CN113720347A

CN113720347A - Vehicle control method, vehicle control device, server, and storage medium

Info

Publication number: CN113720347A
Application number: CN202111004112.0A
Authority: CN
Inventors: 朱高祺; 杨添程; 简驾
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-11-30

Abstract

The invention discloses a vehicle control method, a server, a vehicle control device and a storage medium. A control method of a vehicle, comprising: acquiring map data, vehicle data and driving assistance use data; determining a prompt location and a corresponding risk level according to the map data, the vehicle data and the driving assistance use data; determining prompt duration according to the risk level, wherein the prompt is a prompt for a driver to take over the vehicle; and controlling the vehicle to send out the prompt in the prompt time length before the vehicle reaches the prompt position. In the control method of the vehicle, before the driver is required to intervene, the driver can be dynamically given proper prompt time in advance, so that on one hand, the feeling of negative experience that the response time given to the driver is too hasty and the decision pressure is great is avoided, on the other hand, the excessive interference caused by frequent prompt is avoided, and the driving experience of the driver is improved.

Description

Vehicle control method, vehicle control device, server, and storage medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, a vehicle control device, a server, and a storage medium.

Background

Currently, with the development of intelligentization and driving assistance technologies, more and more vehicles have a driving assistance function to reduce the burden of a driver. However, in the driving assistance scenario, since the driver inevitably experiences situations of lackluster and distraction, when a deterministic event specifically requiring human-computer interaction occurs, immediate interaction is performed, which often results in a negative experience of too haste response time and great decision pressure given to the driver.

Disclosure of Invention

The invention provides a vehicle control method, a vehicle control device, a server and a storage medium.

A control method for a vehicle according to an embodiment of the present invention includes:

acquiring map data, vehicle data and driving assistance use data;

determining a prompt location and a corresponding risk level according to the map data, the vehicle data and the driving assistance use data;

determining prompt duration according to the risk level, wherein the prompt is a prompt for a driver to take over the vehicle;

and controlling the vehicle to send out the prompt in the prompt time length before the vehicle reaches the prompt position.

In some embodiments, the map data includes at least one of data for ramps, sinks, accident prone sections and speed limited sections, the vehicle data includes vehicle speed, and the driving assistance usage data includes at least one of success rate, take-over rate and accident drop-out rate.

In some embodiments, determining a reminder location and a corresponding risk level based on the map data, the vehicle data, and the driving assistance usage data comprises:

determining the prompt position and corresponding potential accident severity according to the map data and the vehicle data;

determining the risk level based on the potential accident severity and the driver assistance usage data.

In some embodiments, the risk level is positively correlated with the length of the cue.

In some embodiments, determining a length of the prompt based on the risk level includes:

when the risk level is a common level, determining a first prompt duration;

when the risk level is an emergency level, determining a second prompt duration;

when the risk level is a very urgent level, determining a third prompt duration;

when the risk level is a severity level, determining a fourth prompt duration;

the first prompt duration, the second prompt duration, the third prompt duration and the fourth prompt duration are sequentially increased.

In some embodiments, controlling the vehicle to issue the prompt for the prompt duration before the vehicle reaches the prompt location includes:

and controlling the vehicle to send out sound effect reminding and/or display screen popup reminding.

In some embodiments, the control method of the vehicle further includes:

and when a preset condition is met, adjusting the risk level corresponding to the prompt position.

A control device for a vehicle according to an embodiment of the present invention includes:

the acquisition module is used for acquiring map data, vehicle data and auxiliary driving use data;

a first determination module for determining a prompt location and a corresponding risk level based on the map data, the vehicle data, and the driving assistance usage data;

the second determination module is used for determining prompt duration according to the risk level, wherein the prompt is used for prompting a driver to take over the vehicle;

and the control module is used for controlling the vehicle to send out the prompt after the prompt duration before the vehicle reaches the prompt position.

A server according to an embodiment of the present invention includes the vehicle control device described above.

A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program that, when executed by a processor, implements the steps of the control method of the vehicle of any of the above-described embodiments.

In the vehicle control method, the vehicle control device, the server and the storage medium, the risk level and the prompt position are determined according to the map data and the driving assistance use data, and the prompt duration is determined according to the risk level. Before the driver is required to intervene, the driver can be dynamically given proper prompt time in advance, so that the feeling of negative experience that response time given to the driver is too hasty and decision pressure is great is avoided, excessive interference caused by frequent prompt is avoided, and the driving experience of the driver is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;

FIG. 2 is a block diagram of a server according to an embodiment of the invention;

3-5 are schematic diagrams of a prompt scenario for a control method of a vehicle according to an embodiment of the invention;

FIG. 6 is a schematic diagram of another module of a server according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a presentation scene of a control method of a vehicle according to an embodiment of the present invention;

fig. 8 is a schematic view of a server and a vehicle according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1 and 2, a control method of a vehicle according to an embodiment of the present invention includes:

s12, acquiring map data, vehicle data and auxiliary driving use data;

s14, determining a prompting position and a corresponding risk level according to the map data, the vehicle data and the auxiliary driving use data;

s16, determining the prompting duration according to the risk level, wherein the prompting is a prompt for the driver to take over the vehicle;

and S18, indicating the time length before the vehicle reaches the indication position, and controlling the vehicle to give out an indication.

The control method of the vehicle according to the embodiment of the present invention can be realized by the control device 100 of the vehicle according to the embodiment of the present invention. Specifically, the control device 100 of the vehicle may be provided to the server. A control device 100 for a vehicle according to an embodiment of the present invention includes: an acquisition module 102, a first determination module 104, a second determination module 106, and a control module 108. The acquisition module 102 is used to acquire map data, vehicle data, and driving assistance usage data. The first determination module 104 is configured to determine a prompt location and a corresponding risk level based on the map data, the vehicle data, and the driving assistance usage data. The second determining module 106 is configured to determine a prompt duration according to the risk level, where the prompt is a prompt for prompting the driver to take over the vehicle. The control module 108 is configured to indicate a duration before the vehicle reaches the alert location, and control the vehicle to send an alert.

The vehicle control method and the vehicle control device 100 determine a risk level and a prompt position according to the map data and the driving assistance use data, and determine a prompt duration according to the risk level. Before the driver is required to intervene, the driver can be dynamically given proper prompt time in advance, so that the feeling of negative experience that response time given to the driver is too hasty and decision pressure is great is avoided, excessive interference caused by frequent prompt is avoided, and the driving experience of the driver is improved.

Specifically, the map data may be obtained by the server from a map provider when navigation is started, the map data may include high-precision map data, and the high-precision map data may include lane information, for example, when navigation is started, it may be known which lane the vehicle is located on, whether the lane where the vehicle is located has a speed limit sign, the type of the road where the vehicle is located, and the type of the road includes, but is not limited to, a ramp, an expressway, a city expressway, and the like.

Vehicle data may be acquired by various sensors of the vehicle and uploaded by the vehicle to a server. The driving assistance use data may be stored locally by the server or may be acquired by another server. The driving assistance use data includes data uploaded by all vehicles having a driving assistance function, which are in communication with the server, and data interacted with the all vehicles by the server based on the driving assistance function. The driving assistance may be performed by an automated Navigation Guided Pilot (NGP) of the vehicle. When the vehicle starts the driving assistance function, the NGP takes over the running of the vehicle. The NGP may acquire environmental information around the vehicle through the vehicle sensor and start the navigation application, thereby acquiring map data. The map interface of the navigation application can be displayed on a vehicle instrument panel display screen, a central control screen, a display screen in front of a secondary driver seat and the like. Preferably, under the condition that a vehicle instrument panel supports displaying a map interface, the map interface of the navigation application is displayed on a vehicle instrument panel display screen, so that a driver can master the position of the vehicle in time, distraction is avoided, and driving safety is guaranteed. The take-over may include, but is not limited to, controlling the steering, speed (braking and acceleration), transmission gear, lane-shifting, front-car following, lane-keeping, parking, etc. of the vehicle. Vehicles include, but are not limited to, fuel-powered vehicles, electric vehicles, hydrogen-powered vehicles, hybrid vehicles, extended range electric vehicles, and the like.

How "risk" is defined determines what data is needed for the determination. The "risk" may be defined as the severity of an accident after sudden exit from assisted driving or failure of assisted driving to complete the task. The 'accident severity' can be comprehensively judged according to the high-precision map data and the vehicle data (such as the vehicle speed).

The number of risk levels may include a plurality of risk levels, each risk level corresponding to a length of the reminder period. In one embodiment, the risk level is positively correlated with the length of the cue. Therefore, positive correlation is easy to realize in program control, and the error rate is reduced.

Specifically, the higher the risk level, the more advance prompting is needed to allow the driver sufficient time to prepare to take over the vehicle, i.e., the longer the advance prompting period, which is in accordance with general logic. It will be appreciated that in other embodiments, the risk level may be inversely related to the length of the prompt.

In one embodiment, the map data includes data for ramps, sinks, accident prone sections and speed limited sections, the vehicle data includes vehicle speed, and the driving assistance usage data includes success rate, take-over rate and accident withdrawal rate. Therefore, the data coverage range is wide, and more accurate judgment can be made.

Specifically, in one example, the map data includes ramp data, the prompt position may be determined as a ramp according to the ramp data, when the vehicle is driven on an expressway with the auxiliary driving function, and the navigation line is ready to drive off the expressway from the ramp, the prompt position is determined as the ramp and the corresponding risk level of the ramp, the corresponding prompt duration (e.g., 30 seconds) is determined according to the corresponding risk of the ramp, and a prompt for the driver to take over the vehicle is issued 30 seconds before the vehicle reaches the ramp. The ramp data may also include ramp curvature, the smaller the ramp curvature, the larger the steering angle of the vehicle, and the more likely the vehicle is to be out of control.

It is understood that which data in the map data can be used as the prompt position can be preset. For example, the ramp may be used as a prompt position, and in the navigation process, when a map within a certain distance range of the vehicle includes a ramp, or when the vehicle is a certain distance away from an entrance of the ramp, the prompt position may be determined as the ramp according to a preset setting.

In one example, the map data includes import data, which may refer to a vehicle cutting from a secondary road into a primary road, such as from a ramp into an expressway, from a secondary road into an urban expressway. The merge may also refer to a situation where a road where the vehicle is located meets another road in front of the road to form a road, i.e., a two-in-one situation. And is not particularly limited herein.

The accident-prone location may be determined in conjunction with the big data, for example, if it is determined from the big data that a certain road segment is more prone to traffic accidents during a certain time period, then the road segment may be determined as (during a certain time period, or all-weather) the accident-prone location. As the traffic accident is relatively easy to occur, it can be understood that the number of the traffic accidents occurring in one time period is more than the threshold number. The threshold number may be specifically set according to the road section, the time period, and the like, and is not specifically limited herein.

The speed-limit section can be determined by combining with a speed-limit sign set on the road, for example, a speed-limit number set on the road surface, a speed-limit sign set beside the road, a speed-limit rod, etc. The method can also be used for acquiring road section images through a camera of the vehicle, processing the images to determine whether the route contains a speed-limiting mark, and further determining whether the road section is a speed-limiting road section. The speed-limited section may also determine whether the section is a speed-limited section according to whether the map data identifies the section as a speed-limited section.

The vehicle speed (vehicle speed) may be used to determine whether the vehicle is susceptible to runaway, and the time to reach the cued location. For example, a vehicle may be considered likely to be out of control when the vehicle speed on the ramp is greater than a vehicle speed threshold (e.g., 50km/h), or not likely to be out of control. The specific vehicle speed threshold may be determined based on the road type. In the navigation process, the time for reaching the prompt position is different due to different speeds of the vehicle, the vehicle speed is faster under the condition that the prompt duration is not changed, the prompt is sent when the vehicle is far away from the prompt position, and the prompt is sent when the vehicle is slow and the vehicle is close to the prompt position.

The success rate data of the assistant driving use data can mean that the number of times of successfully passing through the road section in the scene accounts for the percentage of the total number of times of passing through the road section when the assistant driving function is started based on the same scene (such as passing through a ramp or an intersection).

The taking-over rate data of the auxiliary driving use data can mean that all vehicles take over the vehicle in percentage of the total times of passing through the road section by the driver after the prompt is sent based on the same scene (such as passing through a ramp or an intersection). The unexpected exit rate may refer to the percentage of the number of times that the driver-assistance system exits unexpectedly in a road segment in a certain scene to the total number of times of passing through the route, for example, in a road segment with a large traffic flow, the driver-assistance exits due to the fact that a nearby vehicle cuts into the lane where the vehicle is located, or in a congested road segment, the vehicle moves away and stops to cause the driver-assistance exits of the vehicle. Time period factors may also be taken into account to calculate the two percentages, such as rush hour on and off duty, holiday time, etc. During the work hours, the take-over rate data may be lower than other hours, since the driver is likely to make a penalty while driving in the morning.

It is to be appreciated that in other embodiments, the map data includes at least one of data for ramps, sinks, accident prone sections and speed limit sections, and the driving assistance usage data includes at least one of success rate, take-over rate and accident drop-out rate. In addition, the map data may also include data for other roads, and the driving assistance usage data may also include other usage data. The vehicle data may also include other data that affects the driving safety of the vehicle, such as the inclination of the vehicle, the steering angle of the vehicle, etc., without being limited to the vehicle speed.

In one embodiment, step S14 includes:

determining a prompt position and corresponding potential accident severity according to the map data and the vehicle data;

a risk level is determined based on the potential accident severity and the driver assistance usage data.

The control method of the vehicle according to the embodiment of the present invention can be realized by the control device 100 of the vehicle according to the embodiment of the present invention. Specifically, the first determination module 104 of the control device 100 of the vehicle is configured to determine the prompt position and the corresponding severity of the potential accident according to the map data and the vehicle data; and for determining a risk level based on the potential accident severity and the driver assistance usage data.

In this manner, a risk level may be determined.

Specifically, in one example, the vehicle auxiliary driving function is turned on, and when the vehicle is navigating, it can be determined that a certain distance ahead is about to enter the ramp according to the navigation data of the map and the vehicle speed, that is, it can be determined that the prompt position is the ramp entrance.

If the high-precision map data shows that the curvature of the ramp conforms to the definition of "large curvature", i.e., the minimum radius is less than 30 meters. At this time, the vehicle speed is greater than 50km/h, which indicates that the severity of the potential accident is high, and if the take-over rate of the assistant driving is low, which indicates that the severity of the accident is high after the assistant driving is suddenly quitted or the assistant driving cannot complete the task, therefore, the corresponding risk level of the current scene is high.

If the high-precision map data shows that the curvature of the ramp conforms to the definition of "small curvature", i.e., the minimum radius is greater than 30 meters. At this time, the vehicle speed is greater than 50km/h, which indicates that the severity of the potential accident is moderate, and if the take-over rate of the assistant driving is low, which indicates that the severity of the accident is high after the assistant driving is suddenly quitted or the assistant driving cannot complete the task, therefore, the corresponding risk level of the current scene is high.

If the high-precision map data shows that the curvature of the ramp conforms to the definition of "small curvature", i.e., the minimum radius is greater than 30 meters. At this time, the vehicle speed is less than 50km/h, which indicates that the severity of the potential accident is low, and if the take-over rate of the assistant driving is low, the severity of the accident caused by sudden exit of the assistant driving or incapability of completing the task of the assistant driving is high, so that the corresponding risk level of the current scene is moderate.

If the high-precision map data shows that the curvature of the ramp conforms to the definition of "small curvature", i.e., the minimum radius is greater than 30 meters. At this time, the vehicle speed is less than 50km/h, which indicates that the severity of the potential accident is low, and if the take-over rate of the assistant driving is high, which indicates that the severity of the accident caused by the sudden exit of the assistant driving or the assistant driving failing to complete the task is low, therefore, the corresponding risk level of the current scene is low. Other examples are not listed.

The severity of the accident can be calibrated in advance according to factors such as whether the road is easy to cause the accident, the vehicle speed and the vehicle steering angle, and the severity of the potential accident is determined according to the acquired map data, the acquired vehicle data and the preset calibration relation.

In one embodiment, step S16 includes:

when the risk level is a common level, determining a first prompt duration;

when the risk level is the emergency level, determining a second prompt duration;

when the risk level is a serious level, determining a fourth prompt duration;

the first prompt duration, the second prompt duration, the third prompt duration and the fourth prompt duration are increased in sequence.

The control method of the vehicle according to the embodiment of the present invention can be realized by the control device 100 of the vehicle according to the embodiment of the present invention.

Specifically, the second determination module 106 of the control device 100 of the vehicle is configured to:

when the risk level is a common level, determining a first prompt duration;

and when the risk level is the severity level, determining a fourth prompt time length.

As such, the risk levels can be divided into four levels: ordinary, urgent, very urgent, serious, accord with masses' use habit, promote user experience.

Specifically, the ordinary level is low, the corresponding first prompt duration is short, the emergency level is medium, the corresponding second prompt duration is medium, the emergency level is high, the corresponding third prompt duration is long, the severity level is high, and the corresponding fourth prompt duration is long.

In one example, the prompt duration of the normal level is 3 seconds, i.e., the vehicle is controlled to issue the prompt 3 seconds before the prompt position is reached. The prompting time of the emergency level is 10 seconds, namely the vehicle is controlled to give a prompt 10 seconds before the prompting position is reached. The prompting time of the emergency level is 20 seconds, namely the vehicle is controlled to give a prompt 20 seconds before the prompting position is reached. The prompting time of the severity level is 30 seconds, namely the vehicle is controlled to give a prompt 30 seconds before the prompting position is reached.

In one example, please refer to fig. 3, when the vehicle is about to accelerate/decelerate (for example, a speed-limited road section is monitored), it may be determined that the risk level corresponding to the current scene is a normal level, and the prompt duration is 3 seconds, and the vehicle is controlled to send out the prompt 3 seconds before reaching the speed-limited road section.

In one example, please refer to fig. 4, that the vehicle is about to exit the assistant driving, it may be determined that the risk level corresponding to the current scene is the emergency level, the prompt duration is 10 seconds, and the vehicle is controlled to issue the prompt 10 seconds before exiting the assistant driving.

In one example, please refer to fig. 5, when the vehicle is about to enter the ramp scene, it may be determined that the risk level corresponding to the current scene is the severity level, the prompt duration is 30 seconds, and the vehicle is controlled to issue the prompt 30 seconds before reaching the ramp.

In one embodiment, step S18 includes:

and controlling the vehicle to send out sound effect reminding and display screen popup window reminding.

The control method of the vehicle according to the embodiment of the present invention can be realized by the control device 100 of the vehicle according to the embodiment of the present invention. Specifically, the control module 108 of the control device 100 of the vehicle is used for controlling the vehicle to send out an audio alert and a display screen pop-up window alert.

Thus, the attention of the driver can be attracted.

Specifically, the audible alert may be a single audible alert, two times, or more than two times. Preferably, the sound effect reminding is single sound effect reminding, and due to the promptness of the reminding, a driver has enough time to concentrate, observe the environment and prepare for taking over after receiving the reminding.

The display screen can include at least one of instrument screen, well accuse screen and the display screen in front of the front passenger's seat, and it is instrument screen preferably to carry out the pop-up window and remind, so, can attract driver's attention more fast. 3-5 illustrate examples of meter screen pop-up reminders. The popup in fig. 3 indicates "speed limit change, vehicle is about to decelerate, please pay attention to road conditions", the popup in fig. 4 indicates "the vehicle is about to exit NGP at 100 m ahead, please make preparation", and the popup in fig. 5 indicates "the vehicle is about to enter ramp at 300 m ahead, please make preparation for taking over".

In the embodiment, the driver is informed of the specific risk reason during prompting, so that the driver can know the capability boundary and the weak scene of the auxiliary driving function, the situations of abuse, distraction and the like caused by excessive trust are reduced, and the safety risk is further caused.

It will be appreciated that in other embodiments, the vehicle is controlled to emit an audible alert or a display pop-up window alert.

In one embodiment, the control method of a vehicle further includes:

and when the preset condition is met, adjusting the risk level corresponding to the prompt position.

The control method of the vehicle according to the embodiment of the present invention can be realized by the control device 100 of the vehicle according to the embodiment of the present invention. Specifically, please refer to fig. 6, the control device 100 of the vehicle further includes an adjusting module 110, configured to adjust a risk level corresponding to the prompt position when a preset condition is met. Therefore, the experience of the driver can be improved, and the trust of the driver on the auxiliary driving system is improved.

Specifically, the reliability of the driving assistance technology is improved along with data accumulation, and the conventional low-pipe-connection-rate and high-risk scene is gradually changed into the high-pipe-connection-rate and low-risk scene. If the risk is judged only by the road information of the map data, the judgment of the risk degree is higher than the actual risk degree, and the driver is likely to be bored, so that the trust degree of the auxiliary driving system is reduced.

When the data volume of the risk road section is enough and the indexes such as the pipe receiving rate, the accidental withdrawal rate and the like are better than expected, the risk level can be reduced for the risk road section, and vice versa.

The preset condition may be a condition that usage data of the driving assistance reaches a statistically significant amount after the last risk assessment, a condition that usage data of the driving assistance reaches a certain time (for example, one month, one quarter, or the like) since the last risk assessment, or other suitable conditions.

In one example, the unexpected drop-out rate is taken as an example. According to the high-precision map and the traffic flow data display attached to the map, the traffic flow of a section of intersection in the working period is large, and the standard of being classified as the emergency level is achieved. And when the use data of the auxiliary driving reaches the quantity with statistical significance after the last risk assessment, the road section risk grading system background of the auxiliary driving automatically re-assesses the road section. Usage data to evaluate assisted driving shows an unexpected exit rate of less than 0.5% on this road segment. Based on the reliability of the driving assistance function on the road section, the risk level of the road section is reduced from the emergency level to the normal level, and the prompting time length is adjusted to be 3 seconds. Then, the vehicle reminds the user of the high-traffic road section about entering the road section by sound effect and meter pop-up window 3 seconds before reaching the road section, as shown in fig. 7.

Referring to fig. 8, a server 1000 according to an embodiment of the present invention includes the vehicle control device 100 according to the above embodiment.

The server 1000 determines a risk level and a prompt position according to the map data and the driving assistance use data, and determines a prompt duration according to the risk level. Before the driver is required to intervene, the driver can be dynamically given proper prompt time in advance, so that the feeling of negative experience that response time given to the driver is too hasty and decision pressure is great is avoided, excessive interference caused by frequent prompt is avoided, and the driving experience of the driver is improved.

In fig. 8, the vehicle 200 includes a vehicle body 300 and a central control screen 400, the vehicle body 300 has a cab, the central control screen 400 is disposed in the cab, and the central control screen can perform sound effects and/or display screen pop-up window reminding according to a control command of the server 1000.

It should be noted that the above explanation of the embodiments and advantageous effects of the control method of the vehicle and the control apparatus 100 of the vehicle is also applicable to the computer-readable storage medium used in the server 1000 and the following embodiments, and is not detailed herein to avoid redundancy.

For example, when the program is executed by the processor, the steps of the following vehicle control method are realized:

s12, acquiring map data, vehicle data and auxiliary driving use data;

It should be noted that the values and the numerical ranges (if any) listed in the above embodiments of the present invention are only for convenience of description and understanding of the schemes, and should not be construed as limiting the scope of the present invention.

In summary, in the technical solution of the embodiment of the present invention, different situations requiring prompting can be classified into multiple stages according to the severity of risk, and the more serious the advance of risk prompting is, the greater the advance is, the driver is given enough reaction time. And prompting the driver to prepare correspondingly in advance according to the severity of the foreseeable risks. The technical scheme of the embodiment of the invention better contains different mental states and reaction speeds of the driver, clearly conveys the boundary of the auxiliary driving technology, and is beneficial to establishing proper trust to improve the safety.

In the present invention, the computer program comprises computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The memory 20 may include high speed random access memory and may also include non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device. The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A control method of a vehicle, characterized by comprising:

acquiring map data, vehicle data and driving assistance use data;

2. The control method of a vehicle according to claim 1, wherein the map data includes at least one of data of a ramp, an influx, an accident-prone section, and a speed-limited section, the vehicle data includes a vehicle speed, and the driving assistance use data includes at least one of a success rate, a take-over rate, and an unexpected drop-out rate.

3. The method of controlling a vehicle according to claim 1, wherein determining a reminder location and a corresponding risk level based on the map data, the vehicle data, and the driving assistance usage data comprises:

4. The control method of a vehicle according to any one of claims 1 to 3, characterized in that the risk level has a positive correlation with the prompt duration.

5. The method according to claim 4, wherein determining a prompt duration according to the risk level includes:

when the risk level is a common level, determining a first prompt duration;

when the risk level is a severity level, determining a fourth prompt duration;

6. The method according to claim 1, wherein controlling the vehicle to issue the prompt for the prompt duration before the vehicle reaches the prompt position includes:

7. The control method of a vehicle according to claim 1, characterized by further comprising:

8. A control apparatus of a vehicle, characterized by comprising:

9. A server characterized by comprising the control device of the vehicle according to claim 8.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, realizes the steps of the control method of the vehicle according to any one of claims 1 to 7.