CN109471439A - Control method for vehicle, device, equipment, storage medium and automobile - Google Patents
Control method for vehicle, device, equipment, storage medium and automobile Download PDFInfo
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- CN109471439A CN109471439A CN201811415567.XA CN201811415567A CN109471439A CN 109471439 A CN109471439 A CN 109471439A CN 201811415567 A CN201811415567 A CN 201811415567A CN 109471439 A CN109471439 A CN 109471439A
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000035790 physiological processes and functions Effects 0.000 claims description 27
- 230000003862 health status Effects 0.000 claims description 23
- 230000036387 respiratory rate Effects 0.000 claims description 22
- 230000015654 memory Effects 0.000 claims description 17
- 230000002159 abnormal effect Effects 0.000 claims description 15
- 230000006399 behavior Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 230000000391 smoking effect Effects 0.000 claims description 5
- 230000035565 breathing frequency Effects 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 abstract description 18
- 210000001508 eye Anatomy 0.000 description 16
- 238000012512 characterization method Methods 0.000 description 8
- 210000000056 organ Anatomy 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000004209 hair Anatomy 0.000 description 5
- 208000010513 Stupor Diseases 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000029058 respiratory gaseous exchange Effects 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 3
- 235000014277 Clidemia hirta Nutrition 0.000 description 2
- 241000069219 Henriettea Species 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 206010010071 Coma Diseases 0.000 description 1
- 206010013975 Dyspnoeas Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
Control method for vehicle, device, equipment, storage medium and automobile provided by the invention, belong to the control field of the vehicles.The control method for vehicle includes: the driving image for acquiring the driver area in vehicle；It determines whether the driving image meets the first preset rules, when the driving image meets first preset rules, characterizes the state that the vehicle is currently at dangerous driving；If so, the Vehicular automatic driving according to default automatic Pilot rule control.So that it is guaranteed that vehicle can drive safely, and then effectively improve the driving safety of vehicle, the probability of the generation of major traffic accidents is reduced, and reduces casualties and property loss.
Description
Technical field
The present invention relates to the control fields of the vehicles, in particular to control method for vehicle, device, equipment, storage
Medium and automobile.
Background technique
Since the driver of vehicle is during driving vehicle, frequent occurrence driver due to acute illness go into a coma or
Cause to lose control of one's vehicle when being cursed and beaten due to passenger and driver or driver is due to dangerous driving leads to major traffic accidents
Tragedy, great casualties and property loss are brought to entire society.
Summary of the invention
In view of this, the embodiment of the present invention be designed to provide control method for vehicle, device, equipment, storage medium and
Automobile.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, a kind of control method for vehicle provided in an embodiment of the present invention, comprising: the driver area in acquisition vehicle
Driving image；Determine whether the driving image meets the first preset rules, it is pre- to meet described first in the driving image
If characterizing the state that the vehicle is currently at dangerous driving when rule；If so, according to default automatic Pilot rule control
Vehicular automatic driving.Pass through the driving image of the driver area in acquisition vehicle in the embodiment of the present invention；Determine the driving figure
It seem the first preset rules of no satisfaction；When driving image meets the first preset rules, according to default automatic Pilot rule control
The Vehicular automatic driving to ensure that vehicle can drive safely, and then effectively improves the driving safety of vehicle, reduces great
The probability of traffic accident, and reduce casualties and property loss.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, described true
Whether the fixed driving image meets the first preset rules, comprising: obtains the physiological status of the driver in the driving image
Information；Determine whether the driver is in health status according to the physiological state information；If it is not, characterizing the driving image
Meet the first preset rules.In embodiments of the present invention, believed by obtaining the physiological status of the driver in the driving image
Breath；Determine whether the driver is in health status according to the physiological state information, to drive by monitoring driver
Whether unhealthy status is occurred during sailing vehicle, and then when driver is in unhealthy status, according to default automatic
Vehicular automatic driving described in rule control is driven, and then by the automatic Pilot vehicle to home, to ensure that vehicle can
Safety traffic, and then the driving safety of vehicle is effectively improved, the probability of the generation of major traffic accidents is thereby reduced, is reduced
Casualties and property loss.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, the physiological state information is the frequency of wink of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the frequency of wink of the driver is greater than default threshold
Value；If the frequency of wink is greater than the preset threshold, characterizes the driver and be in unhealthy status.In the embodiment of the present invention
In, by obtaining the frequency of wink of driver, determine the size of frequency of wink and preset threshold, and then to judge that the driver is
It is no to be in fatigue driving, quickly to determine the health status of driver.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the third of first aspect
Possible embodiment, the physiological state information is the respiratory rate of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the respiratory rate of the driver is located at default frequency
Within the scope of rate；If the respiratory rate is located within the scope of the predeterminated frequency, characterizes the driver and be in health status.?
In the embodiment of the present invention, the physical condition of driver is judged by the respiratory rate of driver, so that working as the breathing of driver
When frequency is not within the scope of predeterminated frequency, for example, characterizing driver breathing when respiratory rate is more than predeterminated frequency range
Hurriedly, it may be possible to crisis situations occur, or when respiratory rate is lower than predeterminated frequency range, characterize driver breathing
Slow down, greatly may be that vital sign weakens.So that being driven automatically in the unhealthy status that driver is according to default
Vehicular automatic driving described in rule control is sailed, and then effectively improves the driving safety of vehicle, reduces the hair of major traffic accidents
Raw probability, and reduce casualties and property loss.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, the physiological state information is the sitting posture information of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judge the driver sitting posture information whether with default sitting posture
Matching；If the sitting posture information and the default sitting posture mismatch, characterizes the driver and be in unhealthy status.In this hair
In bright embodiment, by judging whether the sitting posture information of driver matches with default sitting posture, thus to judge whether driver goes out
Now stupor is either in major fatigue state, so that driver is when occurring slanting or lying prone on the steering wheel, it can
According to Vehicular automatic driving described in default automatic Pilot rule control, to ensure that vehicle can drive safely, and then effectively improve
The driving safety of vehicle, reduces the probability of the generation of major traffic accidents, and reduces casualties and property loss.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, described true
Whether the fixed driving image meets the first preset rules, comprising: has foreign object to invade with characterization is used for the driving image
Pre-set image is compared；If the driving image is matched with the pre-set image, characterizes the driving image and meet first
Preset rules.In embodiments of the present invention, by by the driving image be used for characterize have foreign object invade pre-set image into
Row compares, so that characterization currently has the movement of external infringement driver when driving image is matched with the pre-set image,
And then the Vehicular automatic driving according to default automatic Pilot rule control, and then solve to lead to vehicle when passenger curses and beats with driver
Technical problem out of control, thereby reduces the probability of the generation of major traffic accidents, reduces casualties and property damage
It loses.
With reference to first aspect, described to adopt the embodiment of the invention provides the 6th kind of possible embodiment of first aspect
Collect the driving image of the driver area in vehicle, comprising: acquisition drives driver's compartment where driver in the vehicle travel process
The driving image in domain.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiments of first aspect, described
After driving image meets first preset rules, driven automatically in the vehicle according to default automatic Pilot rule control
Before sailing, the method also includes: obtain the driving information of the vehicle；Determine whether the driving information is abnormal；If so,
Execute automatic Pilot.In invention the present embodiment, by obtaining the driving information of vehicle, so that when driving information is abnormal
When, further determine that vehicle drive goes wrong, thus the Vehicular automatic driving according to default automatic Pilot rule control, with
Ensure that vehicle can drive safely, and then effectively improve the driving safety of vehicle, reduces the general of the generation of major traffic accidents
Rate, and reduce casualties and property loss.
The 7th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 8th kind of first aspect
Whether possible embodiment, the determination driving information are abnormal, comprising: obtain mark corresponding to the driving information
Information；It determines whether the identification information carries to deflect, bring to a halt and/or suddenly accelerate different for characterizing vehicle driving direction
Normal information；If so, it is abnormal to characterize the driving information.
With reference to first aspect, the embodiment of the invention provides the 9th kind of possible embodiment of first aspect, the sides
Method further include: determine whether the driving image meets the second preset rules, the driving image meets the described second default rule
The drive manner of driver corresponding to the driving image is characterized when then, and there are potential dangers；If so, issuing prompt information, use
It is driven in the prompting driver safety.In embodiments of the present invention, when the driving behavior for collecting driver is unsatisfactory for second
When preset rules, that is, when there is potential danger, driver is prompted by issuing prompt information, to correct the driving row of driver
For, and then can effectively improve travel safety, the probability of the generation of major traffic accidents is thereby reduced, and reduce people
Member's injures and deaths and property loss.
The 9th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the tenth kind of first aspect
Whether possible embodiment, the determination driving image meet the second preset rules, comprising: identify the driving image
In driver action behavior；Determine whether the action behavior includes that smoking, hand-hold electronic equipments and/or one hand hold direction
Disk；If so, characterizing the driving image meets second preset rules.
With reference to first aspect, the embodiment of the invention provides a kind of the tenth possible embodiments of first aspect, in institute
It states after driving image meets first preset rules, the method also includes: alert help information is sent to rescuing end.?
In the embodiment of the present invention, emergency is obtained by sending warning message, and then can quickly cry for help, reduce major motor vehicle
The probability of the generation of accident, and reduce casualties and property loss.
Second aspect, a kind of controller of vehicle provided in an embodiment of the present invention, comprising: acquisition module is used for collecting vehicle
The driving image of driver area in；Processing module, for determining whether the driving image meets the first preset rules,
When the driving image meets first preset rules, the state that the vehicle is currently at dangerous driving is characterized；Automatically it drives
Module is sailed, for if so, the Vehicular automatic driving according to default automatic Pilot rule control.
The third aspect, a kind of control equipment provided in an embodiment of the present invention, comprising: memory, processor and be stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
It realizes as described in any one of first aspect the step of control method for vehicle.
Fourth aspect, a kind of storage medium provided in an embodiment of the present invention, the storage medium for storing instruction, work as institute
Instruction is stated when running on computers, so that the computer executes such as the described in any item control method for vehicle of first aspect.
5th aspect, a kind of automobile provided in an embodiment of the present invention, including the control equipment as described in the third aspect.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart for the control method for vehicle that first embodiment of the invention provides；
Fig. 2 is the functional block diagram for the controller of vehicle that second embodiment of the invention provides；
Fig. 3 is a kind of schematic diagram for control equipment that third embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Therefore,
The model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
It encloses, but is merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
First embodiment
The present embodiment provides firstly a kind of control method for vehicle, it should be noted that shown in the flowchart of the accompanying drawings
Step can execute in a computer system such as a set of computer executable instructions, although also, showing in flow charts
Logical order, but in some cases, it can with the steps shown or described are performed in an order that is different from the one herein.Below
It describes in detail to the present embodiment.
Referring to Fig. 1, being the flow chart of control method for vehicle provided in an embodiment of the present invention.It below will be to shown in FIG. 1
Detailed process is described in detail.
Step S101 acquires the driving image of the driver area in vehicle.
Optionally, driving image is that the image collecting device (such as camera) that is installed in the vehicle is collected.
Optionally, driving image can be what image collecting device acquired in real time, be also possible to timing acquiring.In this hair
In bright embodiment, in order to improve monitoring efficiency, driving image is preferably that image collecting device acquires in real time.
Optionally, the seat and the area of space where steering wheel that driver area includes driver.
Certainly, in actual use, the driver area may also mean that on the passenger trains such as bus either bus
The region that guardrail beside driver is surrounded.Here, being not especially limited.
As an implementation, step S101, comprising: acquisition drives in the vehicle travel process and drives where driver
Sail the driving image in region.
In embodiments of the present invention, by acquiring the driving image in driver area in vehicle travel process, so as to
With effective monitoring driving vehicle on the way driving situation.
Step S102, determines whether the driving image meets the first preset rules.
Wherein, it when the driving image meets first preset rules, characterizes the vehicle and is currently at danger and drive
The state sailed.
As an implementation, step S102, comprising: obtain the physiological status letter of the driver in the driving image
Breath；Determine whether the driver is in health status according to the physiological state information；If it is not, it is full to characterize the driving image
The first preset rules of foot.
Optionally, the physiological state information can be but not limited to frequency of wink, respiratory rate and sitting posture information.
Optionally, the physiological state information of the driver in the driving image is obtained, comprising: obtain the driving image
In driver eye image；The frequency of wink that the driver is determined according to the eye image, by the frequency of wink
As physiological state information.
Optionally, the eye image of the driver in the driving image is obtained, comprising: special according to the cluster of face's colour of skin
Property extracts the face location of driver from driving image；According to geometric position distribution of the eyes on face, eyes are extracted
The eye image in the face location.
Certainly, in actual use, organ distribution, profile rule method, symmetry principle, color and vein can also be passed through
The methods of method or neural network obtain the eye image of the driver in the driving image.Here, being not especially limited.Example
Such as, organ distribution is that human eye, such as the gray scale of hair, eyebrow, eyeball are determined by the grey scale change rule between organ
It is relatively deep, and the colour of skin is shallower.The position that first sense organ may be distributed, then these location points are respectively combined, further according to organ
Geometrical relationship is screened, and face that may be present is found.
Optionally, the frequency of wink of the driver is determined according to the eye image, comprising: utilize edge detection algorithm
Edge detection is carried out to eye image, extracts the marginal information of eye, and binary conversion treatment is carried out to eye image；To binaryzation
Treated, and eye image carries out Connected component analysis, removes human eye figure using the bianry image filtering method based on regional connectivity
The interference of circumference of eyes picture noise point as in；The distance for calculating left and right canthus and upper palpebra inferior, determines blinking for driver's eyes
Eye frequency.
In embodiments of the present invention, pass through the physiological state information of the driver in the acquisition driving image；According to institute
It states physiological state information and determines whether the driver is in health status, thus by monitoring driver in the mistake for driving vehicle
Whether unhealthy status is occurred in journey, and then when driver is in unhealthy status, according to default automatic Pilot rule control
The Vehicular automatic driving is made, and then by the automatic Pilot vehicle to home, to ensure that vehicle can drive safely, into
And effectively improve the driving safety of vehicle, and then solve it is existing in the prior art during driving vehicle, driver by
In acute illness stupor cause to lose control of one's vehicle the technical issues of, thereby reduce the probability of the generation of major traffic accidents, reduce
Casualties and property loss.
Optionally, the physiological state information is the frequency of wink of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the frequency of wink of the driver is greater than default threshold
Value；If the frequency of wink is greater than preset threshold, characterizes the driver and be in unhealthy status.
Optionally, the setting of preset threshold can be configured according to the age of driver and/or gender, certainly,
In actual use, it can also be configured according to specific requirements.Here, being not especially limited.
Wherein, when the frequency of wink of driver is greater than preset threshold, then it is in a state of fatigue to characterize the driver.
In embodiments of the present invention, by obtaining the frequency of wink of driver, determine the big of frequency of wink and preset threshold
It is small, and then judge whether the driver is in fatigue driving, quickly to determine the health status of driver.
Optionally, the physiological state information is the respiratory rate of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the respiratory rate of the driver is located at default frequency
Within the scope of rate；If the respiratory rate is located within the scope of predeterminated frequency, characterizes the driver and be in health status.
Optionally, judge whether the respiratory rate of the driver is located within the scope of predeterminated frequency, comprising: drive described in acquisition
Sail the driver information in image；Inquiry and respiratory rate corresponding to the driver information；Judge exhaling for the driver
Inhale whether frequency is located within the scope of predeterminated frequency.
Optionally, respiratory rate can be acquired in real time by the pulse radar being installed in the vehicle, or in real time
It stores after acquisition into storage medium, so that inquiry uses.
Optionally, the setting of predeterminated frequency range can be arranged according to the gender of driver and/or age.
In embodiments of the present invention, the physical condition of driver is judged by the respiratory rate of driver, so that when driving
When the respiratory rate for the person of sailing is not within the scope of predeterminated frequency, for example, characterization should when respiratory rate is more than predeterminated frequency range
Driver is short of breath, it may be possible to crisis situations occurs, or when respiratory rate is lower than predeterminated frequency range, characterization should
Driver's breathing slows down, and greatly may be that vital sign weakens.So that in the unhealthy status that driver is in, according to
Vehicular automatic driving described in default automatic Pilot rule control, and then the driving safety of vehicle is effectively improved, reduce great friendship
The probability of the generation of interpreter's event, and reduce casualties and property loss.
Optionally, the physiological state information is the sitting posture information of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judge the driver sitting posture information whether with default sitting posture
Matching；If the sitting posture information and default sitting posture mismatch, characterizes the driver and be in unhealthy status.
Optionally, sitting posture information includes the description information for slanting or lying prone on the steering wheel for describing driver.
Optionally, the sitting posture information can be by extracting from driving image.
Optionally, presetting sitting posture characterization, driver is non-slants or lie prone on the steering wheel.
It is alternatively possible to by the way that driving image is compared with image corresponding to default sitting posture, thus to judge to drive
Whether the sitting posture for sailing the driver in image matches with default sitting posture.
Optionally, when sitting posture information and default sitting posture mismatch, characterization driver is likely to occur stupor or is in
Major fatigue state, i.e. driver are in unhealthy status.
In embodiments of the present invention, by judging whether the sitting posture information of driver matches with default sitting posture, thus to sentence
Whether disconnected driver there is stupor either in major fatigue state, so that driver is occurring slanting or lie prone in side
When on disk, can the Vehicular automatic driving according to default automatic Pilot rule control, to ensure that vehicle can drive safely,
And then the driving safety of vehicle is effectively improved, the probability of the generation of major traffic accidents is reduced, and reduce casualties
And property loss.
Optionally, judge whether the sitting posture information of the driver matches with default sitting posture, comprising: by the driving image
It is compared with for characterizing the pre-set image for thering is foreign object to invade；If the driving image is matched with the pre-set image, table
It levies the driver and is in unhealthy status.
As another embodiment, step S102 includes: by the driving image and being used for characterization has foreign object to invade
Pre-set image is compared；If the driving image is matched with the pre-set image, characterizes the driving image and meet first
Preset rules.
Optionally, it is the object for interfering driver's normal driving that foreign object, which is used to characterize,.
Optionally, foreign object can be any into the human body of driver area or other objects (for example, knife, club etc.).
Optionally, pre-set image is multiple images gathered in advance.
Optionally, pre-set image is stored in advance in the database, when so as to which driving image and pre-set image being compared, from number
It is compared according to real-time perfoming in library.
It is alternatively possible to be that driving image is compared with the pre-set image stored in database one by one.It is also possible to
After carrying out model training to pre-set image by neural network, obtained model identifies driving image, and judgement should
Whether other human bodies or other objects for except driver thinking are occurred in driver area in driving image.For example, can lead to
It crosses and acquires multiple pre-set images, training is then iterated to multiple pre-set images by neural network, to obtain a model.
In embodiments of the present invention, by carrying out the driving image with being used to characterize the pre-set image for thering is foreign object to invade
It compares, so that characterization currently has the movement of external infringement driver when driving image is matched with the pre-set image, into
And the Vehicular automatic driving according to default automatic Pilot rule control, and then solve to lead to vehicle when passenger curses and beats with driver
Technical problem out of control thereby reduces the probability of the generation of major traffic accidents, reduces casualties and property loss.
As another embodiment, step S102 comprises determining that in the driving image whether there is driver；If it is not,
It then characterizes driving image and meets the first preset rules.
It is alternatively possible to determine whether driver by carrying out recognition of face to driving image, or pass through spy
Sign compares to determine whether driver, for example, as nobody on the seat in driving image, then it represents that in the driving image
There is no driver.
In embodiments of the present invention, when there is no driver in driving image, i.e., when current vehicle does not have driver, according to
Vehicular automatic driving described in default automatic Pilot rule control.So as to effectively avoid driver when driving and passenger
The problem of driver area when cursing and beating and having caused to lose control of one's vehicle passes through automatic Pilot that is, when driver area does not have driver
By vehicle drive to home, the probability of the generation of major traffic accidents is thereby reduced, reduces casualties and wealth
Produce loss.
In a possible embodiment, after the driving image meets first preset rules, the vehicle control
Method processed further include: send alert help information to rescuing end.
Optionally, rescue end can be public security organ, the emergency number of Deng Ge relevant departments, hospital either rescues website.
For example, alert help information can be sent to the alarm platform of public security organ, Deng Ge relevant departments, hospital by mobile network,
So that public security organ, Deng Ge relevant departments, hospital rush to rescue in time.
Optionally, rescue end can be the display screen for being used to be shown to the outer user of vehicle being installed on vehicle, and send alarm
Distress signals are to rescuing end, comprising: send alert help information to rescue end to being installed on vehicle for being shown to outside vehicle
It is shown on the display screen of user, so that the passerby passed by rescues according to shown alert help information.
In embodiments of the present invention, emergency is obtained by sending warning message, and then can quickly cried for help, reduced
The probability of the generation of major traffic accidents, and reduce casualties and property loss.
Step S103, if so, the Vehicular automatic driving according to default automatic Pilot rule control.
As an implementation, the Vehicular automatic driving according to default automatic Pilot rule control, comprising: according to pre-
If Vehicular automatic driving described in automatic Pilot rule control is to home.
Home includes that urgent lane, service area or Emergency Vehicle Lane etc. stopped does not influence the area of other vehicle normal drivings
Domain.
Optionally, home can by the GPS that is installed in the vehicle (Global Positioning System, entirely
Ball positioning system) the acquisition service area nearest apart from current location, promptly stop lane or public safety hygiene department (such as it is public
Peace organ, hospital etc.) etc. fixed-sites and/or answering recently is obtained apart from current location by vehicle-mounted camera and trailer-mounted radar
Emergency stop lane.
Optionally, by obtaining current location and home, to generate driving path, according to the driving path by institute
Vehicular automatic driving is stated to home.
Optionally, during automatic Pilot, the row of traveling road is acquired in real time by the camera being mounted on outside vehicle
Situation is sailed, and then effectively evades the vehicle in traveling process, with the home that arrives safe and sound.
In a possible embodiment, after the driving image meets first preset rules, in the basis
Before Vehicular automatic driving described in default automatic Pilot rule control, control method for vehicle further include: obtain the row of the vehicle
Sail information；Determine whether the driving information is abnormal；If so, executing automatic Pilot (i.e. according to default automatic Pilot rule control
Make the Vehicular automatic driving), i.e., when travelling Information abnormity, execute step S103.
Optionally, driving information, that is, vehicle driving trace, wherein driving trace can be by the thunder that is installed on vehicle
Reach, the sensors such as camera obtain vehicle traveling track, such as travel route is oblique line or wave etc..
In invention the present embodiment, by obtaining the driving information of vehicle, so that when driving information exception, into one
It walks and determines that vehicle drive goes wrong, thus the Vehicular automatic driving according to default automatic Pilot rule control, to ensure vehicle
It can drive safely, and then effectively improve the driving safety of vehicle, reduce the probability of the generation of major traffic accidents, and
Reduce casualties and property loss.
Optionally, whether the determination driving information is abnormal, comprising: obtains mark corresponding to the driving information
Information；It determines whether the identification information carries to deflect, bring to a halt and/or suddenly accelerate different for characterizing vehicle driving direction
Normal information；If so, it is abnormal to characterize the driving information.For example, the brake of vehicle can be acquired by the braking system of vehicle
It is inclined can to acquire direction by the rotation amplitude of steering wheel to determine whether by brake information to bring to a halt for information
Transfering the letter breath can acquire the anxious of vehicle with mileometer by the speed on vehicle and accelerate information.
As an example it is assumed that the risk factors such as front or side all clears in normal driving process, go out suddenly
Existing driver have it is anxious accelerate, bring to a halt, sudden turn of events line does not play the behavior of turn signal sudden turn of events line especially, can be determined as improper row
It sails, i.e. abnormal operation, i.e., the described driving information is abnormal.
Certainly, in actual use, exception information can be but not limited to vehicle driving direction deflection, bring to a halt and/or
The information such as anxious acceleration.
In a possible embodiment, control method for vehicle further include: it is pre- to determine whether the driving image meets second
If regular, the driving image characterizes the driving of driver corresponding to the driving image when meeting second preset rules
There are potential dangers for mode；If so, prompt information is issued, for reminding the driver safety to drive.
Optionally, there are potential danger include but is not limited to drive smoking, hand-hold electronic equipments, one hand hold steering wheel and
Passenger's chat and/or both hands leave steering wheel etc..
In embodiments of the present invention, when the driving behavior for collecting driver is unsatisfactory for the second preset rules, that is, exist
When potential danger, driver is prompted by issuing prompt information, to correct the driving behavior of driver, and then can effectively be mentioned
High travel safety, thereby reduces the probability of the generation of major traffic accidents, and reduces casualties and property damage
It loses.
Optionally, whether the determination driving image meets the second preset rules, comprising: identifies the driving image
In driver action behavior；Determine whether the action behavior includes that smoking, hand-hold electronic equipments and/or one hand hold direction
Disk；If so, characterizing the driving image meets second preset rules.
Optionally, electronic equipment can be mobile phone, tablet computer etc..
Optionally, the control method for vehicle further include: after the sending prompt information, determine in preset time period
Whether the number of the prompt information issued is greater than preset threshold；If so, according to default automatic Pilot rule control
Vehicular automatic driving.
Optionally, the setting of preset time period can be configured according to user demand, be also possible to according to vehicle driving
Speed setting, for example, preset time period can be 1 minute either 2 minutes etc..
Optionally, the setting of preset threshold can be configured according to user demand, be also possible to according to vehicle driving
Speed setting.For example, preset threshold can be 5 when speed is greater than 100 kilometers per hour.Here, being not especially limited.
In embodiments of the present invention, by determining whether the number of the prompt information issued in preset time period is big
In preset threshold, to be driven when the number of prompt information is greater than preset threshold by vehicle described in default driving rule control
It sails to home, and then effectively avoids in driving procedure, the generation of major accident is caused due to long-term uncivil driving,
And then can effectively improve travel safety, the probability of the generation of major traffic accidents is thereby reduced, and reduce personnel
Injures and deaths and property loss.
Control method for vehicle provided in an embodiment of the present invention passes through the driving image of the driver area in acquisition vehicle；Really
Whether the fixed driving image meets the first preset rules；When driving image meets the first preset rules, according to default automatic
Vehicular automatic driving described in rule control is driven, to ensure that vehicle can drive safely, and then effectively improves the traveling peace of vehicle
Entirely, the probability of the generation of major traffic accidents is reduced, and reduces casualties and property loss.
Second embodiment
Corresponding to the control method for vehicle in first embodiment, Fig. 2 shows using vehicle control shown in first embodiment
The one-to-one controller of vehicle of method processed.As shown in Fig. 2, the controller of vehicle 400 includes acquisition module 410, place
Manage module 420 and automatic Pilot module 430.Wherein, acquisition module 410, processing module 420 and automatic Pilot module 430 reality
Existing function is gathered with step corresponding in first embodiment to be corresponded, and to avoid repeating, the present embodiment is not described in detail one by one.
Acquisition module 410, for acquiring the driving image of the driver area in vehicle.
Optionally, acquisition module 410 are also used to acquire driver area where driver in the driving vehicle travel process
Driving image.
Processing module 420, it is full in the driving image for determining whether the driving image meets the first preset rules
When foot first preset rules, the state that the vehicle is currently at dangerous driving is characterized.
Optionally, processing module 420 are also used to obtain the physiological state information of the driver in the driving image；Root
Determine whether the driver is in health status according to the physiological state information；If it is not, characterizing the driving image meets the
One preset rules.
Optionally, the physiological state information is the frequency of wink of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the frequency of wink of the driver is greater than default threshold
Value；If the frequency of wink is greater than preset threshold, characterizes the driver and be in unhealthy status.
Optionally, the physiological state information is the respiratory rate of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judges whether the respiratory rate of the driver is located at default frequency
Within the scope of rate；If the respiratory rate is located within the scope of predeterminated frequency, characterizes the driver and be in unhealthy status.
Optionally, the physiological state information is the sitting posture information of the driver, described to be believed according to the physiological status
Breath determines whether the driver is in health status, comprising: judge the driver sitting posture information whether with default sitting posture
Matching；If the sitting posture information and default sitting posture mismatch, characterizes the driver and be in unhealthy status.
Optionally, processing module 420 are also used to the driving image and are used to characterize the pre-set image for having foreign object to invade
It is compared；If the driving image is matched with the pre-set image, characterizes the driving image and meet the first preset rules.
In a possible embodiment, after processing module 420, the controller of vehicle further include: sending module,
For sending alert help information to rescuing end.
Automatic Pilot module 430, for if so, the Vehicular automatic driving according to default automatic Pilot rule control.
In a possible embodiment, automatic Pilot module 430 is also used to meet described first in the driving image pre-
If after rule, before the Vehicular automatic driving according to default automatic Pilot rule control, obtaining the vehicle
Driving information；Determine whether the driving information is abnormal；If so, executing automatic Pilot.
Optionally, whether the determination driving information is abnormal, comprising: obtains mark corresponding to the driving information
Information；It determines whether the identification information carries to deflect, bring to a halt and/or suddenly accelerate different for characterizing vehicle driving direction
Normal information；If so, it is abnormal to characterize the driving information.
In a possible embodiment, controller of vehicle 400 further includes judgment module, for determining the driving image
Whether second preset rules are met, and the driving image is characterized when meeting second preset rules corresponding to the driving image
The drive manner of driver there are potential dangers；If so, prompt information is issued, for reminding the driver safety to drive.
Optionally, whether the determination driving image meets the second preset rules, comprising: identifies the driving image
In driver action behavior；Determine whether the action behavior includes that smoking, hand-hold electronic equipments and/or one hand hold direction
Disk；If so, characterizing the driving image meets second preset rules.
Optionally, after the sending prompt information, what judgment module was also used to be issued in determining preset time period
Whether the number of the prompt information is greater than preset threshold；If so, the vehicle according to default automatic Pilot rule control is automatic
It drives.
3rd embodiment
As shown in figure 3, being the schematic diagram for controlling equipment 500.The control equipment 500 includes memory 502, processor
504 and it is stored in the computer program 503 that can be run in the memory 502 and on the processor 504, the calculating
The control method for vehicle in first embodiment is realized when machine program 503 is executed by processor 504, to avoid repeating, herein
It repeats no more.Alternatively, realizing that vehicle control described in second embodiment fills when the computer program 503 is executed by processor 504
The function of each module/unit in setting, to avoid repeating, details are not described herein again.
Optionally, the control equipment 500 is for being mounted on automobile.
Optionally, the control equipment 500 is for being mounted on the automobile for having Function for Automatic Pilot.
Illustratively, computer program 503 can be divided into one or more module/units, one or more mould
Block/unit is stored in memory 502, and is executed by processor 504, to complete the present invention.One or more module/units
It can be the series of computation machine program instruction section that can complete specific function, the instruction segment is for describing computer program 503
Implementation procedure in control equipment 500.For example, computer program 503 can be divided into the acquisition mould in second embodiment
Block 410, processing module 420 and automatic Pilot module 430, the concrete function of each module such as the first embodiment or the second embodiment institute
It states, will not repeat them here.
Wherein, memory 502 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-
Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory,
EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory,
EEPROM) etc..Wherein, memory 502 is for storing program, and the processor 504 is after receiving and executing instruction, described in execution
The method of program, the flow definition that aforementioned any embodiment of the embodiment of the present invention discloses can be applied in processor 504, or
It is realized by processor 504.
Processor 504 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 504 can
To be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network
Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processor, DSP), dedicated integrated
Circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor is also possible to any conventional processor etc..
It is understood that structure shown in Fig. 3 is only a kind of structural schematic diagram for controlling equipment 500, equipment 500 is controlled
It can also include than more or fewer components shown in Fig. 3.Each component shown in Fig. 3 can use hardware, software or its group
It closes and realizes.
Fourth embodiment
The embodiment of the present invention also provides a kind of storage medium, the storage medium for storing instruction, when described instruction exists
The vehicle control side in first embodiment is realized when running on computer, when the computer program is executed by processor
Method, to avoid repeating, details are not described herein again.Alternatively, realizing second embodiment institute when the computer program is executed by processor
The function of each module/unit in controller of vehicle is stated, to avoid repeating, details are not described herein again.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can lead to
Hardware realization is crossed, the mode of necessary general hardware platform can also be added to realize by software, based on this understanding, this hair
Bright technical solution can be embodied in the form of software products, which can store in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are used so that computer equipment (can be with
It is personal computer, server or the network equipment etc.) method that executes each implement scene of the present invention.
5th embodiment
The embodiment of the present invention also provides a kind of automobile comprising the control as described in 3rd embodiment for being mounted on automobile is set
It is standby.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (16)
1. a kind of control method for vehicle characterized by comprising
Acquire the driving image of the driver area in vehicle；
It determines whether the driving image meets the first preset rules, meets first preset rules in the driving image
When, characterize the state that the vehicle is currently at dangerous driving；
If so, the Vehicular automatic driving according to default automatic Pilot rule control.
2. being preset the method according to claim 1, wherein whether the determination driving image meets first
Rule, comprising:
Obtain the physiological state information of the driver in the driving image；
Determine whether the driver is in health status according to the physiological state information；
If it is not, characterizing the driving image meets the first preset rules.
3. according to the method described in claim 2, it is characterized in that, the physiological state information is the blink frequency of the driver
Rate, it is described to determine whether the driver is in health status according to the physiological state information, comprising:
Judge whether the frequency of wink of the driver is greater than preset threshold；
If the frequency of wink is greater than the preset threshold, characterizes the driver and be in unhealthy status.
4. according to the method described in claim 2, it is characterized in that, the physiological state information is the breathing frequency of the driver
Rate, it is described to determine whether the driver is in health status according to the physiological state information, comprising:
Judge whether the respiratory rate of the driver is located within the scope of predeterminated frequency；
If the respiratory rate is located within the scope of the predeterminated frequency, characterizes the driver and be in health status.
5. according to the method described in claim 2, it is characterized in that, the sitting posture that the physiological state information is the driver is believed
Breath, it is described to determine whether the driver is in health status according to the physiological state information, comprising:
Judge whether the sitting posture information of the driver matches with default sitting posture；
If the sitting posture information and the default sitting posture mismatch, characterizes the driver and be in unhealthy status.
6. being preset the method according to claim 1, wherein whether the determination driving image meets first
Rule, comprising:
The driving image is compared with being used to characterize the pre-set image for having foreign object to invade；
If the driving image is matched with the pre-set image, characterizes the driving image and meet the first preset rules.
7. the method according to claim 1, wherein it is described acquisition vehicle in driver area driving image,
Include:
Acquisition drives the driving image of driver area where driver in the vehicle travel process.
8. the method according to claim 1, wherein the driving image meet first preset rules it
Afterwards, before the Vehicular automatic driving according to default automatic Pilot rule control, the method also includes:
Obtain the driving information of the vehicle；
Determine whether the driving information is abnormal；
If so, executing automatic Pilot.
9. according to the method described in claim 8, it is characterized in that, whether the determination driving information is abnormal, comprising:
Obtain identification information corresponding to the driving information；
It determines whether the identification information carries to deflect, bring to a halt and/or suddenly accelerate different for characterizing vehicle driving direction
Normal information；
If so, it is abnormal to characterize the driving information.
10. the method according to claim 1, wherein the method also includes:
Determine whether the driving image meets the second preset rules, the table when driving image meets second preset rules
Levying the drive manner of driver corresponding to the driving image, there are potential dangers；
If so, prompt information is issued, for reminding the driver safety to drive.
11. according to the method described in claim 10, it is characterized in that, whether the determination driving image meets second in advance
If regular, comprising:
Identify the action behavior of the driver in the driving image；
Determine whether the action behavior includes that smoking, hand-hold electronic equipments and/or one hand hold steering wheel；
If so, characterizing the driving image meets second preset rules.
12. the method according to claim 1, wherein meeting first preset rules in the driving image
Later, the method also includes:
Alert help information is sent to rescuing end.
13. a kind of controller of vehicle characterized by comprising
Acquisition module, for acquiring the driving image of the driver area in vehicle；
Processing module, for determining whether the driving image meets the first preset rules, described in driving image satisfaction
When the first preset rules, the state that the vehicle is currently at dangerous driving is characterized；
Automatic Pilot module, for if so, the Vehicular automatic driving according to default automatic Pilot rule control.
14. a kind of control equipment characterized by comprising memory, processor and storage are in the memory and can be
The computer program run on the processor, the processor realized when executing the computer program as claim 1 to
The step of 12 described in any item control method for vehicle.
15. a kind of storage medium, which is characterized in that the storage medium for storing instruction, when described instruction on computers
When operation, so that the computer executes such as the described in any item control method for vehicle of claim 1 to 12.
16. a kind of automobile, which is characterized in that including controlling equipment as claimed in claim 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811415567.XA CN109471439A (en) | 2018-11-23 | 2018-11-23 | Control method for vehicle, device, equipment, storage medium and automobile |
Applications Claiming Priority (1)
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| CN201811415567.XA CN109471439A (en) | 2018-11-23 | 2018-11-23 | Control method for vehicle, device, equipment, storage medium and automobile |
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| CN201811415567.XA Pending CN109471439A (en) | 2018-11-23 | 2018-11-23 | Control method for vehicle, device, equipment, storage medium and automobile |
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