CN114148336A

CN114148336A - Vehicle control method and device

Info

Publication number: CN114148336A
Application number: CN202111499210.6A
Authority: CN
Inventors: 张洪亮; 陈海鸥; 肖晖
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-03-08

Abstract

The application relates to the technical field of automobiles, and discloses a vehicle control method and a vehicle control device, wherein the method comprises the steps of obtaining the state of a driver; responding to the condition that the driver is in a fatigue driving state, and outputting first warning information; timing the duration of the first warning information; responding to that the duration time of the first warning information reaches a first threshold value and the driver state is the fatigue driving state, and outputting second warning information; timing the duration of the second warning information; entering an automatic driving mode in response to the duration of the second warning message reaching a second threshold and the driver state being the fatigue driving state; the warning intensity of the second warning information is greater than that of the first warning information, and the first warning information and the second warning information are used for giving a warning to a driver. The vehicle control method and the vehicle control device can improve the safety of the vehicle.

Description

Vehicle control method and device

Technical Field

The application relates to the technical field of vehicles, in particular to a vehicle control method and device.

Background

In recent years, vehicle safety accidents caused by fatigue driving have attracted more and more attention. The fatigue driving probability of a driver is reduced through the auxiliary driving technology of the vehicle, and the improvement of a vehicle protection mechanism after the driver is fatigue driven is particularly important.

Disclosure of Invention

In view of this, the present application provides a vehicle control method and apparatus, which can reduce the risk of accidents caused by fatigue driving to a certain extent and improve the safety of the vehicle. Specifically, the method comprises the following technical scheme:

the embodiment of the application provides a vehicle control method, which comprises the following steps:

acquiring a driver state;

responding to the condition that the driver is in a fatigue driving state, and outputting first warning information;

timing the duration of the first warning information;

responding to that the duration time of the first warning information reaches a first threshold value and the driver state is the fatigue driving state, and outputting second warning information;

timing the duration of the second warning information;

entering an automatic driving mode in response to the duration of the second warning message reaching a second threshold and the driver state being the fatigue driving state;

the warning intensity of the second warning information is greater than that of the first warning information, and the first warning information and the second warning information are used for giving a warning to a driver.

In an implementation manner of the embodiment of the present application, after entering the automatic driving mode, the method further includes:

detecting environment information outside a vehicle, wherein the environment information at least comprises lane line information and obstacle information;

and executing lane changing operation in response to the environment information meeting the safe lane changing condition.

executing a lane automatic keeping function in response to the environmental information not meeting the lane changing condition and the vehicle being located in the lane line;

in response to the vehicle not being within the lane line, the deceleration braking is performed.

In an implementation manner of the embodiment of the present application, the method further includes:

and outputting third warning information in response to that the duration of the second warning information reaches a third threshold value and the driver state is the fatigue driving state, wherein the third warning information is used for giving a warning to the outside of the vehicle.

outputting fourth warning information, wherein the fourth warning information comprises steering wheel vibration.

An embodiment of the present application further provides a vehicle control apparatus, the apparatus includes:

a first acquisition module configured to acquire a driver state;

a first output module configured to output first warning information in response to a driver's state being a fatigue driving state;

a second acquisition module configured to time a duration of the first alert information;

a second output module configured to output second warning information in response to the duration of the first warning information reaching a first threshold and the driver state being the fatigue driving state;

a third obtaining module configured to time a duration of the second alert information;

a first execution module configured to enter an autonomous driving mode in response to a duration of the second warning information reaching a second threshold and the driver state being the fatigue driving state;

In an implementation manner of the embodiment of the present application, the apparatus further includes:

a detection module configured to detect environmental information outside a vehicle, the environmental information including at least lane line information and obstacle information;

a second execution module configured to execute a lane change operation in response to the environmental information satisfying a safe lane change condition.

a third execution module configured to execute a lane automatic keeping function in response to the environmental information not satisfying the lane change condition and a vehicle being located within a lane line;

a fourth execution module configured to execute a deceleration brake in response to the vehicle not being located within the lane line.

and the third output module is configured to output third warning information in response to the duration reaching a third threshold and the driver state being the fatigue driving state, wherein the third warning information is used for giving a warning to the outside of the vehicle.

a fourth output module configured to output fourth warning information, the fourth warning information including steering wheel vibration.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

according to the vehicle control method and device provided by the embodiment of the application, a multi-level warning mechanism is set for the fatigue driving state of a driver, and the vehicle enters an automatic driving mode temporarily under the condition that the driver is still in the fatigue driving state after warning information sent by the vehicle lasts for a period of time, so that the risk of accidents caused by the fatigue driving of the driver is reduced to a certain extent, and the safety of the vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating a vehicle control system according to an embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating a vehicle control method provided by an embodiment of the present application;

FIG. 3 is a flow chart illustrating another vehicle control method provided by an embodiment of the present application;

FIG. 4 is a flow chart illustrating a method for controlling a vehicle after entering an automatic driving mode according to an embodiment of the present application;

fig. 5 shows a schematic structural diagram of a vehicle control device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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. In order to make the technical solutions and advantages of the present application clearer, the following describes the vehicle control method, device, system, and the like in detail with reference to the accompanying drawings.

Fig. 1 illustrates a vehicle control system provided in an embodiment of the present application, and as shown in fig. 1, the vehicle control system may include at least a control system 101, a sensing system 102, and a warning system 103, where the control system is in signal connection with the sensing system and the warning system. The vehicle control method described below in the present application may be executed by a vehicle control system as shown in fig. 1.

The core element of the Control system 101 is a controller, which may be, for example, an ECU (Electronic Control Unit) in the vehicle, or a controller of another additional device. And, the control system 101 can be in signal connection with an execution system in the vehicle to acquire a vehicle flameout signal and realize automatic control of the vehicle, such as braking, steering, driving and the like of the vehicle. Correspondingly, the actuation system may include at least one of a braking device, a steering device, and a throttle device.

In some embodiments, the Control System 101 may include at least EMS (Engine Management System), TCU (Transmission Control Unit), BCM (Body Control Module), ESP (Electronic Stability Program), EPS (Electric Power Steering), TJA (Traffic Jam Assist System), ICA (Integrated Cruise Assist System), ACC (Adaptive Cruise Control), and the like.

The sensing system 102 may include an in-vehicle sensing system and an out-vehicle sensing system for sensing an environment inside or outside the vehicle through an image capture device and a sensor, respectively, and transmitting the sensed information to the controller.

In some embodiments, the image capture device in the sensing system 102 may be an infrared camera and the sensor may include at least a radar device. The sensing System 102 may further include a DMS (Driver Monitor System), a FCM (Front Camera module), an FRM (Front Radar module), a BSD (Blind Spot Detection System), and the like.

The warning system 103 may include an in-vehicle warning system and an out-vehicle warning system, and when the control system 101 determines that the driver is in a fatigue driving state according to the information provided by the sensing system 102, the in-vehicle warning system may send warning information to the driver, and the out-vehicle warning system may send warning information to other vehicles or pedestrians outside the vehicle.

In some embodiments, the in-vehicle warning system may include an ICM (Instrument communication Manager), an IHU (information Head Unit), or the like. The external warning system of the automobile can comprise a danger alarm lamp, a brake lamp, an automobile horn and the like.

It should be noted that the above systems and modules may have multiple functions at the same time, for example, the EMS may be used as a control system to control the vehicle to steer and brake, and may also be used as a sensing system to detect the vehicle speed.

In the related art, when a sensing system in a vehicle detects that a technician is in a fatigue driving state, a visual and audible warning is often sent to a driver through an in-vehicle warning system, and the warning can be finished when the warning time reaches a preset time or until the driver is detected to be in a normal driving state (i.e., the driver recovers from the fatigue driving state). However, the warning manner for fatigue driving in the related art is too simple, and for a driver in a deep fatigue driving state, it may be difficult to receive warning information inside the vehicle and thus it may not be possible to recover from the deep fatigue driving state in time, resulting in an accident.

Fig. 2 illustrates a vehicle control method provided in an embodiment of the present application. As shown in fig. 2, the vehicle control method includes:

s201, acquiring a driver state;

s202, responding to the condition that the driver is in a fatigue driving state, and outputting first warning information;

s203, timing the duration of the first warning information;

s204, responding to the condition that the duration time of the first warning information reaches a first threshold value and the state of a driver is a fatigue driving state, and outputting second warning information;

s205, timing the duration of the second warning information;

and S206, responding to the fact that the duration time of the second warning information reaches a second threshold value and the state of the driver is a fatigue driving state, and entering an automatic driving mode.

The warning intensity of the second warning information is greater than that of the first warning information, and the first warning information and the second warning information are used for giving a warning to the driver.

Optionally, after entering the automatic driving mode, the method further comprises:

detecting environment information outside the vehicle, wherein the environment information at least comprises lane line information and obstacle information;

executing a lane automatic keeping function in response to that the environmental information does not satisfy the lane change condition and the vehicle is located in the lane line;

Optionally, the method further comprises:

and outputting third warning information in response to that the duration of the second warning information reaches a third threshold and the state of the driver is a fatigue driving state, wherein the third warning information is used for giving a warning to the outside of the vehicle.

and outputting fourth warning information, wherein the fourth warning information comprises steering wheel vibration.

According to the vehicle control method provided by the embodiment of the application, a multi-level warning mechanism is set for the fatigue driving state of the driver, and the vehicle enters the automatic driving mode temporarily under the condition that the driver is still in the fatigue driving state after warning information sent by the vehicle lasts for a period of time, so that the risk of accidents caused by the fatigue driving of the driver is reduced to a certain extent, and the safety of the vehicle is improved.

FIG. 3 is a flow diagram illustrating another vehicle control method that may be performed by the vehicle control system described above, and in particular by the control system therein, according to an exemplary embodiment. As shown in fig. 3, the method may include:

and S301, acquiring the state of the driver.

In a particular embodiment, the driver status is continuously monitored by the DMS system. The DMS system may determine the technician status based on driver facial image detection and processing, particularly from driver motion detection such as eyelid closure, blinking, gaze direction, yawning, and head movement. The DMS system can mainly detect a face image of a driver using an infrared camera.

In some embodiments, the user may select whether to open the DMS system in the IHU, or may set an automatic opening condition of the DMS system, thereby satisfying different needs of the user.

S302, judging whether the driver state is a fatigue driving state.

In a particular embodiment, the driver state may be considered to be a fatigue driving state when the driver state satisfies any one of the following conditions: the eyelid closing time length of a driver reaches a time length threshold value, the blink frequency reaches a first frequency threshold value, the yawning frequency reaches a second frequency threshold value, the nodding frequency reaches a third frequency threshold value, and the deviation angle between the staring direction and the right front of the vehicle reaches an angle threshold value.

And S303, outputting the first warning information.

In the step, first warning information is output in response to the driver's state being a fatigue driving state. In particular embodiments, the fatigue driving state detected by the DMS system may be divided into a plurality of levels. Correspondingly, the first warning information may also be divided into a plurality of levels. The control system can store the corresponding relation between the fatigue grade and the first warning information, and outputs the first warning information of the corresponding grade according to the grade of the detected fatigue driving state of the driver.

Optionally, the first warning information comprises at least one of visual warning information and audible warning information. The visual alert message may be displayed via the ICM. For example, the Display is performed by a console Display screen or HUD (Head Up Display) device inside the vehicle. The audible warning information may be played by a sound system within the vehicle.

For example, the fatigue driving state of the driver may be divided into two stages, a light fatigue driving state and a heavy fatigue driving state, wherein the light fatigue driving state corresponds to the first warning information of one stage, and the heavy fatigue driving state corresponds to the first warning information of two stages. The primary first warning information may be visual warning information, the secondary first warning information may be audible warning information, or a combination of audible warning information and visual warning information.

S304, timing the duration of the first warning information.

In particular embodiments, the vehicle control system may monitor the duration of the first warning message and continually repeat acquiring the driver status for that duration.

S305, judging whether the duration of the first warning information reaches a first threshold value and the state of the driver is a fatigue driving state.

And before the duration reaches the first threshold, if the driver state is detected to be the normal driving state, ending the first warning information. And simultaneously resetting the duration of the first warning information. In some embodiments, in order to improve the accuracy of the determination of the driver's state, the first warning information may be ended when the driver's state is detected as the normal driving state a plurality of times in succession. The number of consecutive times may be set by the user or the car manufacturer, for example, three times. In some embodiments, in the case that the duration of the first warning information does not reach the first threshold, or it has been detected that the driver status is the normal driving status, it may return to the above step S301 to retrieve the driver status.

And when the duration of the first warning information reaches a first threshold value, acquiring the current driver state. If the current driver state is still the fatigue driving state after the first warning information continues for the first threshold, it indicates that the first warning information is not effective, so that step S306 described below may be performed to output a higher level of warning information to the driver.

S306, outputting second warning information.

In the step, second warning information is output in response to that the duration of the first warning information reaches a first threshold and the driver state is a fatigue driving state.

In a specific embodiment, the user or the vehicle manufacturer can set the form and intensity of the second warning message through the IHU. For example, the second warning information may be audible warning information, and the volume of the second warning information may be greater than the volume of the first warning information. This second warning information still can choose the music type of irritability for use, for example for the music that the tone is high, the rhythm is fast to can warn the driver through high volume and irritability music two aspects, in order to play better warning effect.

And S307, timing the duration of the second warning information.

When the driver is in the deep fatigue driving state, even the second warning information with high warning strength may be difficult to recover the driver from the deep fatigue driving state, and other protective measures are needed to ensure the safety of the vehicle.

In particular embodiments, the vehicle control system may monitor the duration of the second warning message and continually repeat acquiring the driver status for that duration.

S308, judging whether the duration of the second warning information reaches a second threshold value and the state of the driver is a fatigue driving state.

And when the duration time does not reach the second threshold value, if the driver state is detected to be the normal driving state, ending the second warning information. And meanwhile, resetting the duration of the second warning information. In some embodiments, in the case that the duration of the second warning information does not reach the second threshold, or it has been detected that the driver status is the normal driving status, it may return to the above step S301 to retrieve the driver status. The magnitude relationship between the first threshold and the second threshold is not limited in this application. In some embodiments, the second threshold may be greater than the first threshold. In other embodiments, the second threshold may be less than the first threshold for better protection and vehicle safety.

And when the duration of the second warning information reaches a second threshold value, acquiring the current driver state. If the current driver state is still the fatigue driving state after the second warning information continues to reach the second threshold, which indicates that the second warning information is not effective, step S309 described below may be executed to ensure the safety of the vehicle by performing other protective measures.

And S309, entering an automatic driving mode.

In the step, in response to that the duration of the second warning information reaches a second threshold and the driver state is a fatigue driving state, the automatic driving mode is entered. In a specific embodiment, when the duration of the second warning information reaches the second threshold, the vehicle control system may take over the driving authority of the vehicle from the driver if the current driver state is still a fatigue driving state.

In some embodiments, the driver state is still continuously monitored when the vehicle enters the autonomous driving mode, and the driving authority of the vehicle is returned to the driver when the driver resumes the normal driving state. That is, entering the autonomous driving mode may include: and acquiring the state of the driver, and exiting the automatic driving mode in response to the condition that the state of the driver is the normal driving state.

S310, judging whether the duration time of the second warning information reaches a third threshold value and the state of the driver is a fatigue driving state.

Similar to the above steps S305 and S308, when the duration time does not reach the third threshold, if it is detected that the driver' S state is the normal driving state, the second warning information is ended. And meanwhile, resetting the duration of the second warning information. In some embodiments, in the case that the duration of the second warning information does not reach the third threshold, or it has been detected that the driver status is the normal driving status, it may return to the above step S301 to retrieve the driver status.

And S311, outputting third warning information.

In this step, third warning information is output in response to that the duration of the second warning information reaches a third threshold and the driver state is a fatigue driving state.

In a specific embodiment, the third warning information is used for warning the outside of the vehicle. For example, a danger warning lamp, a brake lamp or a horn of the automobile. In some embodiments, the process of outputting the third alert information may be performed by the BCM.

The magnitude relationship between the third threshold and the first threshold and the second threshold is not limited in this application. In some embodiments, the third threshold may be smaller than the second threshold, that is, the vehicle control system may first send a warning to the outside of the vehicle to remind other vehicles or pedestrians around the vehicle to avoid, so that the risk of accidents occurring when the vehicle performs the following operations such as braking and lane changing can be effectively reduced. In other embodiments, the third threshold may also be equal to or greater than the second threshold.

In other words, the execution sequence of steps S311 and S309 is not limited in the embodiment of the present application. In some embodiments, step S311 may be performed first and then step S309 may be performed, step S309 may be performed first and then step S311 may be performed, or steps S3114 and S309 may be performed simultaneously.

Further, as shown in fig. 4, after entering the automatic driving mode, the method may further include the step of ensuring the safety of the vehicle in case the driver is in a deep fatigue driving state.

S401, environment information outside the vehicle is detected.

In particular embodiments, environmental information external to the vehicle, which may include at least lane line information and obstacle information, may be detected by the BSD system, the FCM, and/or the FRM. The obstacle information includes at least one of other vehicle information and pedestrian information.

The BSD system has two radar devices mounted in a rear bumper of a vehicle, which can detect other vehicle information behind the vehicle. The FRM may detect other vehicle information in front of the vehicle, and the FCM may detect lane line information.

S402, judging whether the vehicle is located in the lane line.

In a specific embodiment, whether the vehicle is located in the lane line may be determined according to the feedback message of the FCM. When the FCM does not detect lane line information, the vehicle may be considered not to be located within the lane line. In the embodiment of the present application, when the vehicle is not located in the lane line, the following step S403 is performed; when the FCM detects the lane line information, the vehicle can be considered to be located within the lane line, and step S404 described below is executed.

And S403, executing deceleration braking.

In this step, when the vehicle is not located in the lane line, deceleration braking is performed. In particular embodiments, a retarding braking operation may be performed by the ESP system to bring the vehicle to a gradual stop when the vehicle is not within the lane line.

S404, judging whether the environmental information meets the safe lane changing condition.

The vehicle control system may determine whether a safe lane change condition is satisfied based on the environmental information. In some embodiments, the safe lane change condition may include at least that the vehicle is located within a lane line and a longitudinal distance between the vehicle and other surrounding vehicles is greater than a corresponding distance threshold. For example, the current vehicle in the autonomous driving mode may be a target vehicle, the lane in which the target vehicle is located may be a current lane, the lane to be passed by the target vehicle for lane change and the lane to be finally reached may be a target lane, and the safe lane change condition may include at least that a longitudinal distance between a front vehicle in the current lane and the target vehicle is greater than a first distance, a longitudinal distance between a front vehicle in the target lane and the target vehicle is greater than a second distance, and a longitudinal distance between a rear vehicle in the target lane and the target vehicle is greater than a third distance. The relation among the first distance, the second distance and the third distance is not limited in the embodiment of the application, and the values of the first distance, the second distance and the third distance are subject to the condition that the vehicle can change lanes without collision.

S405, executing lane change operation.

In this step, a lane change operation is performed in response to the environmental information satisfying the safe lane change condition.

In a specific embodiment, the speed at which the vehicle travels in the current lane may be taken as the current speed, and the lane change operation may be performed at the current speed. The lane change operation is performed without deceleration, and the risk of collision during the lane change process can be reduced to some extent.

In some embodiments, the target lane of the lane-change operation may be an emergency lane, so that the vehicle may make a lane change in a direction toward the emergency lane.

Alternatively, the deceleration braking operation is performed when it is detected that the vehicle reaches the target lane. In some embodiments, the lane-change operation may be performed by the EPS system and the retarding brake operation may be performed by the ESP system.

And S406, executing a lane automatic keeping function.

In this step, in response to the environmental information not satisfying the lane change condition and the vehicle being located within the lane line, the lane automatic keeping function is executed.

When the vehicle is located within the lane line but the distance between surrounding obstacles and the vehicle does not satisfy the corresponding distance threshold, it is possible to keep the vehicle running continuously along the center of the lane line within the current lane, i.e., to perform the lane automatic keeping function. In some embodiments, the lane keeping function may be performed by an ACC and/or TJA and/or ICA system.

In the process, the state information of the driver and the environment information outside the vehicle are continuously monitored, and when the state information of the driver is in a normal driving state, the automatic driving mode is exited to return the driving authority of the vehicle to the driver. And when the driver is continuously in the fatigue driving state and the environmental information meets the safe lane changing condition, executing lane changing operation.

In some embodiments, the driver state information and the environment information outside the vehicle can be continuously monitored during the deceleration braking process, and when the driver state information is in a normal driving state, the automatic driving mode is exited to return the driving authority of the vehicle to the driver. And when the driver is continuously in the fatigue driving state and the environment information meets the condition that the vehicle is positioned in the lane line, executing corresponding operation.

Optionally, when the vehicle enters the automatic driving mode, the external warning system continuously outputs the third warning information. And when the automatic driving mode is exited, the third warning information is ended.

Optionally, when entering the automatic driving mode, a fourth warning message may be output, and the fourth warning message may include a steering wheel vibration. In some embodiments, when the vehicle cannot change lanes or decelerate and the lane automatic keeping function needs to be performed, the driver may be further alerted by the steering wheel vibration. In other embodiments, the fourth warning message may be output simultaneously when the vehicle enters the automatic driving mode. Namely, in the course of executing lane changing operation, deceleration braking operation and lane automatic keeping function, the driver is warned by the vibration of the steering wheel. In some embodiments, the fourth warning message may also include seat vibration.

Optionally, in response to completion of the deceleration braking of the vehicle, the door is unlocked and the third warning message is continuously output.

In a specific embodiment, after the vehicle speed is reduced to zero, the vehicle can be considered to be decelerated and braked completely, and the BCM can control the vehicle door to be unlocked so as to facilitate rescue workers to enter the interior of the vehicle and continuously output third warning information. When the DMS detects that the rescuers are approaching, the third warning information can be displayed, and the vehicle control system is provided.

The embodiment of the present application further provides a vehicle control device 500, as shown in fig. 5, the device includes:

a first obtaining module 501 configured to obtain a driver state;

a first output module 502 configured to output first warning information in response to the driver's state being a fatigue driving state;

a second obtaining module 503 configured to count a duration of the first warning information;

a second output module 504 configured to output second warning information in response to the duration of the first warning information reaching a first threshold and the driver state being a fatigue driving state;

a third obtaining module 505 configured to time a duration of the second alert information;

a first executing module 506 configured to enter an automatic driving mode in response to the duration of the second warning message reaching a second threshold and the driver state being a fatigue driving state;

Optionally, the apparatus further comprises:

a detection module configured to detect environmental information outside the vehicle, the environmental information including at least lane line information and obstacle information;

and the second execution module is configured to execute lane change operation in response to the environment information meeting the safe lane change condition.

Optionally, the apparatus further comprises:

a third execution module configured to execute a lane automatic keeping function in response to the environmental information not satisfying the lane change condition and the vehicle being located within the lane line;

Optionally, the apparatus further comprises:

and the third output module is configured to output third warning information in response to the duration reaching a third threshold and the driver state being a fatigue driving state, wherein the third warning information is used for giving a warning to the outside of the vehicle.

Optionally, the apparatus further comprises:

a fourth output module configured to output fourth warning information, the fourth warning information including a steering wheel vibration.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

It should be noted that: the vehicle control device provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the vehicle control device and the vehicle control method provided by the above embodiment belong to the same concept, and the specific implementation process is described in the method embodiment, which is not described herein again.

In this application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.

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

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

Claims

1. A vehicle control method, characterized by comprising:

acquiring a driver state;

timing the duration of the first warning information;

timing the duration of the second warning information;

2. The method of claim 1, wherein after entering the autonomous driving mode, the method further comprises:

3. The method of claim 2, wherein after entering the autonomous driving mode, the method further comprises:

4. The method of claim 1, further comprising:

5. The method of claim 2, wherein after entering the autonomous driving mode, the method further comprises:

6. A vehicle control apparatus, characterized in that the apparatus comprises:

a first acquisition module configured to acquire a driver state;

7. The apparatus of claim 6, further comprising:

8. The apparatus of claim 7, further comprising:

9. The apparatus of claim 6, further comprising:

10. The apparatus of claim 7, further comprising: