CN113581215A

CN113581215A - Vehicle control method and device and vehicle

Info

Publication number: CN113581215A
Application number: CN202111022964.2A
Authority: CN
Inventors: 袁光
Original assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Current assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2021-11-02
Anticipated expiration: 2041-09-01
Also published as: CN113581215B

Abstract

The embodiment of the disclosure provides a control method and device for a vehicle and the vehicle, wherein the vehicle comprises an image acquisition device, the image acquisition device is used for acquiring facial images of passengers in the vehicle, and the method comprises the following steps: the method comprises the steps of identifying a facial image to obtain an identification result, if the vehicle is in an automatic driving state, the identification result is used for representing the comfort degree of a passenger taking the vehicle, responding to the identification result to represent that the comfort degree does not meet the comfort degree requirement of the passenger taking the vehicle, determining the reason type that the comfort degree does not meet the comfort degree requirement of the passenger taking the vehicle according to the facial image, adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, returning to the step of identifying the facial image to obtain the identification result until the identification result represents that the comfort degree meets the comfort degree requirement of the passenger taking the vehicle, controlling the driving of the vehicle according to the driving parameter when the comfort degree meets the comfort degree requirement of the passenger taking the vehicle, and improving the flexibility and intelligence of vehicle control.

Description

Vehicle control method and device and vehicle

Technical Field

The embodiment of the disclosure relates to the technical field of automatic driving, in particular to a vehicle control method and device and a vehicle.

Background

Along with the development of intelligent driving in recent years, the degree of autonomy of the automatic driving function is higher and higher, and the application of various high-tech means makes the passenger more and more convenient to go out, but simultaneously the expectation of the passenger is also improved, so that the requirements on high safety and low participation are higher and higher, and meanwhile, the requirements on high humanization on the riding comfort degree are higher and higher.

In the prior art, in order to meet the comfort level of passengers riding a vehicle, some driving parameters such as speed, temperature and the like are generally set by the passengers in advance, and when the passengers ride the vehicle and the vehicle is in an automatic driving state, the vehicle is controlled to drive based on the driving parameters set by the passengers; alternatively, the driving parameters of the passenger in the manual driving state are stored to control the driving of the vehicle to control the automatic driving state based on the driving parameters.

However, the driving parameters of the above-mentioned method are relatively fixed, which easily causes a technical problem of low flexibility and reliability of vehicle control.

Disclosure of Invention

The embodiment of the disclosure provides a vehicle control method and device and a vehicle, which are used for solving the problem of low flexibility of vehicle control.

In a first aspect, the disclosed embodiments provide a control method of a vehicle including an image capture device for capturing facial images of passengers in the vehicle, the method comprising:

identifying the facial image to obtain an identification result, wherein if the vehicle is in an automatic driving state, the identification result is used for representing the comfort degree of the passenger taking the vehicle;

responding to the identification result representing that the comfort degree does not meet the comfort requirement of the passenger, determining the reason type that the comfort degree does not meet the comfort requirement of the passenger according to the facial image, adjusting the driving parameters corresponding to the reason type to obtain the adjusted driving parameters, returning to the step of identifying the facial image to obtain the identification result until the identification result representing that the comfort degree meets the comfort requirement of the passenger;

and controlling the driving of the vehicle according to the driving parameters when the comfort degree meets the comfort requirement of passengers.

In some embodiments, if the number of the passengers is multiple, determining a cause type that the comfort level does not satisfy a comfort level requirement of riding of the passengers according to the facial image, and adjusting a driving parameter corresponding to the cause type to obtain an adjusted driving parameter, including:

determining a cause type that a comfort level of each passenger does not meet a comfort requirement of a ride of each passenger according to a facial image of each passenger;

for each cause type, a driving parameter corresponding to the each cause type is adjusted.

In some embodiments, if the comfort level of the ride of each passenger satisfies the comfort level requirement of the ride of each passenger after adjusting the driving parameter corresponding to each cause type for each cause type, the method further comprises:

and when the comfort degree of each passenger in the vehicle meets the comfort degree requirement of each passenger in the vehicle, determining and storing the current driving parameters as combined driving parameters of each passenger, wherein the combined driving parameters are used for controlling the driving of the vehicle by using the combined driving parameters when each passenger takes the vehicle again and the vehicle is in an automatic driving state.

In some embodiments, if the number of times of returning to the step of recognizing the facial image and obtaining the recognition result reaches a preset number threshold, adjusting the driving parameter corresponding to each cause type for each cause type includes:

and acquiring attribute information of each passenger, wherein the attribute information comprises priorities, and adjusting the driving parameters corresponding to each reason type according to each priority until the identification result of the passenger with the highest priority represents the comfort degree of the passenger with the highest priority and meets the riding comfort requirement of the passenger with the highest priority.

In some embodiments, recognizing the facial image to obtain a recognition result comprises:

determining the current driving state of the vehicle, and if the driving state is an automatic driving state, acquiring a manual driving parameter of the passenger, wherein the manual driving parameter is acquired and stored when the passenger manually drives the vehicle;

initializing the driving parameters of the vehicle according to the manual driving parameters to obtain initial automatic driving parameters, and identifying the facial image to obtain an identification result when the automatic driving of the vehicle is controlled according to the initial automatic driving parameters.

In some embodiments, initializing the driving parameters of the vehicle according to the manual driving parameters to obtain initial automatic driving parameters includes:

if the number of the passengers is one, initializing the driving parameters of the vehicle according to the manual driving parameters of one passenger to obtain initial automatic driving parameters;

if the number of the passengers is multiple, initializing the manual driving parameters corresponding to the passengers according to a preset initialization strategy to obtain initial automatic driving parameters, wherein the preset initialization strategy comprises the following steps:

acquiring attribute information of each passenger, wherein the attribute information comprises a weight coefficient and/or a priority, and initializing manual driving parameters corresponding to each passenger according to the weight coefficient and/or the priority corresponding to each passenger to obtain initial automatic driving parameters.

In some embodiments, if the number of the passengers is multiple, initializing manual driving parameters corresponding to the passengers according to a preset initialization strategy to obtain initial automatic driving parameters, including:

judging whether a combined driving parameter corresponding to each passenger is stored in the vehicle, wherein the combined driving parameter corresponding to each passenger is a driving parameter which meets the comfort requirement of each passenger when each passenger takes the vehicle in front;

if not, executing a preset initialization strategy to initialize the manual driving parameters corresponding to the passengers respectively to obtain initial automatic driving parameters;

if so, initializing the manual driving parameters corresponding to the passengers according to the combined driving parameters corresponding to the passengers to obtain initial automatic driving parameters.

In some embodiments, if the driving state is a manual driving state, the recognition result of recognizing the face is used to characterize the number of passengers; the method further comprises the following steps:

if the number of the passengers is one, acquiring and storing a manual driving parameter for the passengers to manually drive the vehicle;

and if the number of the passengers is multiple, acquiring and storing a manual driving parameter for manually driving the vehicle as a combined driving parameter corresponding to the multiple passengers.

In some embodiments, if the number of passengers is one, acquiring and storing a manual driving parameter for the passenger to manually drive the vehicle, comprises:

determining a riding type of the passenger, wherein the riding type comprises that the long-term passenger is a stranger passenger;

and if the riding type of the passenger is a long-term passenger, acquiring and storing a manual driving parameter for the passenger to manually drive the vehicle.

In some embodiments, further comprising:

and if the riding type of the passenger is a strange passenger, acquiring a preset driving parameter limit value, and controlling the driving of the vehicle according to the driving parameter limit value and the automatic driving parameters of the automatic driving vehicle of the passenger.

In a second aspect, the disclosed embodiments provide a control apparatus of a vehicle including an image capturing device for capturing a facial image of a passenger in the vehicle, the apparatus including:

the recognition unit is used for recognizing the facial image to obtain a recognition result, wherein if the vehicle is in an automatic driving state, the recognition result is used for representing the comfort degree of the passenger taking the vehicle;

a first determining unit, configured to determine, according to the facial image, a cause type that the comfort level does not satisfy a comfort level requirement of the passenger for riding in a vehicle in response to the recognition result representing that the comfort level does not satisfy the comfort level requirement of the passenger for riding in the vehicle;

the adjusting unit is used for adjusting the driving parameters corresponding to the reason types to obtain the adjusted driving parameters, returning to the step of identifying the facial image to obtain an identification result until the identification result represents that the comfort degree meets the comfort requirement of the passenger for riding;

and the control unit is used for controlling the driving of the vehicle according to the driving parameters when the comfort degree meets the riding comfort requirement of the passengers.

In some embodiments, if the number of passengers is plural, the first determining unit is configured to determine, from the facial image of each passenger, a type of cause for which the comfort level of each passenger does not satisfy the comfort requirement of the riding of each passenger;

the adjusting unit is used for adjusting the driving parameters corresponding to each reason type aiming at each reason type.

In some embodiments, if the comfort level of the ride of each passenger satisfies the comfort level requirement of the ride of each passenger after adjusting the driving parameter corresponding to each cause type for each cause type, the apparatus further comprises:

the second determining unit is used for determining the current driving parameters of the vehicle when the riding comfort level of each passenger meets the riding comfort requirement of each passenger;

and the storage unit is used for determining and storing the current driving parameters as combined driving parameters of all passengers, and the combined driving parameters are used for controlling the driving of the vehicle according to the combined driving parameters when all the passengers take the vehicle again and the vehicle is in an automatic driving state.

In some embodiments, if the number of times of returning to the step of identifying the facial image and obtaining the identification result reaches a preset number threshold, the adjusting unit includes:

the first acquiring subunit is used for acquiring attribute information of each passenger, wherein the attribute information comprises a priority;

and the adjusting subunit is used for adjusting the driving parameters corresponding to each reason type according to each priority until the identification result of the passenger with the highest priority represents that the comfort degree of the passenger with the highest priority meets the riding comfort requirement of the passenger with the highest priority.

In some embodiments, the identification unit includes:

a determination subunit, configured to determine a current driving state of the vehicle;

a second obtaining subunit, configured to obtain a manual driving parameter of the passenger if the driving state is an automatic driving state, where the manual driving parameter is obtained and stored by the passenger when the passenger manually drives the vehicle;

the processing subunit is used for initializing the driving parameters of the vehicle according to the manual driving parameters to obtain initial automatic driving parameters;

and the identification subunit is used for identifying the facial image to obtain an identification result when the automatic driving of the vehicle is controlled according to the initial automatic driving parameters.

In some embodiments, the processing subunit is configured to, if the number of passengers is one, perform initialization processing on the driving parameters of the vehicle according to manual driving parameters of one passenger to obtain initial automatic driving parameters;

the processing subunit is further configured to, if the number of the passengers is multiple, perform initialization processing on the manual driving parameters corresponding to the passengers according to a preset initialization strategy to obtain initial automatic driving parameters, where the preset initialization strategy includes:

In some embodiments, if the number of passengers is multiple, the processing subunit is configured to determine whether a combined driving parameter corresponding to each passenger is stored in the vehicle, where the combined driving parameter corresponding to each passenger is a driving parameter that meets a comfort requirement of each passenger when each passenger takes the vehicle in the front, if not, execute a preset initialization strategy to initialize a manual driving parameter corresponding to each passenger to obtain an initial automatic driving parameter, and if so, initialize the manual driving parameter corresponding to each passenger according to the combined driving parameter corresponding to each passenger to obtain the initial automatic driving parameter.

In some embodiments, if the driving state is a manual driving state, the recognition result of recognizing the face is used to characterize the number of passengers; the identification unit further comprises:

the storage subunit is used for acquiring and storing a manual driving parameter of the vehicle manually driven by the passenger if the number of the passengers is one;

the storage subunit is further configured to, if the number of passengers is multiple, acquire and store a manual driving parameter for manually driving the vehicle as a combined driving parameter corresponding to the multiple passengers.

In some embodiments, if the number of passengers is one, the storage subunit is configured to determine a riding type of the one passenger, where the riding type includes that the long-term passenger is a stranger passenger, and if the riding type of the one passenger is the long-term passenger, acquire and store a manual driving parameter for the one passenger to manually drive the vehicle.

In some embodiments, the storage subunit is configured to, if the riding type of the passenger is a strange passenger, obtain a preset driving parameter limit value, and control driving of the vehicle according to the driving parameter limit value and an automatic driving parameter of an automatic driving vehicle of the passenger.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of the first aspect.

In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method according to the first aspect when executed by a processor.

In a fifth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

In a sixth aspect, embodiments of the present disclosure provide a vehicle comprising an image capture device for capturing facial images of passengers within the vehicle and a device as described in the second aspect.

The embodiment of the disclosure provides a control method and device for a vehicle and the vehicle, wherein the vehicle comprises an image acquisition device, the image acquisition device is used for acquiring facial images of passengers in the vehicle, and the method comprises the following steps: identifying the facial image to obtain an identification result, wherein if the vehicle is in an automatic driving state, the identification result is used for representing the comfort degree of a passenger taking the vehicle, responding to the identification result representing that the comfort degree does not meet the comfort requirement of the passenger taking the vehicle, determining the reason type that the comfort degree does not meet the comfort requirement of the passenger taking the vehicle according to the facial image, adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, returning to the step of identifying the facial image to obtain the identification result until the identification result representing that the comfort degree meets the comfort requirement of the passenger taking the vehicle, controlling the driving of the vehicle according to the driving parameter when the comfort degree meets the comfort requirement of the passenger taking the vehicle, and in the embodiment, the following steps are introduced: when the comfort level does not meet the comfort level requirement of passengers for riding, the reason type is determined, the driving parameters are adjusted according to the reason type until the driving parameters meeting the comfort level requirement are obtained, the technical characteristics of controlling the driving of the vehicle based on the driving parameters meeting the comfort level requirement are achieved, the technical problem that the flexibility of controlling the vehicle is low due to the fact that the driving parameters are set and the driving parameters are memorized in the related technology is avoided, the flexibility and the real-time performance of adjusting the driving parameters are improved, the comfort level requirement of passengers for riding is met as far as possible, the method can be widely applied to various driving scenes, and the technical effect of riding experience of users is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic view of an application scenario of a control method of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a control method of a vehicle according to one embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a control method of a vehicle according to another embodiment of the present disclosure;

FIG. 4 is a schematic illustration of a vehicle including one passenger according to the present disclosure;

FIG. 5 is a schematic illustration of a vehicle including a plurality of passengers according to the present disclosure;

FIG. 6 is a schematic diagram of a control device of a vehicle according to one embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a control apparatus of a vehicle according to another embodiment of the present disclosure;

fig. 8 is a block diagram of an electronic device of a control method of a vehicle according to an embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a control method of a vehicle according to an embodiment of the disclosure.

As shown in fig. 1, a vehicle 101 travels on a road 102.

One passenger (not shown) may be seated in the vehicle 101, or a plurality of passengers may be seated therein.

During the travel of the vehicle 101, the driving state of the vehicle may be a manual driving state or an automatic driving state, and when the control of the vehicle 101 is manual control, the driving state of the vehicle is the manual driving state, and when the control of the vehicle 101 is automatic control, the driving state of the vehicle is the automatic driving state.

The manual control and the automatic control may be switched, for example, the switching between the manual control and the automatic control may be automatically switched by the vehicle 101 according to a driving scene, or may be manually switched by a riding user in the vehicle 101. The driving scene may be a flat road driving scene or a winding road driving scene.

For example, if the passenger in the vehicle 101 includes a driver, the vehicle 101 may be manually controlled by the driver during traveling of the vehicle 101, and when the driver has a demand to release both hands, the manual control may be switched to the automatic control.

It should be understood that when the vehicle is manually controlled by the passenger, i.e., the driving state of the vehicle is the manual driving state, the vehicle controls the driving of the vehicle based on the driving parameters generated by the manual control of the passenger, and when the control of the vehicle is the automatic control, i.e., the driving state of the vehicle is the automatic driving state, the vehicle controls the driving of the vehicle based on what driving parameters to satisfy the comfort level requirement of the passenger riding the vehicle is an urgent problem to be solved.

In the related art, in order to solve the above problem, the following two methods are generally adopted:

the first mode is as follows: the passenger previously enters driving parameters, such as speed, temperature and the like, into the vehicle so that when the passenger rides the vehicle and the driving state of the vehicle is an automatic driving state, the vehicle controls the driving of the vehicle based on the driving parameters previously entered by the passenger.

However, in this way, since the driving parameters entered by the passenger are relatively fixed, the requirement for diversified driving scenes (such as a driving scene of a sharp turn and a driving scene of a gentle road) cannot be met, so that there is a technical problem that the control of the vehicle lacks flexibility.

The second way is: when the passenger controls the driving of the vehicle by means of manual control, the vehicle memorizes the driving parameters of the passenger, and when the driving state of the vehicle is an automatic driving state, controls the driving of the vehicle based on the memorized driving parameters.

However, since the driving style of the passenger may be changed, for example, in a driving scene with relatively short time, the driving style is more prone to 'driving at a fast speed', and in a driving scene with relatively rich time, the driving style is more prone to 'driving gently', so that the requirement for diversified driving scenes cannot be fundamentally met by adopting the method, and the technical problems of lack of flexibility and intelligence in controlling the vehicle are caused.

In order to avoid at least one of the above technical problems, the inventors of the present disclosure have made creative efforts to obtain the inventive concept of the present disclosure: the comfort degree of the passenger taking the vehicle in the automatic driving state is determined, and when the comfort degree can not meet the comfort requirement of the passenger, the driving parameters are adjusted until the comfort requirement is met, so that the driving of the vehicle is controlled based on the driving parameters meeting the comfort requirement.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a schematic diagram of a control method of a vehicle according to an embodiment of the disclosure.

The vehicle comprises an image acquisition device, and the image acquisition device is used for acquiring facial images of passengers in the vehicle.

As shown in fig. 2, the method includes:

s201: and identifying the facial image to obtain an identification result.

And if the vehicle is in an automatic driving state, the recognition result is used for representing the comfort degree of the passenger riding the vehicle.

The execution subject of the present embodiment is, for example, a control device of a vehicle (hereinafter, referred to as a control device), and the control device may be a vehicle, and specifically, a computer, a server, an in-vehicle terminal, a processor, a chip, and the like, which are disposed in the vehicle, and the present embodiment is not limited thereto.

The number of passengers may be one or more.

The image capturing device is a device for capturing a facial image of a passenger in the vehicle, and may be a camera, for example. The number of the image capturing devices is not limited in this embodiment, for example, the number of the image capturing devices may be determined based on the shooting range of the image capturing devices.

For example, n (n is a positive integer greater than 1) vehicle seats are provided in the vehicle, and if one image capturing device can capture a facial image of a passenger seated in each vehicle seat, only one image capturing device may be provided in the vehicle.

As another example, two image pickup devices are provided in the vehicle, one for acquiring a face image of a passenger seated in a front vehicle seat (a driver seat and a passenger seat), and the other for acquiring a face image of a passenger seated in a rear vehicle seat.

As another example, the number of image capturing devices provided in the vehicle may be equal to the number of vehicle seats, i.e., one vehicle seat corresponds to one image capturing device, and each image capturing device acquires an image of the face of a passenger seated in the vehicle seat corresponding thereto.

The image acquisition device can transmit the facial image to the control device, and the control device can identify the facial image to obtain an identification result.

In some embodiments, a recognition model for recognizing a comfort level may be trained in advance to input a face recognition image to the recognition model and output a recognition result.

The training process of identifying the model may refer to a model training process in the related art, and is not described herein again.

S202: responding to the identification result to indicate that the comfort degree does not meet the comfort requirement of the passenger, determining the reason type of the comfort degree which does not meet the comfort requirement of the passenger according to the facial image, adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, returning to the step of identifying the facial image to obtain the identification result until the identification result indicates that the comfort degree meets the comfort requirement of the passenger.

If the identification result represents that the comfort level does not meet the comfort level requirement of the passenger, the passenger is uncomfortable (dizziness and the like) in riding, and the reason type refers to the type of the reason causing the discomfort of the passenger, such as the higher temperature in the vehicle, the too high speed of the vehicle and the like, which are not listed here.

Wherein, this embodiment can be understood as: if the previous recognition result represents that the passenger is uncomfortable due to riding, determining a cause type causing discomfort of the passenger, adjusting the current driving parameter according to the cause type to obtain an adjusted driving parameter, acquiring a facial image of the passenger when the vehicle drives based on the adjusted driving parameter, recognizing the facial image to obtain a current recognition result, if the current recognition result represents that the passenger is not comfortable, driving based on the adjusted driving parameter, if the current recognition result represents that the passenger is still uncomfortable, adjusting the adjusted driving parameter, and the like.

S203: and controlling the driving of the vehicle according to the driving parameters when the comfort degree meets the comfort requirement of passengers.

Based on the above analysis, an embodiment of the present disclosure provides a control method for a vehicle, where the vehicle includes an image capture device for capturing a facial image of a passenger in the vehicle, and the method includes: identifying the facial image to obtain an identification result, wherein if the vehicle is in an automatic driving state, the identification result is used for representing the comfort degree of a passenger taking the vehicle, responding to the identification result representing that the comfort degree does not meet the comfort requirement of the passenger taking the vehicle, determining the reason type that the comfort degree does not meet the comfort requirement of the passenger taking the vehicle according to the facial image, adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, returning to the step of identifying the facial image to obtain the identification result until the identification result representing that the comfort degree meets the comfort requirement of the passenger taking the vehicle, controlling the driving of the vehicle according to the driving parameter when the comfort degree meets the comfort requirement of the passenger taking the vehicle, and in the embodiment, the following steps are introduced: when the comfort level does not meet the comfort level requirement of passengers for riding, the reason type is determined, the driving parameters are adjusted according to the reason type until the driving parameters meeting the comfort level requirement are obtained, the technical characteristics of controlling the driving of the vehicle based on the driving parameters meeting the comfort level requirement are achieved, the technical problem that the flexibility of controlling the vehicle is low due to the fact that the driving parameters are set and the driving parameters are memorized in the related technology is avoided, the flexibility and the real-time performance of adjusting the driving parameters are improved, the comfort level requirement of passengers for riding is met as far as possible, the method can be widely applied to various driving scenes, and the technical effect of riding experience of users is improved.

Referring to fig. 3, fig. 3 is a schematic diagram of a control method of a vehicle according to another embodiment of the disclosure.

As shown in fig. 3, the method includes:

s301: the driving state of the current vehicle is determined.

Wherein the driving state is an automatic driving state or a manual driving state.

S302: and if the driving state is the automatic driving state, acquiring the manual driving parameters of the passenger.

Wherein the manual driving parameters are acquired and stored by the passenger while manually driving the vehicle.

For example, when the driving state is a manual driving state, if a passenger manually drives the vehicle, a manual driving parameter (such as speed) is generated, the control device acquires and stores the manual driving parameter, and when the timely state is an automatic driving state, the control device acquires the manual driving parameter.

It should be understood that the manual driving parameters may be different for different passengers, and the control device may be combined with the image capturing device to distinguish different passengers so as to determine the respective manual driving parameters corresponding to different passengers when the different passengers are riding the vehicle.

S303: and when the automatic driving of the vehicle is controlled according to the initial automatic driving parameters, the facial image is identified to obtain an identification result.

In the embodiment, the initial automatic driving parameters are determined based on the manual driving parameters so as to meet the riding requirements of passengers as much as possible, so that the subsequent adjustment of the initial automatic driving parameters based on the identification result is more effective and reliable.

In some embodiments, initializing the driving parameters of the vehicle according to the manual driving parameters to obtain initial automatic driving parameters, includes the following steps:

the first step is as follows: if the number of the passengers is one, initializing the driving parameters of the vehicle according to the manual driving parameters of one passenger to obtain initial automatic driving parameters.

The second step is as follows: and if the number of the passengers is multiple, initializing the manual driving parameters corresponding to the passengers according to a preset initialization strategy to obtain initial automatic driving parameters.

The preset initialization strategy comprises the following steps:

The number of passengers may be determined in conjunction with the image capturing device, for example, by capturing an image of the vehicle by the image capturing device, and the control device identifies the image of the vehicle to determine the number of passengers.

In one example, as shown in fig. 4, there is only one passenger in the vehicle, and the control device may determine the initial automatic driving parameters for the manual driving parameters of the one passenger.

The control device may determine the manual driving parameter as the initial automatic driving parameter, or the control device may preset an initialization coefficient (e.g., 0.8 or 1.2) for initializing the manual driving parameter, and convert the manual driving parameter into the initial automatic driving parameter in combination with the initialization coefficient.

In another example, as shown in fig. 5, there are four passengers in the vehicle, namely, passenger a, passenger b, passenger c, and passenger d shown in fig. 5, the control device may acquire attribute information corresponding to each of passenger a, passenger b, passenger c, and passenger d, and determine the initial automatic driving parameters by combining the attribute information corresponding to each of the four passengers.

For example, if the attribute information includes a weight coefficient, the initial automatic driving parameter may be obtained by performing weighted average processing on the weight coefficient and the manual driving parameter corresponding to each of the four passengers.

Similarly, if the attribute information includes a priority, weighted average processing may be performed on the priority and the manual driving parameter corresponding to each of the four passengers, so as to obtain an initial automatic driving parameter.

The weighting factor and/or priority may be preset by each passenger, or a control device may be provided according to the age, sex, and the like of each passenger, which is not limited in this embodiment.

It should be noted that, in this embodiment, the number of passengers is determined, and the initial automatic driving parameters in the scene of one passenger and a plurality of passengers are determined in different manners, so that the flexibility of determining the initial automatic driving parameters can be improved, and further, when driving is performed based on the initial automatic driving parameters, the driving reliability can be improved, and the riding experience of the passengers can be met.

In some embodiments, the second step may comprise the sub-steps of:

the first substep: and judging whether the combined driving parameters corresponding to all passengers are stored in the vehicle, if not, executing a second substep, and if so, executing a third substep.

The combined driving parameters corresponding to the passengers are the driving parameters meeting the comfort level requirements of the passengers when the passengers take the vehicle in front.

The second substep: and initializing the manual driving parameters corresponding to the passengers according to a preset initialization strategy to obtain initial automatic driving parameters.

The third substep: and initializing the manual driving parameters corresponding to the passengers according to the combined driving parameters corresponding to the passengers to obtain initial automatic driving parameters.

In connection with fig. 5 and the above-described embodiment, this embodiment can be understood as: whether a passenger a, a passenger b, a passenger c and a passenger d are stored in the vehicle or not is judged, when the vehicle is taken, the driving parameters (namely combined driving parameters) meeting the comfort requirement of each passenger in four passengers are met, if not, the initial automatic driving parameters are determined according to the initialization strategy, if yes, the initial automatic driving parameters are determined according to the combined driving parameters, so that the initial automatic driving parameters are determined from multiple dimensions, the possibility that the initial automatic driving parameters meet the taking requirements of the passengers is improved, and the resources for subsequently adjusting the initial automatic driving parameters are reduced.

It should be noted that the driving state may also be a manual driving state, and in some embodiments, if the driving state is the manual driving state, the recognition result for recognizing the face is used to represent the number of passengers.

Similarly, in the manual driving state, the number of passengers may be one or more, and if the number of passengers is one, the control device acquires and stores the manual driving parameter for manually driving the vehicle by one passenger.

Correspondingly, if the number of the passengers is multiple, the manual driving parameters of the manual driving vehicle are acquired and stored as the combined driving parameters corresponding to the multiple passengers.

In conjunction with the above analysis, the control device obtains and stores a manual driving parameter of a passenger to determine an initial automatic driving parameter based on the manual driving parameter in an automatic driving state. Similarly, the control device acquires and stores a combined driving parameter of a plurality of passengers so as to determine an initial automatic driving parameter based on the combined driving parameter at the time of the automatic driving state. Therefore, the technical effects of effectiveness and reliability of vehicle driving control when the manual driving state is switched to the automatic driving state are improved.

In some embodiments, for the case where the number of passengers is one, the control device may first determine a riding type of one passenger, the riding type including whether a long-term passenger is a stranger, that is, the control device may first determine whether a passenger is a long-term passenger or a stranger, and if a passenger is a long-term passenger, the control device may acquire and store manual driving parameters of one passenger manually driving the vehicle, whereas if a passenger is a stranger, the control device may not store the manual driving parameters of one passenger manually driving the vehicle.

The long-term passenger and the stranger passenger are relative concepts, and the long-term passenger can be understood as an owner of the vehicle and family members of the owner, or can be understood as a passenger who takes the vehicle for a relatively large number of times, or can be understood as a passenger who inputs related information into the vehicle in advance, and the like; stranger passengers can be understood as taking a relatively small number of rides.

It should be noted that, in this embodiment, the riding type of the passenger is determined in combination, and the corresponding manual driving parameters are stored when the riding type is a long-term passenger, so as to save the drawback of resource waste caused by storing the manual driving parameters of each passenger, thereby saving resources and achieving the technical effect of flexibly storing the manual driving parameters.

In combination with the above analysis, the type of ride may be a strange passenger, and in some embodiments, if the type of ride is a strange passenger, the control device may obtain a preset driving parameter limit value and control driving of the vehicle according to the driving parameter limit value and an automatic driving parameter of an automatically driven vehicle of one passenger.

In this embodiment, the driving safety can be improved by controlling the driving of the vehicle in combination with the driving parameter limit value.

S304: responding to the identification result to indicate that the comfort degree does not meet the comfort requirement of the passenger, determining the reason type of the comfort degree which does not meet the comfort requirement of the passenger according to the facial image, adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, returning to the step of identifying the facial image to obtain the identification result until the identification result indicates that the comfort degree meets the comfort requirement of the passenger.

For an exemplary implementation principle of S304, reference may be made to the foregoing embodiments, which are not described herein again.

In some embodiments, if the number of passengers is multiple, determining a reason type that the comfort level does not meet the comfort requirement of the passengers according to the facial image, and adjusting the driving parameter corresponding to the reason type to obtain the adjusted driving parameter, includes the following steps:

the first step is as follows: the type of reason why the comfort level of each passenger does not satisfy the comfort requirement of the ride of each passenger is determined from the face image of each passenger.

For example, in conjunction with fig. 5 and the above-described embodiment, the type of cause for which the comfort level of passenger a does not satisfy the comfort level requirement for riding by passenger a is determined from the face image of passenger a, and so on, and the type of cause for which the comfort level of passenger d does not satisfy the comfort level requirement for riding by passenger d is determined from the face image of passenger d.

The second step is as follows: for each cause type, a driving parameter corresponding to each cause type is adjusted.

The reason types corresponding to the four passengers may include the same reason types, and may also include different reason types.

For example, if the passenger a and the passenger b have the same kind of cause type, such as the cause type is too high in temperature, and the passenger c and the passenger d have the same kind of cause type, such as the cause type is too high in speed, the control device adjusts the temperature and the speed among the driving parameters, including two different cause types, among the four cause types.

It should be noted that, in this embodiment, in a scenario of multiple passengers, the driving parameters are adjusted according to the respective corresponding cause types of the passengers, so that the comprehensiveness of the adjustment can be achieved, the riding requirements of each passenger can be met, and the riding experience of each passenger can be enhanced.

In some embodiments, if the comfort level of each passenger riding meets the comfort level requirement of each passenger riding after the driving parameter corresponding to each cause type is adjusted for each cause type, the control device may determine that the current driving parameter of the vehicle when the comfort level of each passenger riding meets the comfort level requirement of each passenger riding, determine and store the current driving parameter as the combined driving parameter of each passenger, and the combined driving parameter is used for controlling the driving of the vehicle with the combined driving parameter when each passenger rides the vehicle again and the vehicle is in an automatic driving state.

In this embodiment, the current driving parameter that meets the riding comfort requirement of each passenger is determined as the combined driving parameter, so that the driving of the vehicle is controlled based on the combined driving parameter in the following, thereby avoiding the disadvantage of resource consumption caused by adjusting the driving parameter of the vehicle, and improving the technical effects of efficiency and reliability of vehicle control.

In some embodiments, if the number of times of returning to the step of identifying the face image and obtaining the identification result reaches a preset number threshold, adjusting the driving parameter corresponding to each cause type for each cause type includes: and acquiring attribute information of each passenger, wherein the attribute information comprises a priority, and adjusting the driving parameters corresponding to each reason type according to each priority until the comfort degree of the passenger with the highest priority is represented by the identification result of the passenger with the highest priority so as to meet the riding comfort requirement of the passenger with the highest priority.

The priority can be pre-recorded in the vehicle or determined by the control device in combination with the image acquisition device.

For example, the image capturing device transmits the captured facial image of each passenger to the control device, and the control device performs recognition processing on the facial image to determine the age and/or gender of each passenger and assigns a priority to each passenger according to the age and/or gender of each passenger.

With reference to fig. 5 and the above-mentioned embodiment, if the passenger a, the passenger b, and the passenger c are young people and the passenger d is an old person, the priority of the passenger d is relatively higher than the priorities of the passenger a, the passenger b, and the passenger c, and when the driving parameters are adjusted for multiple times and the respective comfort requirements of the four passengers cannot be met, the driving parameters are adjusted based on the comfort requirement of the passenger d, so as to avoid the drawbacks of resource waste and the like caused by infinite adjustment.

For another example, the image capturing device transmits the captured facial image of each passenger to the control device, and the control device performs recognition processing on the facial image to determine the level of discomfort of each passenger and adjusts the driving parameters according to the level.

With reference to fig. 5 and the above-described embodiment, among the four passengers, the expressions of passenger a, passenger b, and passenger c are frown, and passenger d vomits, it is determined that the level of discomfort of passenger d is the highest, and the driving parameters are adjusted based on the satisfaction of the comfort requirement of passenger d.

S305: and controlling the driving of the vehicle according to the driving parameters when the comfort degree meets the comfort requirement of passengers.

Referring to fig. 6, fig. 6 is a schematic diagram of a control device of a vehicle according to an embodiment of the present disclosure.

Wherein the vehicle comprises an image capturing device for capturing facial images of passengers within the vehicle.

As shown in fig. 6, control device 600 for a vehicle includes:

an identifying unit 601, configured to identify the facial image to obtain an identification result, where the identification result is used to represent a comfort level of the passenger riding in the vehicle if the vehicle is in an automatic driving state.

A first determining unit 602, configured to determine, according to the facial image, a type of reason why the comfort level does not satisfy a comfort requirement of the passenger's ride in response to the recognition result representing that the comfort level does not satisfy the comfort requirement of the passenger's ride.

And an adjusting unit 603, configured to adjust the driving parameter corresponding to the cause type to obtain an adjusted driving parameter, and return to the step of identifying the facial image to obtain an identification result until the identification result represents that the comfort level meets the comfort level requirement of the passenger for riding.

A control unit 604, configured to control driving of the vehicle according to the driving parameter when the comfort level meets the comfort requirement of the passenger.

Referring to fig. 7, fig. 7 is a schematic diagram of a control device of a vehicle according to another embodiment of the disclosure.

As shown in fig. 7, a control device 700 for a vehicle includes:

and the identifying unit 701 is configured to identify the facial image to obtain an identification result, where the identification result is used to represent a comfort level of the passenger in the vehicle if the vehicle is in an automatic driving state.

As can be seen in fig. 7, in some embodiments, the identifying unit 701 includes:

determining subunit 7011 is configured to determine a current driving state of the vehicle.

A second obtaining subunit 7012, configured to obtain, if the driving state is an automatic driving state, a manual driving parameter of the passenger, where the manual driving parameter is obtained and stored by the passenger when the passenger manually drives the vehicle.

And the processing subunit 7013 is configured to perform initialization processing on the driving parameters of the vehicle according to the manual driving parameters, so as to obtain initial automatic driving parameters.

In some embodiments, the processing subunit 7013 is configured to, if there is one passenger, perform initialization processing on the driving parameters of the vehicle according to the manual driving parameters of the passenger to obtain initial automatic driving parameters;

the processing subunit 7013 is further configured to, if the number of the passengers is multiple, perform initialization processing on the manual driving parameters corresponding to each passenger according to a preset initialization strategy to obtain initial automatic driving parameters, where the preset initialization strategy includes:

In some embodiments, if the number of the passengers is multiple, the processing subunit 7013 is configured to determine whether a combined driving parameter corresponding to each passenger is stored in the vehicle, where the combined driving parameter corresponding to each passenger is a driving parameter that meets the comfort requirement of each passenger when each passenger takes the vehicle in the front, if not, execute a preset initialization strategy to initialize a manual driving parameter corresponding to each passenger to obtain an initial automatic driving parameter, and if so, initialize the manual driving parameter corresponding to each passenger according to the combined driving parameter corresponding to each passenger to obtain the initial automatic driving parameter.

And the identifying subunit 7014 is configured to identify the face image to obtain an identification result when the vehicle is controlled to automatically drive according to the initial automatic driving parameter.

As can be seen in fig. 7, in some embodiments, if the driving state is a manual driving state, the recognition result of recognizing the face is used to characterize the number of passengers; the recognition unit 701 further includes:

the storage subunit 7015 is configured to, if the number of passengers is one, acquire and store a manual driving parameter for a passenger to manually drive the vehicle.

The storage subunit 7015 is further configured to, if the number of passengers is multiple, acquire and store a manual driving parameter for manually driving the vehicle as a combined driving parameter corresponding to the multiple passengers.

In some embodiments, if the number of passengers is one, the storage subunit 7015 is configured to determine a riding type of the one passenger, where the riding type includes that the long-term passenger is a stranger passenger, and if the riding type of the one passenger is the long-term passenger, obtain and store a manual driving parameter for the one passenger to manually drive the vehicle.

In some embodiments, the storage subunit 7015 is configured to, if the riding type of the passenger is a strange passenger, obtain a preset driving parameter limit value, and control driving of the vehicle according to the driving parameter limit value and an automatic driving parameter of an automatic driving vehicle of the passenger.

A first determining unit 702, configured to determine, according to the facial image, a type of reason why the comfort level does not satisfy a comfort requirement of the passenger's ride in response to the recognition result representing that the comfort level does not satisfy the comfort requirement of the passenger's ride.

An adjusting unit 703, configured to adjust the driving parameter corresponding to the cause type to obtain an adjusted driving parameter, and return to the step of identifying the facial image to obtain an identification result until the identification result represents that the comfort level meets the comfort level requirement of the passenger for riding.

In some embodiments, if the number of passengers is multiple, the first determining unit 702 is configured to determine, according to the facial image of each passenger, a type of reason why the comfort level of each passenger does not satisfy the comfort requirement of the riding of each passenger; the adjusting unit 703 is configured to, for each cause type, adjust a driving parameter corresponding to each cause type.

As can be seen from fig. 7, in some embodiments, if the number of steps returning to the step of recognizing the facial image and obtaining the recognition result reaches a preset number threshold, the adjusting unit 703 includes:

a first obtaining subunit 7031, configured to obtain attribute information of each passenger, where the attribute information includes a priority.

An adjusting subunit 7032, configured to adjust the driving parameters corresponding to each of the reason types according to the priorities until the recognition result of the passenger with the highest priority represents that the comfort level of the passenger with the highest priority meets the comfort level requirement of the passenger with the highest priority for riding.

A control unit 704 for controlling the driving of the vehicle according to the driving parameters at which the comfort level meets the comfort requirement of the passenger for riding.

In some embodiments, if the comfort level of the riding of each passenger meets the comfort level requirement of the riding of each passenger after the driving parameter corresponding to each cause type is adjusted for each cause type, the control device 700 of the vehicle further comprises:

a second determining unit 705, configured to determine the current driving parameter of the vehicle when the comfort level of each passenger meets the comfort level requirement of each passenger.

A storage unit 706, configured to determine and store the current driving parameter as a combined driving parameter of each passenger, where the combined driving parameter is used to control driving of the vehicle according to the combined driving parameter when each passenger takes the vehicle again and the vehicle is in an automatic driving state.

The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

As shown in fig. 8, is a block diagram of an electronic device of a control method of a vehicle according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the electronic apparatus includes: one or more processors 801, memory 802, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 8 illustrates an example of a processor 801.

The memory 802 is a non-transitory computer readable storage medium provided by the present disclosure. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform a method of controlling a vehicle provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions for causing a computer to execute the control method of a vehicle provided by the present disclosure.

The memory 802, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the vehicle in the embodiments of the present disclosure. The processor 801 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 802, that is, implements the control method of the vehicle in the above-described method embodiment.

The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device of the control method of the vehicle, and the like. Further, the memory 802 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 802 optionally includes memory located remotely from the processor 801, which may be connected to the vehicle's control method electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the control method of the vehicle may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are exemplified by a bus in fig. 8.

The input device 803 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the control method of the vehicle, such as an input device of a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 804 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

According to another aspect of the present disclosure, there is also provided a vehicle including an image capture device for capturing facial images of passengers in the vehicle and a control device of the vehicle as described in any of the above embodiments.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method of a vehicle including an image pickup device for picking up a face image of a passenger in the vehicle, the method comprising:

2. The method of claim 1, wherein if the number of passengers is multiple, determining a cause type that the comfort level does not satisfy a comfort level requirement of riding of the passengers according to the facial image, and adjusting a driving parameter corresponding to the cause type to obtain an adjusted driving parameter comprises:

3. The method of claim 2, if the comfort level of the ride of the each passenger satisfies the comfort requirement of the ride of the each passenger after adjusting the driving parameters corresponding to the each cause type for each cause type, the method further comprising:

4. The method according to claim 2, wherein if the number of times of returning to the step of recognizing the face image to obtain the recognition result reaches a preset number threshold, adjusting the driving parameter corresponding to each cause type for each cause type comprises:

5. The method of any of claims 1 to 4, wherein identifying the facial image, resulting in an identification result, comprises:

6. The method of claim 5, wherein initializing the driving parameters of the vehicle according to the manual driving parameters to obtain initial automatic driving parameters comprises:

7. The method of claim 5, wherein if the number of passengers is multiple, initializing respective manual driving parameters of the passengers according to a preset initialization strategy to obtain initial automatic driving parameters, comprising:

8. The method of claim 5, wherein if the driving state is a manual driving state, the recognition result of recognizing the face is used to characterize the number of passengers; the method further comprises the following steps:

9. The method of claim 8, wherein if the number of passengers is one, acquiring and storing a manual driving parameter for a passenger to manually drive the vehicle comprises:

10. The method of claim 9, further comprising:

11. A control apparatus of a vehicle including an image pickup device for picking up a face image of a passenger in the vehicle, the apparatus comprising:

the recognition unit is used for recognizing the facial image to obtain a recognition result, wherein if the vehicle is in an automatic driving state, the recognition result is used for representing the comfort degree of the passenger for taking the vehicle;

12. An electronic device, comprising: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of any one of claims 1 to 10.

13. A computer readable storage medium having stored therein computer executable instructions for implementing the method of any one of claims 1 to 10 when executed by a processor.

14. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.

15. A vehicle comprising an image capture device for capturing facial images of passengers within the vehicle and the device of claim 11.