is designed, such as roads, traffic, weather, lighting, etc. Among the six levels of driving automation, levels 0-2 are driving assistance, and the system assists humans in performing dynamic driving tasks, and the driving subject is still the driver. Levels 3-5 are autonomous driving, and the system replaces humans to perform dynamic driving tasks under the design operating conditions, and when the function is activated, the driving subject is the system. The names and definitions of each level are as follows:

[0064] A level 0 driving automation (may also be referred to as emergency assistance) system is not capable of sustained control of vehicle lateral or longitudinal motion in dynamic driving tasks, but has the capability for some target and event detection and response in dynamic driving tasks. A level 1 driving automation (may also be referred to as partial driver assistance) system is capable of sustained control of vehicle lateral or longitudinal motion in dynamic driving tasks, and has the capability for some target and event detection and response appropriate to the vehicle lateral or longitudinal motion control being performed. A level 2 driving automation (may also be referred to as combined driver assistance) system is capable of sustained control of vehicle lateral and longitudinal motion in dynamic driving tasks, and has the capability for some target and event detection and response appropriate to the vehicle lateral and longitudinal motion control being performed. A level 3 driving automation (may also be referred to as conditionally automated driving) system is capable of sustained control of all dynamic driving tasks under its design operation conditions. A level 4 driving automation (may also be referred to as highly automated driving) system is capable of sustained control of all dynamic driving tasks under its design operation conditions and performs a minimal risk maneuver. A level 5 driving automation (may also be referred to as fully automated driving) system is capable of sustained control of all dynamic driving tasks under all conditions, and performs a minimal risk maneuver. Generally, intelligent driving systems are generally L2-L5, such as ADAS is L2, and ADS is L3-L5.

[0065] FIG. 3 shows a schematic flowchart of a control method 300 provided by an embodiment of the present application. The method 300 can be performed by the vehicle 100 described above, or the method 300 can be performed by the computing platform 120 described above, or the method 300 can be performed by a processor, a chip or a circuit in the computing platform 120 described above; or the method 300 can be performed by the intelligent driving system described above. The method 300 includes:

[0066] S310, obtaining hand-off risk assessment information, the hand-off risk assessment information including one or more of a state of a driver, environmental information around the vehicle, and a driving state of the vehicle.

[0067] For example, the state of the driver includes one or more of a distraction state, a fatigue state, or a dangerous action. For example, the dangerous action includes behaviors such as smoking, making a phone call, eating, etc.

[0068] For example, the fatigue state can be represented by a fatigue level. For example, when the duration of the driver’s eyes being closed is greater than or equal to 20 seconds from the beginning of the driving trip to the current time, the driver can be considered to be in a high fatigue level; or, when the duration of the driver’s eyes being closed is less than 20 seconds, the driver can be considered to be in a low fatigue level.

[0069] For example, the distraction state can be represented by a distraction level. For example, when the frequency of the driver turning his head to communicate with other users is greater than or equal to 5 times from the beginning of the driving trip to the current time, the driver can be considered to be in a high distraction level; or, when the frequency of the driver turning his head to communicate with other users is less than 5 times, the driver can be considered to be in a low distraction level.

[0070] For example, when the duration of the driver turning his head to communicate with other users is greater than or equal to 10 seconds, the driver can be considered to be in a high distraction level; or, when the duration of the driver turning his head to communicate with other users is less than 10 seconds, the driver can be considered to be in a low distraction level.

[0071] For example, the driver’s state can further include physiological indicators such as the driver’s heart rate, breathing rate, etc. to detect potential health problems in advance. If there is a potential health problem, it can affect the driving safety of the users in the cabin.

[0072] For example, the evaluation result of the driver’s state can be classified as the driver’s state being good or the driver’s state being poor.

[0073] For example, the driver’s state being good can be understood as the driver having no dangerous action, the distraction level being a low distraction level, the health condition being good, and the fatigue level being a low fatigue level.

[0074] For example, the driver’s state being poor can be understood as the driver having one or more of the following: having a dangerous action, the distraction level being a high distraction level, the health condition being poor, and the fatigue level being a high fatigue level.

[0075] For example, the environmental information around the vehicle includes one or more of the following: information of the road where the vehicle is located (e.g., the lane where the vehicle is located), information of the surrounding obstacles (e.g., the position, speed, acceleration, etc. of other vehicles around the vehicle), weather conditions (e.g., snow, rain, sunny, etc.).

[0076] For example, when the speed of the vehicle is 100 km / h, if the distance between the dynamic target (e.g., other vehicles) around the vehicle and the vehicle is greater than or equal to 30 m, it can be determined that the environmental risk around the vehicle is low; or if the distance between the dynamic target (e.g., other vehicles) around the vehicle and the vehicle is less than 30 m, it can be determined that the environmental risk around the vehicle is high.

[0077] For another example, when the weather condition of the environment where the vehicle is located is snow or rain, it can be determined that the environmental risk around the vehicle is high; or when the weather condition of the environment where the vehicle is located is sunny, it can be determined that the environmental risk around the vehicle is low.

[0078] For another example, the environmental risk around the vehicle can also be determined by the road condition. For example, the vehicle can be determined to be in a high environmental risk in the following road conditions:

[0079] (1) The vehicle is in any one of a curved road, a special-shaped intersection, a road with unclear lane lines, or a road occupied by others;

[0080] (2) The vehicle is in a congested road section, there are large vehicles passing around the vehicle, or there are other vehicles cutting in to the lane where the vehicle is located;

[0081] (3) There are potholes and water on the road where the vehicle is located (e.g., due to previous rain), or the vehicle is in a poor light condition (e.g., a dark night scene).

[0082] For example, the driving state of the vehicle includes one or more of the position, speed, acceleration, and heading angle of the vehicle.

[0083] S320, when the vehicle is in the intelligent driving state, the driver is warned according to the hand-off risk assessment information.

[0084] Optionally, determining that the vehicle is in the intelligent driving state includes: detecting an instruction indicating that the intelligent driving function is turned on, and controlling the vehicle to enter the intelligent driving state.

[0085] Exemplarily, the intelligent driving function includes a navigation cruise assist (NCA) function, a lane centering control (LCC), an adaptive cruise control (ACC), an automated lane keeping (ALK), an L3-level high-speed expressway automatic driving, an L3-level urban trunk road automatic driving, an automated parking assist (APA) function, a remote parking assist (RPA) function, or an automated valet parking (AVP) function, etc.

[0086] Optionally, the hand-off warning is given to the driver according to the hand-off risk assessment information, including: determining an environmental risk level according to the environmental information around the vehicle and the driving state of the vehicle; determining the state of the driver according to the image collected by the in-cabin camera; and giving the hand-off warning to the driver according to the environmental risk level and the state of the driver.

[0087] Optionally, the hand-off warning is given to the driver according to the environmental risk level and the state of the driver, including: determining a risk level according to the environmental risk level and the state of the driver; and giving the hand-off warning to the driver according to the risk level.

[0088] Exemplarily, Table 1 shows the correspondence between the environmental risk level, the state of the driver, and the risk level.

[0089] Table 1

[0090] The correspondence shown in Table 1 above is only illustrative, and embodiments of the present application are not limited in this regard.

[0091] Exemplarily, FIG. 4 shows a schematic diagram of a hand-off warning progress provided by an embodiment of the present application.

[0092] Exemplarily, the driver can not be reminded within 15s after the driver's hands are detected to be off the steering wheel. The hand-off warning level corresponding to the driver not being reminded can also be referred to as hand-off warning L4.

[0093] When it is detected that the user continuously stays in the hand-off state within 15s after the driver's hands are detected to be off the steering wheel, the vehicle can give a warning through hand-off warning L3, at this time, the vehicle can control the instrument screen to display a prompt information "Please turn the steering wheel gently". The duration of hand-off warning L3 can be 15s.

[0094] When the user is detected to be in the hand-off state continuously within 30s since the driver's both hands are detected to be off the steering wheel, the vehicle can alarm by the hand-off alarm L2 (single), at this time, the vehicle can control the instrument screen to display the prompt information "Please turn the steering wheel slightly" and remind by yellow highlight on the prompt box and the top of the instrument screen, and the vehicle can also control the loudspeaker to play the prompt information "Please turn the steering wheel slightly". The duration of the hand-off alarm L2 (single) can be 10s.

[0095] When the user is detected to be in the hand-off state continuously within 40s since the driver's both hands are detected to be off the steering wheel, the vehicle can alarm by the hand-off alarm L2 (cyclic), at this time, the vehicle can control the instrument screen to display the prompt information "Please turn the steering wheel slightly" and remind by yellow highlight on the prompt box and the top of the instrument screen, and the vehicle can also control the loudspeaker to play the alarm sound. The duration of the hand-off alarm L2 (cyclic) is 10s.

[0096] When the user is detected to be in the hand-off state continuously within 50s since the driver's both hands are detected to be off the steering wheel, the vehicle can alarm by the hand-off alarm L1, at this time, the vehicle can control the instrument screen to display the prompt information "Please turn the steering wheel slightly" and remind by red highlight on the prompt box and the top of the instrument screen, and the vehicle can also control the loudspeaker to play the alarm sound. Until the user is detected to take over the vehicle, the vehicle can control the hand-off alarm to end.

[0097] The hand-off alarm progress shown in FIG. 4 above can also be referred to as the hand-off alarm progress in the standard gear.

[0098] For example, FIG. 5 shows a schematic diagram of another hand-off alarm progress provided by the embodiments of the present application.

[0099] For example, the driver can not be reminded within 60s since the driver's both hands are detected to be off the steering wheel. The hand-off alarm level corresponding to not reminding the driver can also be referred to as the hand-off alarm L4. The hand-off alarm progress thereafter can be the same as the hand-off alarm L3, the hand-off alarm L2 (single), the hand-off alarm L2 (cyclic) and the hand-off alarm L1 shown in FIG. 4 above.

[0100] The hand-off alarm progress shown in FIG. 5 above can also be referred to as the hand-off alarm progress in the comfort gear.

[0101] Optionally, the method 300 further comprises: controlling the display device to display a first interface, the first interface comprising the standard gear and the comfort gear; and performing the hands-off warning according to an input of the user on the first interface. For example, when it is detected that the user selects the standard gear, the vehicle can perform the hands-off warning based on the hands-off warning progress as shown in FIG. 4; or when it is detected that the user selects the comfort gear, the vehicle can perform the hands-off warning based on the hands-off warning progress as shown in FIG. 5.

[0102] Optionally, the vehicle can dynamically adjust the time length of the hands-off warning progress at different hands-off warning levels under the comfort gear according to the hands-off risk assessment information.

[0103] Optionally, the method further comprises: according to the hands-off risk assessment information, obtaining a first time length; and controlling the warning device to not perform the hands-off warning on the driver within the first time length since the driver's hands are off, and controlling the warning device to perform the hands-off warning on the driver after detecting that the first time length has elapsed since the driver's hands are off.

[0104] The first time length can also be referred to as the hands-off warning-free time length.

[0105] For example, when the environmental risk level of the vehicle is low and the state of the driver is good (corresponding to a low risk level), the hands-off warning-free time length T can be calculated according to the following formula (1): T = 3t + 30 (1)

[0106] wherein T is the hands-off warning-free time length updated based on the environmental risk level and the state of the driver, and t is the hands-off warning-free time length under the comfort gear.

[0107] For example, when the environmental risk level of the vehicle is low and the state of the driver is good, the hands-off warning-free time length can be determined as 210s, taking the hands-off warning-free time length under the comfort gear as 60s.

[0108] For example, FIG. 6 shows another hands-off warning progress when the environmental risk level of the vehicle is low and the state of the driver is good (corresponding to a low risk level). The driver can not be reminded within 210s since the driver's hands are off the steering wheel. The hands-off warning progress thereafter can be the same as the hands-off warning L3, the hands-off warning L2 (single), the hands-off warning L2 (cyclic), and the hands-off warning L1 shown in FIG. 4.

[0109] Exemplarily, within 210s after detecting that the driver's hands are off the steering wheel, the vehicle can continuously detect the environmental risk level and the state of the driver. If it is detected that the driver continuously is in the hands-off state, the environmental risk level is low environmental risk, and the state of the driver is good within the 210s, the hands-off warning L3 can be entered after 210s after detecting that the driver's hands are off the steering wheel.

[0110] Exemplarily, when the environmental risk level of the vehicle is low environmental risk and the state of the driver is not good (corresponding to the medium risk level), the time without prompting T can be calculated according to the following formula (2): T = 1 / 3t - 30 (2)

[0111] wherein T is the time without prompting updated based on the environmental risk level and the state of the driver, and t is the time without prompting in the comfort gear.

[0112] Exemplarily, taking the time without prompting in the comfort gear as 60s for example, when the environmental risk level of the vehicle is low risk level and the state of the driver is good, the time without prompting can be determined as -10s.

[0113] Exemplarily, FIG. 7 shows another progress of the hands-off warning when the environmental risk level is low environmental risk and the state of the driver is not good (corresponding to the medium risk level) according to an embodiment of the present application. After detecting that the driver's hands are off the steering wheel, the time without prompting is not passed, and the hands-off warning L3 is directly entered and the duration of the hands-off warning L3 is shortened from 20s to 10s because the calculated time without prompting is -10s. In this way, when it is detected that the driver continuously is in the hands-off state, the environmental risk level is low environmental risk, and the state of the driver is not good within 10s after the driver's hands are off the steering wheel, the vehicle can alarm through the hands-off warning L2 (single).

[0114] Exemplarily, when it is detected that the driver continuously is in the hands-off state, the environmental risk level is high environmental risk, and the state of the driver is not good (corresponding to the high risk level) within 10s after the driver's hands are off the steering wheel, the vehicle can directly jump to the hands-off warning L2 (cyclic) for alarm.

[0115] Optionally, before the driver is warned according to the hand-off risk assessment information, the method further comprises: obtaining a first hand-off warning progress, the first hand-off warning progress corresponding to a first hand-off warning level; wherein the hand-off risk assessment information controls the prompting device to warn the driver, comprising: when the hand-off risk assessment information meets a preset condition, adjusting the first hand-off warning progress to a second hand-off warning progress, wherein the second hand-off warning progress corresponds to a second hand-off warning level higher than the first hand-off warning level.

[0116] Optionally, when the hand-off risk assessment information meets the preset condition, adjusting the first hand-off warning progress to the second hand-off warning progress comprises: determining a first risk level according to the hand-off risk assessment information; and when the second hand-off warning level corresponding to the first risk level is higher than the first hand-off warning level, adjusting the first hand-off warning progress to the second hand-off warning progress.

[0117] For example, the data collected by the cabin external sensor can be input into a prediction model to obtain an environmental risk level; and the risk level can be determined according to the environmental risk level and an image collected by the cabin camera (the image can be used to determine the state of the driver).

[0118] For example, the first risk level can be determined according to the hand-off risk assessment information and the mapping relationship shown in Table 1.

[0119] Optionally, when the second hand-off warning level corresponding to the risk level is higher than the first hand-off warning level, adjusting the first hand-off warning progress to the second hand-off warning progress comprises: when the first hand-off warning level is less than or equal to a preset hand-off warning level and the second hand-off warning level corresponding to the risk level is higher than the first hand-off warning level.

[0120] For example, the preset warning level can be hand-off warning level L2 (single).

[0121] For example, Table 2 shows the corresponding relationship between the risk level and the hand-off warning level.

[0122] Table 2

[0123] For example, when the driver's hands are off the steering wheel and it is determined according to the hand-off risk assessment information and the mapping relationship shown in Table 1 above that the risk level is low, the no reminder duration can be determined to be 210s. When the driver's hands are off the steering wheel for 100s and it is determined according to the hand-off risk assessment information that the risk level is high, the hand-off warning progress can be directly switched from no reminder to the starting point of hand-off warning L2 (cyclic).

[0124] Exemplarily, taking the hand-off warning by the standard gear as an example, FIG. 8 shows a schematic diagram of changing the hand-off warning progress provided by the embodiments of the present application. As shown in FIG. 8, taking the time when the driver's both hands are detected to be off the steering wheel as T0 time, the time under the current hand-off warning progress is T1 time, wherein the T1 time is located in the hand-off warning L3. At the T1 time, when the risk level is switched from the low risk level to the high risk level by the hand-off risk assessment information, the progress of the current hand-off warning can be directly jumped to the starting time of the hand-off warning L2 (cycle). In this way, if the driver is continuously detected to be in the hand-off state within 10s from the starting time of the hand-off warning L2 (cycle), the vehicle can prompt the user to take over the vehicle by the hand-off warning L1.

[0125] Optionally, according to the hand-off risk assessment information, before the control prompting device warns the driver, the method further comprises: obtaining a third hand-off warning progress, the third hand-off warning progress corresponding to a third hand-off warning level; wherein the control prompting device warning the driver according to the hand-off risk assessment information comprises: determining a second risk level according to the hand-off risk assessment information, the second risk level corresponding to a fourth hand-off warning level; when the third warning level is greater than or equal to a preset warning level, or the fourth hand-off warning level is the third warning level, controlling the warning device to keep the third hand-off warning progress.

[0126] Exemplarily, taking the hand-off warning by the standard gear and the preset warning level as the hand-off warning L2 (cycle) as an example, FIG. 9 shows a schematic diagram of changing the hand-off warning progress provided by the embodiments of the present application. As shown in FIG. 9, taking the time when the driver's both hands are detected to be off the steering wheel as T0 time, the current hand-off warning progress is T2 time, wherein the T2 time is located in the hand-off warning L2 (cycle). At the T2 time, when the risk level is switched from the low risk level to the high risk level by the hand-off risk assessment information, the progress of the current hand-off warning can be directly kept at the T2 time under the hand-off warning L2 (cycle).

[0127] Optionally, the method further comprises: after the vehicle enters the hand-off warning, determining a first steering wheel torque according to the hand-off risk assessment information, the first steering wheel torque being a torque required to cancel the hand-off warning; and determining whether to cancel the hand-off warning according to the first steering wheel torque and a torque applied by the driver to the steering wheel.

[0128] The above first steering wheel torque can also be understood as the minimum torque value applied by the driver to the steering wheel when the hand-off warning is contacted, or can also be understood as a threshold value.

[0129] For example, if the environmental risk level around the vehicle is a low risk level and the state of the driver is good (corresponding to a low risk level), the first steering wheel torque can be set to 0.5 Nm. In this way, the hand-off warning can be released when it is detected that the steering wheel torque is greater than or equal to 0.5 Nm.

[0130] For example, if the environmental risk level around the vehicle is a low risk level and the state of the driver is not good (corresponding to a medium risk level), the first steering wheel torque can be set to 0.8 Nm. In this way, the hand-off warning can be released when it is detected that the steering wheel torque is greater than or equal to 0.8 Nm.

[0131] For example, if the environmental risk level around the vehicle is a high risk level and the state of the driver is not good (corresponding to a high risk level), the first steering wheel torque can be set to 1.5 Nm. In this way, the hand-off warning can be released when it is detected that the steering wheel torque is greater than or equal to 1.5 Nm.

[0132] In the embodiments of the present application, when the state of the driver is good and the environmental risk level is low, a lower threshold value can be obtained. At this time, the driver applies a lower torque to the steering wheel, so that the vehicle releases the hand-off warning, which can ensure the driving safety of the user, and avoid the user applying a larger torque to release the hand-off warning, which helps to improve the driving comfort of the driver.

[0133] For example, when the state of the driver is not good and the environmental risk level is high, a higher threshold value can be obtained. At this time, the driver needs to apply a higher torque to the steering wheel to release the hand-off warning. In this way, by using a higher threshold value, the driver can only release the hand-off warning when he concentrates and applies a larger torque, which helps to quickly regain the attention of the driver, ensures that the driver can take over the vehicle in time when needed, and helps to improve the driving safety of the user.

[0134] The above is described by taking the combination of the environmental risk level and the state of the driver to determine the first steering wheel torque as an example, and the embodiments of the present application are not limited thereto. For example, the first steering wheel torque can be determined only by the environmental risk level. For example, when the environmental risk level is a low risk level, the first steering wheel torque can be set to 0.5 Nm; for example, when the environmental risk level is a high risk level, the first steering wheel torque can be set to 1.5 Nm.

[0135] For example, the first steering wheel torque can be determined only by the state of the driver. For example, when the state of the driver is good, the first steering wheel torque can be set to 0.5 Nm; for example, when the state of the driver is not good, the first steering wheel torque can be set to 1.5 Nm.

[0136] Optionally, the method 200 further comprises: when the progress of the hands-off warning reaches the highest level of the hands-off warning progress for the first time in the driving trip, prohibiting the driver from activating the intelligent driving state within a preset time length; or when the progress of the hands-off warning reaches the highest level of the hands-off warning progress for the second time in the driving trip, prohibiting the driver from activating the intelligent driving state in the driving trip.

[0137] For example, FIG. 10 shows an execution strategy provided by the embodiment of the application after entering the hands-off warning L1. In the current driving trip of the vehicle, after entering the hands-off warning L1 for the first time, the driver can be prohibited from starting the intelligent driving function again within a preset time length (for example, 3 minutes) from the time when the driver takes over the vehicle.

[0138] For example, in the current driving trip of the vehicle, after entering the hands-off warning L1 for the second time, the driver can be prohibited from starting the intelligent driving function again within a period of time from the time when the driver takes over the vehicle to the time when the vehicle is in the parking state.

[0139] Optionally, after the vehicle controls the warning device to perform the hands-off warning, if the vehicle restarts (for example, the speed of the vehicle decreases to 0 km / h and then increases), the timing of the hands-off warning is reset. For example, before the vehicle restarts, the hands-off warning progress of the vehicle is at the hands-off warning L2 (single). After the vehicle restarts, the timing can be reset. For example, the hands-off warning is performed again through no reminder, the hands-off warning L3, the hands-off warning at L2 (single), the hands-off warning at L2 (cycle), and the hands-off warning at L1.

[0140] Based on the above technical solution, in the case where the vehicle restarts, it can be determined that the attention of the driver has been pulled back, at this time, the timing of the hands-off warning can be reset, the interference on the driver is reduced as much as possible, and the sense of strangeness of the reminder is reduced.

[0141] Optionally, when the speed of the vehicle is less than or equal to a preset speed, the timing can not be performed. For example, the preset speed is 10 km / h.

[0142] FIG. 11 shows a schematic block diagram of a control device 1100 provided by the embodiment of the application. The device 1100 comprises: an acquisition unit 1110, configured to acquire hands-off risk assessment information, the hands-off risk assessment information comprising one or more of the state of the driver, the environmental information around the vehicle, and the driving state of the vehicle; and a control unit 1120, configured to perform hands-off warning on the driver according to the hands-off risk assessment information when the vehicle is in an intelligent driving state.

[0143] Optionally, the obtaining unit 1110 is further configured to obtain a first time length according to the hand-off risk assessment information; and the control unit 1120 is specifically configured to control the warning device to not perform hand-off warning on the driver within the first time length from the hand-off of the driver, and control the warning device to perform hand-off warning on the driver after detecting that the first time length from the hand-off of the driver has elapsed.

[0144] Optionally, the obtaining unit 1110 is further configured to obtain a first hand-off warning progress before the control unit controls the warning device to perform hand-off warning on the driver, the first hand-off warning progress corresponding to a first hand-off warning level; and the control unit 1120 is specifically configured to adjust the first hand-off warning progress to a second hand-off warning progress when the hand-off risk assessment information meets a preset condition, the second hand-off warning progress corresponding to a second hand-off warning level higher than the first hand-off warning level.

[0145] Optionally, the apparatus 1100 further includes a first determination unit configured to determine a first risk level according to the hand-off risk assessment information, the first risk level corresponding to the second hand-off warning level; and the control unit 1120 is specifically configured to adjust the first hand-off warning progress to a starting point of the second hand-off warning progress when the first hand-off warning progress is located before the second hand-off warning progress.

[0146] Optionally, the apparatus 1100 further includes a first determination unit, the obtaining unit 1110 is further configured to obtain a third hand-off warning progress before the control unit performs hand-off warning on the driver, the third hand-off warning progress corresponding to a third hand-off warning level; the first determination unit is configured to determine a second risk level according to the hand-off risk assessment information, the second risk level corresponding to a fourth hand-off warning level; and the control unit 1120 is configured to maintain the third hand-off warning progress when the third hand-off warning level is greater than or equal to a preset warning level, or the fourth hand-off warning level is the third hand-off warning level.

[0147] Optionally, the apparatus 1100 further includes a second determination unit configured to determine a first steering wheel torque according to the hand-off risk assessment information after the warning device performs hand-off warning on the driver, the first steering wheel torque being a torque required to cancel the hand-off warning; and the second determination unit is further configured to determine whether to cancel the hand-off warning according to the first steering wheel torque.

[0148] Optionally, the control unit 1120 is further configured to prohibit the driver from activating an intelligent driving state within a preset time length when the progress of hand-off warning reaches a highest-level hand-off warning progress for the first time in a driving trip; or prohibit the driver from activating the intelligent driving state in the driving trip when the progress of hand-off warning reaches the highest-level hand-off warning progress for the second time in the driving trip.

[0149] The function implemented by the acquisition unit 1110 can be implemented by a processor, a chip or a circuit in the computing platform. For example, the function implemented by the acquisition unit 1110 can be implemented by the processor 121. The processor 121 can acquire one or more of the state of the driver, the environmental information around the vehicle and the driving state of the vehicle.

[0150] The function implemented by the control unit 1120 can be implemented by a processor, a chip or a circuit in the computing platform. For example, the function implemented by the control unit 1120 can be implemented by the processor 122. The processor 122 can control the warning device to perform the hands-off warning to the driver according to one or more of the state of the driver, the environmental information around the vehicle and the driving state of the vehicle acquired by the processor 121.

[0151] The function implemented by the acquisition unit 1110 and the function implemented by the control unit 1120 can be implemented by the same processor or different processors, and the embodiments of the present application do not make a specific limitation in this regard.

[0152] It should be understood that the division of each unit in the above device is only a logical division of functions, and all or part of the units can be integrated into one physical entity, or can be physically separated. In addition, the units in the device can be implemented in the form of processor calling software; for example, the device includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any one of the above methods or to realize the functions of each unit of the device, wherein the processor is, for example, a general processor such as a CPU or a microprocessor, and the memory is an internal memory of the device or an external memory of the device. Alternatively, the units in the device can be implemented in the form of hardware circuit, and the functions of part or all of the units can be realized by the design of the hardware circuit, which can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of part or all of the units are realized by the design of the logical relationship of elements in the circuit; for example, in another implementation, the hardware circuit is a PLD, and taking an FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the units. All units of the above device can be implemented in the form of processor calling software, or all units can be implemented in the form of hardware circuit, or part of the units can be implemented in the form of processor calling software, and the remaining part can be implemented in the form of hardware circuit.

[0153] In embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a CPU, a microprocessor, a GPU, or a DSP, etc. In another implementation, the processor can implement certain functions through a logic relationship of a hardware circuit, which is fixed or can be reconfigured. For example, the processor is an ASIC or a PLD implemented hardware circuit, such as an FPGA. In the reconfigurable hardware circuit, the processor loads the configuration document to implement the hardware circuit configuration. It can be understood that the processor loads the instructions to implement the functions of the above part or all units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as NPU, TPU, DPU, etc.

[0154] It can be seen that each unit in the above apparatus can be one or more processors (or processing circuits) configured to implement the above methods, such as CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0155] In addition, each unit in the above apparatus can be integrated together or can be independently implemented. In one implementation, these units are integrated together to implement a SoC. The SoC can include at least one processor for implementing any of the above methods or the functions of the units of the apparatus. The at least one processor can be different, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0156] Embodiments of the present application also provide a control apparatus, which includes a processing unit and a storage unit, wherein the storage unit is configured to store instructions, and the processing unit is configured to execute the instructions stored in the storage unit, so that the apparatus executes the methods or steps performed by the above embodiments.

[0157] Optionally, if the control apparatus is located in a vehicle, the above processing unit can be one or more of the processors 121-12n shown in FIG. 1.

[0158] Embodiments of the present application also provide a control system, which includes an alarm apparatus and a computing platform, and the computing platform includes the above control apparatus 1100.

[0159] Optionally, the control system further includes a perception system.

[0160] Embodiments of the present application also provide a vehicle, which can include the above control apparatus 1100 or the above control system.

[0161] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes run on a computer, the computer program codes make the computer execute the method in the above embodiment.

[0162] The embodiment of the present application further provides a computer readable medium, which stores program codes, and when the program codes run on a computer, the program codes make the computer execute the method in the above embodiment.

[0163] The embodiment of the present application further provides a chip, which comprises a circuit for executing the method in the above embodiment.

[0164] In the implementation process, each step of the above method can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The method disclosed in the embodiment of the present application can be directly embodied as hardware processor execution completion or combined execution completion by hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable read-only memory, register or the like. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0165] It should be understood that in the embodiment of the present application, the memory can include read-only memory and random access memory, and provide instructions and data to the processor.

[0166] It should also be understood that in various embodiments of the present application, the size of the serial number of each process described above does not mean the execution order, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0167] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software mode depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0168] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0169] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely logical function division. There can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0170] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0171] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can be a physically separate unit, or two or more units can be integrated into one unit.

[0172] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0173] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method characterized by, The method comprises: obtaining hand-off risk assessment information, the hand-off risk assessment information comprising one or more of a state of a driver, environmental information around a vehicle, and a driving state of the vehicle; when the vehicle is in an intelligent driving state, performing hand-off warning on the driver according to the hand-off risk assessment information.

2. The method of claim 1, wherein, The hand-off warning on the driver according to the hand-off risk assessment information comprises: obtaining a first time length according to the hand-off risk assessment information; controlling a warning device to not perform hand-off warning on the driver within the first time length from the hand-off of the driver, and controlling the warning device to perform hand-off warning on the driver after the first time length from the hand-off of the driver is detected.

3. The method according to claim 1 or 2, characterized in that, Before the hand-off warning on the driver according to the hand-off risk assessment information, the method further comprises: obtaining a first hand-off warning progress, the first hand-off warning progress corresponding to a first hand-off warning level; wherein the hand-off warning on the driver according to the hand-off risk assessment information comprises: when the hand-off risk assessment information meets a preset condition, adjusting the first hand-off warning progress to a second hand-off warning progress, the second hand-off warning progress corresponding to a second hand-off warning level higher than the first hand-off warning level.

4. The method of claim 3, wherein, The adjusting of the first hand-off warning progress to the second hand-off warning progress when the hand-off risk assessment information meets the preset condition comprises: determining a first risk level according to the hand-off risk assessment information, the first risk level corresponding to the second hand-off warning level; when the first hand-off warning progress is located before the second hand-off warning progress, adjusting the first hand-off warning progress to a starting point of the second hand-off warning progress.

5. The method according to claim 1 or 2, characterized in that, Before the hand-off warning on the driver according to the hand-off risk assessment information, the method further comprises: obtaining a third hand-off warning progress, the third hand-off warning progress corresponding to a third hand-off warning level; wherein the hand-off warning on the driver according to the hand-off risk assessment information comprises: determining a second risk level according to the hand-off risk assessment information, the second risk level corresponding to a fourth hand-off warning level; when the third hand-off warning level is greater than or equal to a preset warning level, or the fourth hand-off warning level is the third hand-off warning level, maintaining the third hand-off warning progress.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: after the control of the warning device enters the hand-off warning, determining a first steering wheel torque according to the hand-off risk assessment information, the first steering wheel torque being a torque required to cancel the hand-off warning; determining whether to cancel the hand-off warning according to the first steering wheel torque.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: when the progress of the hand-off warning in a driving trip reaches a highest-level hand-off warning progress for the first time, prohibiting the driver from activating the intelligent driving state within a preset time length; or when the number of times of reaching the highest-level hand-off warning progress in the driving trip is greater than or equal to a preset number of times, prohibiting the driver from activating the intelligent driving state in the driving trip.

8. A control device characterized by comprising: The method comprises: The acquisition unit is configured to acquire hand-off risk assessment information, the hand-off risk assessment information including one or more of a state of a driver, environmental information around a vehicle, and a driving state of the vehicle; The control unit is configured to, when the vehicle is in an intelligent driving state, perform hand-off warning on the driver according to the hand-off risk assessment information.

9. The apparatus of claim 8, wherein The acquisition unit is further configured to acquire a first time length according to the hand-off risk assessment information. The control unit is specifically configured to: control an alarm device not to perform hand-off warning on the driver within the first time length from the hand-off of the driver, and control the alarm device to perform hand-off warning on the driver after the first time length from the detection of the hand-off of the driver.

10. The apparatus of claim 8, wherein The acquisition unit is further configured to acquire a first hand-off warning progress before the control unit controls the alarm device to perform hand-off warning on the driver, the first hand-off warning progress corresponding to a first hand-off warning level; The control unit is specifically configured to: when the hand-off risk assessment information meets a preset condition, adjust the first hand-off warning progress to a second hand-off warning progress, the second hand-off warning progress corresponding to a second hand-off warning level higher than the first hand-off warning level.

11. The apparatus of claim 10, wherein, The apparatus further includes: A first determination unit configured to determine a first risk level according to the hand-off risk assessment information, the first risk level corresponding to the second hand-off warning level; The control unit is specifically configured to: when the first hand-off warning progress is located before a second hand-off warning progress, adjust the first hand-off warning progress to a starting point of the second hand-off warning progress.

12. The apparatus of claim 8, wherein, The apparatus further includes a first determination unit, The acquisition unit is further configured to acquire a third hand-off warning progress before the control unit performs hand-off warning on the driver, the third hand-off warning progress corresponding to a third hand-off warning level; The first determination unit is configured to determine a second risk level according to the hand-off risk assessment information, the second risk level corresponding to a fourth hand-off warning level; The control unit is configured to, when the third hand-off warning level is greater than or equal to a preset warning level, or the fourth hand-off warning level is the third hand-off warning level, maintain the third hand-off warning progress.

13. The apparatus of any one of claims 8-12, wherein, The apparatus further includes: A second determination unit configured to, after an alarm device performs hand-off warning on the driver, determine a first steering wheel torque according to the hand-off risk assessment information, the first steering wheel torque being a torque required to cancel the hand-off warning; The second determination unit is further configured to determine whether to cancel the hand-off warning according to the first steering wheel torque.

14. The apparatus of any one of claims 8-13, wherein, The control unit is further configured to: when the progress of the hand-off warning reaches the highest level of hand-off warning progress for the first time in a driving trip, prohibit the driver from activating an intelligent driving state within a preset time length; or When the progress of the hand-off warning reaches the highest level of the hand-off warning progress for the second time in the driving trip, the intelligent driving state is prohibited from being activated by the driver in the driving trip.

15. A control device characterized by comprising: Comprising: a memory for storing a computer program; a processor for executing the computer program stored in the memory to cause the apparatus to perform the method of any one of claims 1 to 10.

16. A control system characterized by, The air sweeping system comprises a warning device and a computing platform, and the computing platform comprises the apparatus of any one of claims 8-15.

17. A vehicle characterized by comprising: Comprising the apparatus of any one of claims 8 to 15, or, comprising the system of claim 16.

18. A computer-readable storage medium, characterized in that, An instruction is stored thereon, and the instruction is executed by a processor to cause the processor to implement the method of any one of claims 1 to 7.

19. A computer program product, characterised in that, The computer program product comprises computer program code, which, when executed on a computer, causes the computer to implement the method of any one of claims 1 to 7.

20. A chip, characterized by The chip comprises a circuit, and the circuit is used to execute the method of any one of claims 1 to 7.

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