CN111605557B - Vehicle control method and device based on driving safety evaluation - Google Patents

Vehicle control method and device based on driving safety evaluation Download PDF

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CN111605557B
CN111605557B CN201910138899.6A CN201910138899A CN111605557B CN 111605557 B CN111605557 B CN 111605557B CN 201910138899 A CN201910138899 A CN 201910138899A CN 111605557 B CN111605557 B CN 111605557B
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CN111605557A (en
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赵亚涛
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Yutong Bus Co Ltd
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Zhengzhou Yutong Bus Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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Abstract

The invention provides a vehicle control method and device based on driving safety evaluation, belonging to the technical field of vehicle driving safety control, wherein the control method comprises the following steps: collecting the distance between an obstacle and a vehicle body, recording as a primary early warning if the distance between the obstacle and the vehicle body is smaller than a safety distance, and acquiring the current evaluation value of a driver; the driver evaluation value is obtained by calculating the distance between an obstacle and a vehicle body in each early warning of a plurality of previous early warnings, and the smaller the distance between the obstacle and the vehicle body is, the lower the current driver evaluation value is obtained by calculation; and if the current driver evaluation value is smaller than a first preset low value, outputting an alarm. Because the technical scheme provided by the invention evaluates the capability of the driver according to the distance between the vehicle and the obstacle instead of the driving operation, compared with the prior art, the technical scheme provided by the invention has the advantages that the warning measure is reasonable, the operation of the driver is not influenced, the warning efficiency is higher, and the reliability is better.

Description

Vehicle control method and device based on driving safety evaluation
Technical Field
The invention belongs to the technical field of vehicle driving safety control, and particularly relates to a vehicle control method and device based on driving safety evaluation.
Background
In the industry, whether the driving technology of the driver is good or not is judged mostly through the behaviors of the driver, such as rapid acceleration, rapid deceleration, opening degree of an accelerator pedal and the like, for example, the driving behavior analysis system disclosed in the Chinese invention patent application document with the application publication number of CN107972671A analyzes the driving behavior of the driver by adopting an analysis module according to the driving information, the surrounding environment information of the vehicle, the driving fatigue degree and other data acquired by each module, judges whether the driving behavior score is matched with a safe driving behavior threshold value or not through a judgment module, and outputs a corresponding alarm when the driving behavior score is not matched.
The driving information is mainly the operation information of the driver, but because the driver is thought when operating the vehicle, improper operation may occur during driving, but no influence is caused on the safety of the vehicle, and no situations such as safety accidents and collision alarming occur, so that the driving ability of the driver cannot be reasonably evaluated. Therefore, according to the technical scheme disclosed by the patent application document, the ability of the driver is evaluated only through driving operation, the evaluation result is unreasonable, and the unreasonable evaluation result influences the operation behavior of the driver, so that the problem of potential safety hazard in the driving process is caused.
Disclosure of Invention
The invention aims to provide a vehicle control method based on driving safety evaluation, which is used for solving the problems that the behavior evaluation of a driver is carried out according to the operation of the driver and corresponding warning measures are unreasonable according to the evaluation, so that the continuous operation of the driver is influenced; similarly, in order to solve the problems of evaluation of the operation of the driver and unreasonable corresponding warning measures, the invention also provides a vehicle control device based on the driving safety evaluation.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a vehicle control method based on driving safety evaluation, the control method comprising the steps of:
(1) collecting the distance between the obstacle and the vehicle body, and recording as a primary early warning if the distance between the obstacle and the vehicle body is smaller than the safety distance;
(2) acquiring a current driver evaluation value, and performing early warning judgment, wherein the early warning judgment is as follows: if the current evaluation value of the driver is smaller than a first preset low value, outputting an alarm;
the current driver evaluation value is obtained by calculating the distance between an obstacle and a vehicle body in each early warning of a plurality of previous early warnings; the smaller the distance between the obstacle and the vehicle body is, the lower the current driver evaluation value is calculated to be.
A vehicle control apparatus based on driver safety assessment includes a processor, a memory, and a computer program stored in the memory and operable to run on the processor; the processor implements the above-described vehicle control method based on driving safety evaluation when executing the computer program stored in the memory.
The vehicle control method based on driving safety evaluation and the vehicle control device based on driving safety evaluation acquire the current driver evaluation value according to the distance between the obstacle and the vehicle body, and output alarm according to the current driver evaluation value; because the technical scheme provided by the invention evaluates the capability of the driver according to the distance between the vehicle and the obstacle instead of the driving operation, compared with the prior art, even if the driver has improper operation in the driving process, the alarm can not be output and the further operation of the driver can not be influenced as long as the distance between the vehicle and the obstacle is beyond the set safe distance, namely the safety of the vehicle is not influenced. In addition, the current driver evaluation value for early warning judgment is calculated according to the distance between the obstacle and the vehicle body in multiple early warnings, so that the obtained current driver evaluation value is objective, and the driving ability of the driver can be more truly represented.
Further, reading the current driver evaluation value in a reading mode; when an alarm is generated, a driver evaluation value is calculated according to the distance between the obstacle and the vehicle body collected in the alarm, and the driver evaluation value is used as the current driver evaluation value in the next alarm judgment.
The current evaluation value of the driver can be rapidly acquired in a reading mode, and when the distance between the vehicle and the obstacle is smaller than the safe distance, an alarm can be timely sent out.
Further, in order to calculate the current driver evaluation value more comprehensively, the distances between the obstacles and the vehicle body are collected, wherein the distances between the obstacles and the vehicle body in the front direction, the rear direction, the left direction and the right direction of the vehicle body comprise the distances between the obstacles and the vehicle body in the front direction, the rear direction, the left direction and the right direction of the vehicle body, and the early warning in the certain direction is that the distance between the obstacle and the vehicle body in the certain direction of the vehicle body is smaller than the safety distance in the certain direction; and when calculating the current evaluation value of the driver, weighting the distance between the obstacle and the vehicle body in the corresponding direction according to the early warning times in the four directions.
Further, the formula for calculating the current driver evaluation value is as follows:
e＝100-(k1*ef+k2*eb+k3*el+k4*er)/s
in the formula, s represents a mileage; k1, k2, k3 and k4 are weight factors of the front direction, the rear direction, the left direction and the right direction of the vehicle body respectively, and are obtained by calculation according to the early warning times of the front direction, the rear direction, the left direction and the right direction of the vehicle body; ef. eb, el and er are collision early warning indexes in the front direction, the rear direction, the left direction and the right direction of the vehicle body respectively, and are obtained by calculating the distance between an obstacle in the corresponding direction of the vehicle body and the vehicle body.
Further, in order to make the collision early warning index in each direction of the vehicle body more accurate, the collision early warning index in any direction is:
Figure BDA0001977901200000021
wherein ex is the collision warning index in any direction of the vehicle body (i.e. front, rear, left, right of the vehicle body), and Y isiThe distance between the obstacle and the vehicle body in a certain early warning in the corresponding direction of the vehicle body,
Figure BDA0001977901200000031
and N is the maximum distance between the obstacle and the vehicle body in all early warning in the corresponding direction of the vehicle body, and is the early warning frequency. The collision early warning index in any direction is obtained by solving the standard deviation, so that the dangerous driving degree of the driver in different directions of the vehicle body is more objectively reflected, and the level of the driver is favorably improved.
Further, in order to make the evaluation value of the current driver more reasonable, the safety distance for performing early warning needs to be reasonably set, the step (1) further includes acquiring vehicle speed information, determining the safety distances in the front, rear, left and right directions of the vehicle body at the current vehicle speed according to the speed interval where the current vehicle speed is located in the vehicle speed information, namely, setting different safety distances at different vehicle speeds to perform early warning, so that the effectiveness of the early warning is improved.
Furthermore, in order to ensure the running safety of the vehicle, a second preset low value is also set, the second preset low value is smaller than the first preset low value, and when the evaluation value of the driver is smaller than the second preset low value, the driving level of the driver is low, the running speed of the vehicle is limited or the output power of the whole vehicle is limited, so that accidents are prevented.
In order to further ensure the running safety of the vehicle, a third preset low value is set, and the third preset low value is smaller than the second preset low value, when the evaluation value of the driver is smaller than the third preset low value, the driving level of the driver is low (the driver may drive drunk or people without a driver license are driving the vehicle), and at the moment, the power of the whole vehicle needs to be cut off immediately to ensure the running safety of the vehicle and avoid accidents.
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Fig. 1 is a flowchart of a vehicle control method based on driving safety evaluation according to an embodiment of the method of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The method comprises the following steps:
the embodiment provides a vehicle control method based on driving safety evaluation, which evaluates the driving ability of a driver according to the safety of the vehicle during the driving of the driver and controls the vehicle according to the evaluation result, thereby improving the safety of the vehicle in driving.
The vehicle control method based on driving safety evaluation provided by the embodiment comprises the following steps:
1) and acquiring early warning data in real time, namely acquiring the distance between the barrier and the vehicle body.
The early warning data is collected through a video system (such as a 360-degree look-around system) carried by the vehicle, and early warning time is generated every time.
The early warning data is obtained in the following way; acquiring the distance between a vehicle body and an obstacle, wherein the distance comprises the distance between the front side of the vehicle body and the obstacle in front, the distance between the rear side of the vehicle body and the obstacle behind the vehicle body, the distance between the left side of the vehicle body and the obstacle on the left side of the vehicle body and the distance between the right side of the vehicle body and the obstacle on the right side of the vehicle body; and judging whether the distance between the obstacle and the vehicle body is smaller than the corresponding safe distance, recording as a primary early warning if the distance is smaller than the corresponding safe distance, and taking the distance between the vehicle body and the obstacle collected when the early warning occurs as early warning data.
2) And calculating the current evaluation value of the driver, and performing early warning judgment.
Specifically, the current driver evaluation value is calculated according to the distance between the obstacle and the vehicle body in each early warning of the previous early warnings. Because the distances between the front side, the rear side, the left side and the right side of the vehicle body and the obstacles are acquired, when the distance between any direction of the vehicle body and the obstacles is smaller than the corresponding safe distance, the distance is recorded as one early warning in the direction.
The current driver evaluation value is obtained through calculation, and the calculation formula of the current driver evaluation value is as follows:
e＝100-(k1*ef+k2*eb+k3*el+k4*er)/s
in the formula, e is the current evaluation value of the driver, and s represents the driving mileage; k1, k2, k3 and k4 are respectively weighting factors of the front side, the rear side, the left side and the right side of the vehicle body, are obtained by calculation according to the early warning times of the front side, the rear side, the left side and the right side of the vehicle body, and represent weighting coefficients of the early warning times of the four directions to the distance between an obstacle and the vehicle body in the corresponding direction; ef. eb, el and er are collision early warning indexes in the front side, the rear side, the left side and the right side of the vehicle body respectively, and are obtained by calculating the distance between an obstacle in the corresponding direction of the vehicle body and the vehicle body.
Weighting factors of the front side, the rear side, the left side and the right side of the vehicle body are obtained by calculation according to the early warning times of the vehicle in four directions, and the calculation method comprises the following steps:
counting the times of accidents (or early warning) occurring in each direction of each vehicle per kilometer in a period of time such as one year;
calculating the average value of the accident occurrence times (or early warning generation times) of each vehicle per kilometer in each direction in one year;
the weighting factors of the vehicle in each direction are obtained according to the calculated average values, the weighting factor of the vehicle body in the direction is larger when the average value of the vehicle in a certain direction is larger, and if the safety distance set in all the directions is 1 meter, the number of times of prewarning on the front side, the rear side, the left side and the right side of the vehicle body within 1 meter (namely the average value of the number of times of prewarning generation) is 10, 5, 1 and 1, so the weighting factors of the four directions of the front side, the rear side, the left side and the right side of the vehicle body are 10/17, 5/17, 1/17 and 1/17 respectively.
Collision early warning indexes ef, eb, el and er in four directions of the front side, the rear side, the left side and the right side of the vehicle body are obtained by calculation according to the distance between the obstacle and the vehicle body in each direction, and the formula adopted by the calculation is as follows:
Figure BDA0001977901200000041
in the formula, ex is collision early warning index ef, eb, el, er, Y in any direction of the vehicle bodyiThe distance between the obstacle and the vehicle body in a certain early warning in the corresponding direction of the vehicle body,
Figure BDA0001977901200000042
the maximum distance between the obstacles and the vehicle body in all early warning in the corresponding direction of the vehicle body, N is the early warning frequency,
Figure BDA0001977901200000043
indicating the standard deviation of the warning.
For example, the number of times of early warning on the rear side of the inner vehicle body is 5 times, wherein the maximum distance between the rear side of the vehicle body and a rear obstacle is 0.9 m, and the distances between the rear sides of other vehicle bodies and the rear obstacle are 0.7, 0.3, 0.4 and 0.8 m respectively, that is, Y isi0.7, 0.3, 0.4, 0.8 and 0.9 meter respectively,
Figure BDA0001977901200000051
and the number is 5 m, N is 5, and then the collision early warning index in the rear side direction of the vehicle body can be obtained by substituting the formula.
In addition, when the vehicle does not generate early warning, the current evaluation value of the driver is 100 points; when the vehicle sends a collision, the current driver evaluation value is 0 points.
3) Setting a first preset low value, a second preset low value and a third preset low value, and controlling the vehicle according to the magnitude relation between the calculated current driver evaluation value and the first preset low value, the second preset low value and the third preset low value, wherein the control method comprises the following steps:
outputting a warning if the current driver evaluation value is less than a first predetermined low value (e.g., 90 points);
if the current driver evaluation value is smaller than a second preset low value (for example, 75 minutes), limiting the running speed of the vehicle or limiting the output power of the whole vehicle;
if the current driver evaluation value is smaller than a third preset low value (for example, 60 minutes), the power of the whole vehicle is cut off; wherein the first predetermined low value is greater than the second predetermined low value, which is greater than the third predetermined low value.
Compared with the prior art, if the control method is not operated properly during the driving of the driver, the alarm cannot be output and the further operation of the driver cannot be influenced as long as the distance between the vehicle and the obstacle is beyond the set safe distance, namely the safety of the vehicle is not influenced. In addition, the current driver evaluation value for early warning judgment is calculated according to the distance between the obstacle and the vehicle body in multiple early warnings, so that the obtained current driver evaluation value is objective, and the driving ability of the driver can be more truly represented.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. For example, in order to quickly acquire the current driver evaluation value, when an early warning is generated, the stored driver evaluation value is read and taken as the current driver evaluation value; the stored driver evaluation value is the driver evaluation value calculated when the early warning is generated last time, and the driver evaluation value calculated after the early warning is generated this time is used as the current driver evaluation value when the early warning is generated next time. For example, when the jth early warning is generated, recalculating the driver evaluation value according to the distance between the obstacle and the vehicle body collected in the jth early warning, and taking the recalculated driver evaluation value as the current driver evaluation value in the jth +1 th early warning judgment; wherein j >1 and j is an integer.
For another example, when the distance between the obstacle and the vehicle body is collected, the driving speed (i.e., vehicle speed information) of the vehicle is also collected, several speed intervals are set, each speed interval is set with a corresponding safety distance, the speed interval in which the current vehicle speed is located is determined, and whether the distance between the obstacle and the vehicle body is smaller than the corresponding safety distance in the corresponding speed interval is determined. In addition, when the safe distance is set, the safe distance corresponding to the speed section with the higher vehicle speed is smaller than the safe distance corresponding to the speed section with the lower vehicle speed.
For another example, when calculating the distance between the front side of the vehicle body and the front obstacle, the distance between the rear side of the vehicle body and the rear obstacle, the distance between the left side of the vehicle body and the left obstacle, and the distance between the right side of the vehicle body and the right obstacle, the front side, the rear side, the left side, and the right side of the vehicle body may be unified into a certain point of the vehicle, and the distances between the obstacles in the four directions and the point may be calculated.
For another example, the current driver evaluation value can also be calculated by only the distance between the obstacle and the vehicle body in one of the four directions of the front, the rear, the left and the right of the vehicle body, without considering the four directions of the vehicle body in a whole; when only the distance between the obstacle and the vehicle body in one direction of the vehicle body is considered, the calculation formula of the current driver evaluation value may have many variations, for example, e1 is 100- μ 1/X1, e2 is 100- μ 2/X2, e3 is 100- μ 3/X3, and e4 is 100- μ 4/X4, where e1, e2, e3, and e4 are the current driver evaluation values calculated by only considering the distances between the obstacle and the vehicle body in the front, rear, left, and right directions of the vehicle body, μ 1, μ 2, μ 3, and μ 4 are set coefficients, weighting coefficients representing the number of warnings in four directions to the distance between the obstacle and the vehicle body in the corresponding direction, and X1, X2, X3, and X4 are the average distances between the obstacle and the vehicle body in the front, rear, left, and right directions of the vehicle body when the warning is generated; when distances from the vehicle body to obstacles in four directions of the vehicle body are considered, the current driver evaluation value may also be calculated as e-1 + e2+ e3+ e 4.
For another example, early warning data (namely the distance between an obstacle and a vehicle body) of each time of early warning of the vehicle, an early warning sequence (early warning times can be directly obtained according to the early warning sequence), the calculated weight factor and the corresponding current driver evaluation value are stored, historical data are formed after a period of time, and a weight database is established according to the early warning data, the early warning sequence and the weight factor stored in the historical data.
When early warning is generated every time, calculating a driver evaluation value according to the formula in the step 2) by combining early warning data collected in real time according to information in the weight database; then, the current driver evaluation value is judged according to the content comparison in step 3), the second predetermined low value and the third predetermined low value may not be set, but at least the first predetermined low value needs to be set, when the current driver evaluation value is smaller than the first predetermined low value, a warning and a driver score (i.e., the current driver evaluation value) are output, and if the current driver evaluation value is not smaller than the first predetermined low value, only the driver score is output, where the control flow is shown in fig. 1, where the first predetermined low value is set to 90 minutes.
The data storage of the weight database is a rolling storage, for example, only the data in the last 365 days is stored, and after the data of the weight database is stored for 365 days, the early warning data and the related data which exceed 365 days are deleted.
For another example, collision warning indexes ef, eb, el and er for warning occurrence of each vehicle are stored, a driver level library (ef, eb, el and er) is established, and driving levels of the driver in four directions are represented through four dimensions respectively. Specifically, the working condition is divided into ten sections according to the historical vehicle speed, standard deviations (namely ef, eb, el and er) of historical safe distances of different sections are respectively taken, the lower the standard deviation is, the higher the driving level of the driver is, and the driver level library (ef, eb, el and er) can be used as an evaluation standard for evaluating the safe driving of the candidate driver.
Therefore, any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
The embodiment of the device is as follows:
the embodiment provides a vehicle control device based on driving safety evaluation, which comprises a processor, a memory and a computer program stored in the memory and used for running on the processor; the processor, when executing the computer program stored in the memory, implements the driving safety evaluation-based vehicle control method provided in the above-described method embodiments. Since the description of the above control method is sufficiently clear and complete, the description of the embodiment is not repeated.
The processor in this embodiment may be a vehicle controller, a microprocessor such as an ARM, or a programmable chip such as an FPGA, a DSP, or the like.

Claims (7)

1. A vehicle control method based on driving safety evaluation, characterized by comprising the steps of:
(1) collecting the distance between an obstacle and a vehicle body, wherein the distance between the obstacle and the vehicle body comprises the distance between the obstacle and the vehicle body in the front direction, the distance between the obstacle and the vehicle body in the rear direction, the distance between the obstacle and the vehicle body in a certain direction of the vehicle body is smaller than the safety distance in the direction, and the distance is recorded as a primary early warning in the direction, and the certain direction is one of the four directions of the front direction, the rear direction, the left direction and the right direction of the vehicle body; when calculating the current evaluation value of the driver, weighting the distance between the obstacle and the vehicle body in the corresponding direction according to the early warning times in the four directions;
(2) acquiring a current driver evaluation value, and performing early warning judgment, wherein the early warning judgment is as follows: if the current evaluation value of the driver is smaller than a first preset low value, outputting an alarm;
the current driver evaluation value is obtained by calculating the distance between an obstacle and a vehicle body in each early warning of a plurality of previous early warnings; the smaller the distance between the obstacle and the vehicle body is, the lower the current evaluation value of the driver is calculated to be;
the formula for calculating the current driver evaluation value is as follows:
e＝100-(k1*ef+k2*eb+k3*el+k4*er)/s
in the formula, e is the current evaluation value of the driver, and s represents the driving mileage; k1, k2, k3 and k4 are weight factors of the front direction, the rear direction, the left direction and the right direction of the vehicle body respectively, and are obtained by calculation according to the early warning times of the front direction, the rear direction, the left direction and the right direction of the vehicle body; ef. eb, el and er are collision early warning indexes in the front direction, the rear direction, the left direction and the right direction of the vehicle body respectively, and are obtained by calculating the distance between an obstacle in the corresponding direction of the vehicle body and the vehicle body.
2. The driving safety evaluation-based vehicle control method according to claim 1, wherein when the warning is generated, the stored driver evaluation value is read and taken as the current driver evaluation value; the stored driver evaluation value is the driver evaluation value calculated when the previous early warning is generated, and the driver evaluation value calculated after the current early warning is generated is used as the current driver evaluation value when the next early warning is generated.
3. The vehicle control method based on driving safety evaluation according to claim 1, wherein the collision warning index in any direction of the vehicle body is:
Figure FDA0003298100380000011
in the formula, ex is the collision warning index in any direction of the vehicle body, YiThe distance between the obstacle and the vehicle body in a certain early warning in the corresponding direction of the vehicle body,
Figure FDA0003298100380000012
and N is the maximum distance between the obstacle and the vehicle body in all early warning in the corresponding direction of the vehicle body, and is the early warning frequency.
4. The vehicle control method based on the driving safety evaluation as claimed in claim 1, wherein the step (1) further comprises obtaining vehicle speed information, and determining safe distances in four directions of the front, the rear, the left and the right of the vehicle body at the current vehicle speed according to a speed interval in which the current vehicle speed is located in the vehicle speed information.
5. The driving safety evaluation-based vehicle control method according to claim 1, wherein the vehicle running speed is limited or the vehicle-entire output power is limited when the driver evaluation value is less than a second predetermined low value, which is less than the first predetermined low value.
6. The driving safety evaluation-based vehicle control method according to claim 5, wherein the entire vehicle power is turned off when the driver evaluation value is less than a third predetermined low value, which is less than the second predetermined low value.
7. A vehicle control device based on driving safety evaluation comprises a processor, a memory and a computer program stored in the memory and used for running on the processor; characterized in that the processor, when executing the computer program stored in the memory, implements the vehicle control method based on driving safety evaluation according to any one of claims 1 to 6.
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