CN113183983A

CN113183983A - Method, apparatus, electronic device, storage medium, and program product for controlling vehicle

Info

Publication number: CN113183983A
Application number: CN202110376438.XA
Authority: CN
Inventors: 许铁成
Original assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-07-30
Anticipated expiration: 2041-04-07
Also published as: CN113183983B; WO2022213989A1

Abstract

The embodiment of the application discloses a method, a device, electronic equipment, a storage medium and a program product for controlling a vehicle, wherein the method comprises the following steps: acquiring position information and driving direction information of a vehicle; determining a driving state of the vehicle according to map information, the position information and the driving direction information; and if the running state of the vehicle accords with the state to be reversed, controlling the vehicle to perform corresponding operation. According to the method and the device, whether the running state of the vehicle accords with the state to be reversed or not is determined timely and accurately, so that the vehicle is controlled to perform corresponding operation, and the running safety of the vehicle is enhanced.

Description

Method, apparatus, electronic device, storage medium, and program product for controlling vehicle

Technical Field

The present invention relates to the field of automatic driving, and in particular, to a method, an apparatus, an electronic device, a storage medium, and a program product for controlling a vehicle.

Background

With the increasing amount of private cars, the traffic pressure on roads is getting larger and larger, and safe driving becomes the first problem of safety of people going out. Traffic accidents due to violations of traffic regulations, such as driving in the wrong direction, result in significant personnel and property loss.

Often, reasons for violating the one-way traffic rules include unobvious one-way line signs, inattentive driver attention, and the like. In the prior art, the prompt of the one-way road going backwards in the running process of the vehicle is made after the vehicle enters the one-way road and depends on the indication mark of the road, so that the reliability is low when the road mark is not obvious, and the possibility of untimely prompt exists under the condition of high speed, thereby finally causing the going backwards and possibly causing traffic accidents.

Disclosure of Invention

The embodiment of the application provides a method for controlling a vehicle, which comprises the following steps:

acquiring position information and driving direction information of a vehicle; determining a driving state of the vehicle according to map information, the position information and the driving direction information; and if the running state of the vehicle accords with the state to be reversed, controlling the vehicle to perform corresponding operation. Correspondingly, the embodiment of this application also provides a device of control vehicle, characterized in that, the device includes: the acquisition module is used for acquiring the position information and the driving direction information of the vehicle; the determining module is used for determining the driving state of the vehicle according to the map information, the position information and the driving direction information; and the control module is used for controlling the vehicle to carry out corresponding operation if the running state of the vehicle accords with the state to be reversed.

Accordingly, an embodiment of the present application further provides an electronic device, which includes a processor and a memory, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the above method for controlling a vehicle.

Accordingly, embodiments of the present application also provide a computer-readable storage medium, in which at least one instruction, at least one program, a code set, or a set of instructions is stored, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the above-mentioned method for controlling a vehicle.

Accordingly, the present application also provides a computer program product, which includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of a computer device reads and executes the computer program from the readable storage medium, so that the computer device executes the above method for controlling a vehicle.

The embodiment of the application has the following beneficial effects: according to the embodiment of the application, whether the running state of the vehicle accords with the to-be-reversed running state or not is determined timely and accurately, so that the vehicle is controlled to perform corresponding operation, and the running safety of the vehicle is enhanced.

Drawings

In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating a method for controlling a vehicle provided by an embodiment of the present application;

fig. 3 is a flowchart illustrating a method for determining a driving state of a vehicle shown in S202 of fig. 2 according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram illustrating a method for controlling a vehicle provided by an embodiment of the present application;

FIG. 5 is a schematic flow chart diagram illustrating a method for controlling a vehicle provided by an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram illustrating a method for controlling a vehicle provided by an embodiment of the present application;

fig. 7 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present application;

fig. 8 is a hardware block diagram of a server of a method for controlling a vehicle according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

An "embodiment" as referred to herein relates to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only used for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices/systems or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be taken as limiting the present application. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises," "comprising," and "having"/"is," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system/apparatus, article, or apparatus that comprises a list of steps or elements/modules is not necessarily limited to those steps or elements/modules expressly listed, but may include other steps or elements/modules not expressly listed or inherent to such process, method, article, or apparatus.

Please refer to fig. 1, which is a schematic diagram of an application environment according to an embodiment of the present application, including:

vehicle 101, intersection 102, road 103, road 104, road 105, and road 106.

As illustrated in fig. 1, a vehicle 101 travels on a road 103, the road 103 is connected to an intersection 102, the intersection 102 is also connected to the road 103, a road 104, and a road 105, and a distance d is a distance between the vehicle 101 and the intersection 102. In this scenario, the method provided by the embodiment of the present application determines the driving state of the vehicle 101 according to the information of the road 103, the road 104, the road 105, the road 106, and the intersection 102 in the map information and the position information and the driving direction information of the vehicle 101, and controls the corresponding operation of the vehicle 101.

According to some embodiments, the road 104 and the road 106 may be roads that only include lanes in a single direction, and the single direction of the road 103 is a retrograde direction with respect to the vehicle 101. If the vehicle 101 travels from the road 103 to the intersection 102, then neither the straight-ahead driving access road 105 nor the right-turn driving access road 106 violates the traffic regulations. If the vehicle 101 travels from the road 103 to the intersection 102 and then turns left to enter the road 104, the vehicle 101 goes backward on the road traveling in one direction in violation of the traffic regulations. For the case that the vehicle 101 is likely to run backwards in the future, the method for controlling the vehicle provided by the embodiment of the application determines the running state of the vehicle before the vehicle 101 runs on the road 103 and reaches the intersection 102. If the driving state of the vehicle 101 conforms to the state to be driven in the wrong direction, the vehicle 101 is controlled to perform corresponding operations, and the vehicle 101 is prevented from being driven in the wrong direction timely and reliably.

According to some embodiments, in some time periods, the road 103 and the road 105 may be roads that include only lanes in a single direction (say tidal lanes), and the single direction of the road 103 and the road 105 is in a retrograde direction relative to the vehicle 101. The vehicle 101 runs on the road 103, and the method for controlling the vehicle provided by the embodiment of the application judges whether the vehicle continues to run on the road 103 or runs into the road 105 in a reverse direction or not according to the one-way running road information in the map information, including traffic regulation information different in time period when the vehicle 101 runs on the road 103, thereby determining the running state of the vehicle. If the driving state of the vehicle 101 conforms to the state to be driven in the wrong direction, the vehicle 101 is controlled to perform corresponding operations, and the vehicle 101 is prevented from being driven in the wrong direction timely and reliably.

Turning now to specific embodiments of a method of controlling a vehicle provided herein, fig. 2 is a schematic flow chart diagram of a method of controlling a vehicle provided herein, the description providing the method steps as shown in the embodiments or the flow chart diagram, but may include more or less steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is only one of many possible orders of execution and does not represent the only order of execution, and in actual execution, the steps may be performed sequentially or in parallel as in the embodiments or methods shown in the figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 2, the method includes:

s201: position information and traveling direction information of the vehicle are acquired.

In the embodiment of the present disclosure, the vehicle-mounted server is used as an execution subject for explanation, it should be noted that the execution subject is not limited herein, and in other embodiments, the execution subject may also be other optional objects.

According to some embodiments, the location information of the vehicle may be obtained through an electronic map or cloud data.

According to some embodiments, the driving direction information of the vehicle may be analytically calculated from the position information of the vehicle. It should be noted that the method for acquiring the position information and the driving direction information of the vehicle is not limited to the above method, and in some other embodiments, the position information and the driving direction information of the vehicle may be acquired by other methods.

S202: and determining the driving state of the vehicle according to the map information, the position information and the driving direction information.

In an embodiment of the present application, the map information includes a database of roads including only lanes in a single direction.

According to some embodiments, for the case where the road travel traffic regulations are different for different time periods, the travel state of the vehicle may be determined based on map information, position information, and travel direction information, where the map information includes travel direction regulations for the roads for different time periods.

According to some embodiments, in the case where the traffic regulations of roads connected to an intersection adjacent to a vehicle are different, it is possible to determine the driving state of the vehicle by determining whether a road including only a lane in a single direction is included therein based on map information, position information, and driving direction information.

According to some embodiments, the current position of the vehicle relative to the map may be searched and matched in the map according to the position information of the vehicle, and then the position is used as an origin, and the route within the framed selection range is obtained by framing according to a preset radius, and if the framed route includes a road including only a lane in a single direction, the driving direction which may enter a single-line is predicted according to the driving direction of the vehicle head, so as to determine the driving state of the vehicle.

According to some embodiments, the driving state of the vehicle is determined such that a distance between the intersection to be driven and the vehicle satisfies a distance requirement, and the description information of the intersection to be driven satisfies a description information requirement, based on the map information, the position information, and the driving direction information.

It should be noted that the method of determining the running state of the vehicle is not limited to the above method, and in other embodiments, the running state of the vehicle may be determined by other methods according to the map information, the position information, and the running method information.

Fig. 3 is a flowchart illustrating a method for determining a driving state of a vehicle, shown in step S202 of fig. 2, according to an embodiment of the present application, and the method shown in fig. 3 is described below with reference to fig. 1.

An alternative embodiment, as shown in fig. 3, includes:

s301: determining a distance between the vehicle and at least one intersection according to the map information and the position information, wherein the at least one intersection is an intersection on a road where the vehicle is located.

According to some embodiments, the location information of the vehicle may be sent to the server through a telematics module on the vehicle, and the server obtains at least one intersection on the road from the map information and the location information and calculates a distance between the vehicle and the at least one intersection.

According to some embodiments, the distance between the vehicle and the at least one intersection can be calculated in real time according to a preset time interval to ensure real-time performance.

According to some embodiments, as explained further with reference to fig. 1 and step S301, the distance d between the vehicle 101 and the intersection 102 can be determined according to the map information and the position information, and the intersection 102 is at least one intersection located on the road 101.

S302: and determining the intersection to be driven to from the at least one intersection according to the driving direction information.

According to some embodiments, the driving direction information of the vehicle may be analytically calculated from the position information of the vehicle.

According to some embodiments, the driving direction information of the vehicle may be calculated from a driving trajectory analysis of the vehicle.

According to some embodiments, as explained in conjunction with fig. 1 and step S302, the intersection to be driven to may be determined to be the intersection 102 from at least one intersection according to the driving direction information of the vehicle 101.

It should be noted that the method for determining the intersection to be driven to is not limited to the above method, and in other embodiments, the intersection to be driven to may be determined from at least one intersection by other methods according to the driving direction information.

S303: and determining the driving state of the vehicle according to the distance between the intersection to be driven and the vehicle and the description information of the intersection to be driven.

According to some embodiments, the description information to be driven to the intersection may include lane information of a road connected to the intersection and the number of the roads, wherein the lane information includes a unidirectional lane and a bidirectional lane.

S203: and judging whether the running state of the vehicle accords with the state to be driven in the wrong direction, and if so, turning to the step S204.

According to some embodiments, the driving state of the vehicle is determined to be in accordance with the normal driving state if the driving state of the vehicle is in accordance with an intersection to be driven to have a distance from the vehicle smaller than a distance threshold and the descriptive information is a road connecting lanes including only a single direction, but the single direction is a forward direction with respect to the vehicle.

According to some embodiments, if the driving state of the vehicle conforms to that the distance from the intersection to be driven to the vehicle is less than the distance threshold and the descriptive information is a road connecting lanes including only a single direction and the single direction is a reverse direction with respect to the vehicle, it is determined that the driving state of the vehicle conforms to the to-be-reversed state.

In this embodiment, the server may obtain roads connected at the intersection according to the intersection information of the map information, search a library of roads including only lanes in the single direction according to the roads connected at the intersection, and determine that the description information at the intersection is a road connected with lanes including only the single direction if a road including only lanes in the single direction is matched.

Continuing with the description of the implementation steps of S202 and S203 described above in conjunction with fig. 1, according to some embodiments, the application scenarios of steps S202 and S203 are shown in fig. 1. Alternatively, the description information of the intersection 102 is a road connecting lanes containing only a single direction, and the road containing only lanes containing a single direction includes a road 103 and a road 105, wherein the single direction of the road 103 is a reverse direction relative to the vehicle 101. At this time, if the distance d from the vehicle 101 to the intersection 102 to be traveled to is less than the distance threshold value, it is determined that the travel state of the vehicle 101 conforms to the to-be-reversed travel state. If the distance d from the vehicle 101 to the intersection 102 to be traveled to is greater than or equal to the distance threshold, it is determined that the travel state of the vehicle 101 conforms to the normal travel state. Optionally, if the description information of the intersection 102 is that the road is not connected to the road including only the lane in the single direction, that is, the road 103, the road 104, the road 105, and the road 106 are not roads including only the lane in the single direction, it is determined that the driving state of the vehicle 101 corresponds to the normal driving state. Alternatively, if the description information of the intersection 102 is a road connected to a lane containing only a single direction, the road containing only a lane containing a single direction is the road 104, and the single direction of the road 104 is not a reverse direction with respect to the vehicle 101, it is determined that the driving state of the vehicle 101 corresponds to the normal driving state. The determination condition of the to-be-reversed state comprises that the distance between the driven intersection and the vehicle is smaller than a distance threshold value, so that the determination of the driving state of the vehicle is more accurate.

It should be noted that the method of determining the driving state of the vehicle is not limited to the above method, and in other embodiments, the driving state of the vehicle may be determined by other methods according to the distance between the intersection to be driven and the vehicle and the description information of the intersection to be driven.

S204: and controlling the vehicle to perform corresponding operation.

In the embodiment of the present disclosure, there are many corresponding operation methods for controlling a vehicle, and the following provides alternative implementation methods:

according to some embodiments, an early warning prompt may be issued if the driving state of the vehicle conforms to the state to be driven in the wrong direction. Optionally, the early warning prompt may be sent via a human-machine interface, an alarm, and a vehicle navigation system. According to some embodiments, if the driving state of the vehicle conforms to the state to be reversed, the route to be reversed can be prompted through multimedia voice.

According to some embodiments, the steering of the steering wheel of the vehicle may be restricted if the driving state of the vehicle corresponds to the to-be-driven state. In an alternative embodiment, the steering wheel may be locked against rotation if the driving state of the vehicle corresponds to the backdriving state. In another optional embodiment, if the driving state of the vehicle conforms to the to-be-reversed driving state, the limited angle range of the steering wheel corresponding to the reversed driving is obtained through analysis according to the map information, the position information of the vehicle and the driving direction information of the vehicle, and the steering of the steering wheel of the limited vehicle cannot reach the limited angle range. In another alternative embodiment, the server calculates the limited angle range information of the steering wheel according to the map information, the position information of the vehicle and the driving direction information of the vehicle, sends the information to the telematics module of the vehicle, and then the information is transmitted to the power steering controller by the telematics module, so that the steering wheel of the vehicle is controlled to be steered to be incapable of reaching the limited angle range.

Alternatively, in the second embodiment of the above method for restricting steering of the steering wheel of the vehicle, that is, the steering wheel is locked so that the steering wheel cannot rotate, after the steering wheel is locked, if it is detected that the assisting force is applied to the steering wheel and the applying time of the assisting force is greater than the time threshold, the restriction on steering of the steering wheel of the vehicle is released. Alternatively, the assistance force may be in any direction and at any angle.

Optionally, in the third embodiment of the above method for limiting steering of the steering wheel of the vehicle, that is, after the limitation that the steering wheel of the vehicle cannot reach the limited angle range is performed, if it is detected that the assisting force is applied to the steering wheel and the application time of the assisting force is greater than the time threshold, the limitation on steering wheel of the vehicle is released. Optionally, the assistance force is an assistance force for pushing the steering wheel to a preset angle range.

In the embodiment of the application, if the vehicle accords with the state of waiting to go backwards, the steering wheel of the vehicle can be automatically controlled, and early warning prompt can be sent out, so that misoperation caused by inattention or slow reaction of a user is avoided, the user is prompted to possibly go backwards before the user reaches the intersection, the driving safety of the vehicle can be improved, and personal and property safety is protected.

Fig. 4 is a flowchart illustrating a method for controlling a vehicle according to an embodiment of the present disclosure.

The method for controlling the vehicle provided by the embodiment of the application not only controls the operation corresponding to the vehicle according to the to-be-retrograde motion state of the vehicle, but also can consider the retrograde motion intention of the user. An alternative embodiment, as shown in fig. 4, comprises:

s401: position information and traveling direction information of the vehicle are acquired.

S402: and determining the driving state of the vehicle according to the map information, the position information and the driving direction information.

S403: and judging whether the running state of the vehicle accords with the state to be driven in the wrong direction or not.

For the detailed implementation of steps S401-S403, please refer to steps S201-S203, which are not described herein. S404: the driving track of the vehicle is obtained.

According to some embodiments, the position information of the vehicle can be sent to the server through the telematics module on the vehicle, and the server can fit the running track of the vehicle according to the historical position information and the map information of the vehicle.

According to some embodiments, the driving trajectory of the vehicle may be acquired through an electronic map or cloud data.

It should be noted that the method for acquiring the travel track of the vehicle is not limited to the above method, and in some other embodiments, the travel track of the vehicle may be acquired by other methods.

S405: and determining the retrograde motion intention of the user according to the running track.

According to some embodiments, it may be determined that the user has a retrograde intention if the driving trajectory of the vehicle is biased toward a road including only lanes in a single direction, and it may be determined that the user has no retrograde intention if the driving trajectory of the vehicle is distant from a road including only lanes in a single direction. The retrograde intention of the vehicle in step S405 may include the following two cases: the first case is: directly determining whether the person has the retrograde intention or not; the second case is: what is determined is the percentage of retrograde intent and the percentage of non-retrograde intent.

According to some embodiments, a predicted travel track of the vehicle traveling to a road including only lanes in a single direction is analyzed from the map information, the position information of the vehicle, and the traveling direction information of the vehicle, and if a degree of fitting of the travel track of the vehicle to the predicted travel track is greater than a predetermined fitting threshold value, it may be determined that the user has a retrograde intention.

It should be noted that the method for determining the retrograde intention of the user is not limited to the above method, and in other embodiments, the retrograde intention of the user may be determined by other methods according to the driving track.

In the embodiment of the disclosure, through the acquisition and analysis of the driving track, the reverse intention of the user can be determined before the vehicle drives into the intersection or when the vehicle just drives into the intersection, so that the reverse intention of the user can be accurately and rapidly determined.

S406: and judging whether the user has the reverse intention, and if so, turning to the step S407.

S407: and controlling the vehicle to perform corresponding operation.

For the detailed implementation of step S407, please refer to step S204, which is not described herein. In the embodiment of the application, the wrong-way driving early warning and control can be carried out according to the driving state of the vehicle, the wrong-way driving intention of the user can be considered, and no response including early warning and steering wheel control is carried out under the condition that the vehicle is possible to go wrong way but the user does not have the wrong-way driving intention, so that the time for controlling the vehicle is more accurate, and unnecessary response of the vehicle is avoided under the condition that the user does not want to go wrong way.

Fig. 5 is a flowchart illustrating a method for controlling a vehicle according to an embodiment of the present disclosure.

The method for controlling the vehicle provided by the embodiment of the application not only controls the operation corresponding to the vehicle according to the to-be-retrograde driving state of the vehicle, but also can consider the use state of navigation. An alternative embodiment, as shown in fig. 5, includes:

s501: position information and traveling direction information of the vehicle are acquired.

S502: and determining the driving state of the vehicle according to the map information, the position information and the driving direction information.

S503: the driving state of the vehicle conforms to the state to be reversed.

For the detailed implementation of steps S501-S503, please refer to steps S201-S203, which are not described herein. S504: the usage state of the navigation is determined.

According to some embodiments, a vehicle navigation system may be connected to detect whether the navigation system is in an application or running state.

According to some embodiments, sounds in the environment may be captured and based on semantic recognition, it may be determined whether the user is using navigation on a portable device such as a cell phone.

It should be noted that the method for determining the use state of the navigation is not limited to the above method, and in other embodiments, the use state of the navigation may be determined by other methods.

S505: and judging whether the navigation is currently in a use state, and if so, turning to the step S506.

S506: and controlling the vehicle to perform corresponding operation.

For the detailed implementation of step S506, please refer to step S204, which is not described herein again. According to some embodiments, if the navigation is currently in a use state and the vehicle-mounted navigation is used, the vehicle-mounted navigation system is connected, and early warning signals are sent out through the navigation, wherein the early warning signals comprise voice prompts, text prompts and image prompts.

According to some embodiments, if the navigation is currently in a use state and the navigation on the portable equipment such as a mobile phone is used, the vehicle is controlled to send out an early warning signal, wherein the early warning signal comprises a voice prompt, a text prompt and an image prompt. Optionally, the warning signal may be sent via a warning human machine interface and a warning generator of the vehicle.

According to some embodiments, if the navigation is currently in use, the warning signal is sent out and the steering of the steering wheel is not limited. Because the user using navigation generally drives according to the navigation instruction, and the possibility of violating the same rule is low, the steering of the steering wheel is not required to be limited, and unnecessary response under the condition that the user uses navigation is avoided.

Fig. 6 is a flowchart illustrating a method for controlling a vehicle according to an embodiment of the present disclosure.

The method for controlling the vehicle provided by the embodiment of the application not only controls the operation corresponding to the vehicle according to the to-be-driven state of the vehicle, but also can consider the violation attribute information of the user. An alternative embodiment, as shown in fig. 6, includes:

s601: position information and traveling direction information of the vehicle are acquired.

S602: and determining the driving state of the vehicle according to the map information, the position information and the driving direction information.

S603: the driving state of the vehicle conforms to the state to be reversed.

For the detailed implementation of steps S601-S603, please refer to steps S201-S203, which are not described herein.

S604: and determining violation attribute information of the user according to the behavior information and the attribute information of the user.

According to some embodiments, the face detection of the user can be performed, images of the eyes and mouth regions of the user are extracted, behavior information of the user such as blink frequency and yawning parameters is obtained, and violation attribute information of the user is determined on the basis.

According to some embodiments, the face detection of the user can be performed, images of face key points are extracted, attribute information of the user such as the age and occupation of the user is determined through human body key point identification, and violation attribute information of the user is determined on the basis.

According to some embodiments, a facial image may be acquired, connected to a face database, and used to match a user with personal information in the face database, determine user attribute information such as age, occupation, illicit records, and the like of the user, and determine violation attribute information of the user based thereon.

According to some embodiments, the violation attribute information of the user includes violation-prone personnel and violation-prone personnel.

It should be noted that the method for determining the violation attribute information of the user is not limited to the above method, and in some other embodiments, the violation attribute information of the user may be determined by other methods according to the behavior information and the attribute information of the user.

S605: and judging whether the violation attribute information of the user is a violation-prone person, if so, turning to step S606.

S606: and controlling the vehicle to perform corresponding operation.

For the detailed implementation of step S606, please refer to step S204, which is not described herein again.

According to the embodiment of the application, the wrong-way warning and control are carried out according to the driving state of the vehicle, the violation attribute information of the user can be considered, the user can not cause any traffic accident under the condition that the vehicle is possible to wrong way but the user is not prone to violation, the vehicle control method does not carry out any response including warning and steering wheel control, and unnecessary response of the vehicle under the condition that the user is not prone to violation is avoided.

An embodiment of the present application further provides an apparatus for controlling a vehicle, and fig. 7 is a schematic structural diagram of the apparatus for controlling a vehicle provided in the embodiment of the present application, and as shown in fig. 7, the apparatus includes:

an obtaining module 701, configured to obtain position information and driving direction information of a vehicle;

a determining module 702, configured to determine a driving state of the vehicle according to the map information, the position information, and the driving direction information;

the control module 703 is configured to control the vehicle to perform a corresponding operation if the driving state of the vehicle matches the state to be driven in the wrong direction.

According to some embodiments, the determining module 702 is configured to determine a distance between the vehicle and at least one intersection according to the map information and the position information, determine an intersection to be driven to from the at least one intersection according to the driving direction information, and determine a driving state of the vehicle according to the distance between the intersection to be driven to the vehicle and the description information of the intersection to be driven to, wherein the at least one intersection is an intersection on a road where the vehicle is located.

According to some embodiments, the control module 703 is configured to determine that the driving state of the vehicle conforms to the to-be-driven state and control the vehicle to perform a corresponding operation if the distance between the intersection to be driven and the vehicle is smaller than the distance threshold and the descriptive information is a road connected to lanes containing only a single direction, and the single direction is a reverse direction with respect to the vehicle.

According to some embodiments, the control module 703 is configured to limit steering of the steering wheel and/or to issue warning prompts. Optionally, the control module 703 is configured to release the limitation on the steering of the steering wheel of the vehicle if it is detected that the assisting force is applied to the steering wheel and the applying time of the assisting force is greater than the time threshold.

According to some embodiments, the apparatus further comprises: the driving track obtaining module is used for obtaining the driving track of the vehicle if the driving state of the vehicle accords with the state to be driven in the wrong direction; and the retrograde intention determining module is used for determining the retrograde intention of the user according to the driving track. Optionally, the control module 703 of the apparatus is configured to control the vehicle to perform a corresponding operation if the user has a retrograde intention.

According to some embodiments, the apparatus further comprises: the navigation state determining module is used for determining the use state of navigation if the running state of the vehicle conforms to the state to be reversed; optionally, the control module 703 of the apparatus is configured to control the vehicle to perform a corresponding operation if the navigation is currently in the use state. According to some embodiments, the apparatus further comprises: and the violation attribute determining module is used for determining violation attribute information of the user. Optionally, the control module 703 of the apparatus is configured to control the vehicle to perform corresponding operation if the violation attribute information of the user is an easily violating person.

The device and method embodiments in the embodiments of the present application are based on the same application concept.

The present application further provides an electronic device, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a method for controlling a vehicle in the method embodiment, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded from the memory and executed to implement the above-mentioned method for controlling a vehicle.

The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the example of the method executed on the server, fig. 8 is a hardware configuration block diagram of the server of the method for controlling the vehicle according to the embodiment of the present application. As shown in fig. 8, the server 800 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 810 (the processor 810 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 830 for storing data, one or more storage media 820 (e.g., one or more mass storage devices) for storing applications 823 or data 822. Memory 830 and storage medium 820 may be, among other things, transient or persistent storage. The program stored in storage medium 820 may include one or more modules, each of which may include a series of instruction operations for a server. Still further, the central processor 810 may be configured to communicate with the storage medium 820 to execute a series of instruction operations in the storage medium 820 on the server 800. The server 800 may also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input-output interfaces 840, and/or one or more operating systems 821, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, and so forth.

The input-output interface 840 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 800. In one example, i/o Interface 840 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the internet. In one example, the input/output interface 840 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

It will be understood by those skilled in the art that the structure shown in fig. 8 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 800 may also include more or fewer components than shown in FIG. 8, or have a different configuration than shown in FIG. 8.

The present invention also provides a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a method for controlling a vehicle according to the method embodiment, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the method for controlling a vehicle.

Optionally, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk.

As can be seen from the above embodiments of the method, apparatus, electronic device or storage medium for controlling a vehicle provided by the present application, the method in the present application includes: acquiring position information and driving direction information of a vehicle; determining the driving state of the vehicle according to the map information, the position information and the driving direction information; and if the running state of the vehicle accords with the state to be reversed, controlling the vehicle to perform corresponding operation.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. In particular, for the embodiments of the apparatus/system, since they are based on embodiments similar to the method embodiments, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiments.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. A method of controlling a vehicle, the method comprising:

acquiring position information and driving direction information of a vehicle;

determining a driving state of the vehicle according to map information, the position information and the driving direction information;

and if the running state of the vehicle accords with the state to be reversed, controlling the vehicle to perform corresponding operation.

2. The method of controlling a vehicle according to claim 1, wherein the determining the traveling state of the vehicle based on the map information, the position information, and the traveling direction information includes:

determining a distance between the vehicle and at least one intersection according to the map information and the position information; the at least one intersection is an intersection on a road where the vehicle is located;

determining an intersection to be driven to from the at least one intersection according to the driving direction information;

and determining the driving state of the vehicle according to the distance between the intersection to be driven and the vehicle and the description information of the intersection to be driven.

3. The method for controlling the vehicle according to claim 2, wherein if the driving state of the vehicle conforms to the driving waiting state, controlling the vehicle to perform corresponding operations comprises:

if the distance between the intersection to be driven and the vehicle is smaller than the distance threshold value, the description information is a road which is connected with lanes only comprising a single direction, and the single direction is a reverse direction relative to the vehicle, the driving state of the vehicle is determined to be in accordance with the state to be reversed, and the vehicle is controlled to carry out corresponding operation.

4. The method of controlling a vehicle according to any one of claims 1 to 3, wherein the controlling the vehicle to perform the corresponding operation includes:

limiting steering of a steering wheel of the vehicle, and/or;

and sending out an early warning prompt.

5. The method of controlling a vehicle according to claim 4, characterized in that after the controlling the vehicle to perform a corresponding operation, the method further comprises:

and if the assistance force is detected to be applied to the steering wheel and the application time of the assistance force is larger than a time threshold value, releasing the limitation on the steering of the steering wheel of the vehicle.

6. The method for controlling the vehicle according to claim 1, wherein if the driving state of the vehicle conforms to the driving waiting state, controlling the vehicle to perform corresponding operations comprises:

if the running state of the vehicle accords with the state to be driven in the wrong direction, obtaining the running track of the vehicle;

determining the retrograde intention of the user according to the driving track;

and if the user has the reverse driving intention, controlling the vehicle to perform corresponding operation.

7. The method for controlling the vehicle according to claim 1, wherein if the driving state of the vehicle conforms to the driving waiting state, controlling the vehicle to perform corresponding operations comprises:

if the driving state of the vehicle accords with the state to be driven in the wrong direction, determining the use state of navigation;

and if the navigation is in the use state at present, controlling the vehicle to perform corresponding operation.

8. The method for controlling the vehicle according to claim 1, wherein if the driving state of the vehicle conforms to the driving waiting state, controlling the vehicle to perform corresponding operations comprises:

if the driving state of the vehicle accords with the state to be driven reversely, determining violation attribute information of the user according to the behavior information of the user and the attribute information;

and if the violation attribute information of the user is a violation-prone person, controlling the vehicle to perform corresponding operation.

9. An apparatus for controlling a vehicle, characterized in that the apparatus comprises:

the acquisition module is used for acquiring the position information and the driving direction information of the vehicle;

the determining module is used for determining the driving state of the vehicle according to the map information, the position information and the driving direction information;

and the control module is used for controlling the vehicle to carry out corresponding operation if the running state of the vehicle accords with the state to be reversed.

10. An electronic device, comprising a processor and a memory, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and wherein the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method of controlling the vehicle of any one of claims 1-8.

11. A computer readable storage medium, having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a method of controlling a vehicle according to any one of claims 1-8.

12. A computer program product, characterized in that the computer program product comprises a computer program, which is stored in a readable storage medium, from which at least one processor of a computer arrangement reads and executes the computer program, causing the computer arrangement to carry out the method of controlling a vehicle according to any one of claims 1-8.