CN115027498A

CN115027498A - Vehicle control method, device, equipment and medium

Info

Publication number: CN115027498A
Application number: CN202210722560.2A
Authority: CN
Inventors: 李姣; 张广伟; 孙雁宇
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-09-09

Abstract

The application provides a vehicle control method, a vehicle control device, a vehicle control apparatus and a vehicle control medium. The method comprises the following steps: after acquiring abnormal information generated in the running process of the vehicle, controlling a human-computer interaction interface of the vehicle to output primary warning information according to the abnormal information, wherein the primary warning information is used for prompting a driver of the vehicle to take over the vehicle; determining parking indication information according to vehicle state information and road information corresponding to the vehicle; controlling a human-computer interaction interface to output parking indication information so as to prompt a driver to park a vehicle according to the parking indication information; judging whether the driver takes over the vehicle or not within a preset time length of outputting the primary warning information; and when the fact that the driver does not manage the vehicle is detected, the vehicle is parked according to the parking indication information. The method increases the interactivity between the vehicle and the driver, and can prompt the driver to take over the vehicle in time, so that driving danger is avoided.

Description

Vehicle control method, device, equipment and medium

Technical Field

The application belongs to the technical field of automatic driving, and particularly relates to a vehicle control method, device, equipment and medium, which can be applied to the scenes of ports, high speed, logistics, mines, closed parks, urban traffic and the like.

Background

With the development of the automatic driving technology in recent years, the automatic driving vehicle is operated on the ground in a harbor, a high-speed scene, and the like.

In the process of automatic driving of the vehicle, if abnormal conditions cause that the vehicle can not be automatically driven any more, the existing safe parking system can prompt a driver to take over the vehicle through information forms such as voice, characters and the like, and when the driver does not take over the vehicle, the driver can automatically control the vehicle to park according to the surrounding environment. When the driver takes over the vehicle, the driver can park the vehicle to a safe area such as a no-parking road according to the surrounding road conditions.

However, due to insufficient interactivity between the vehicle and the driver, the driver may not receive the takeover prompt in time, and cannot take corresponding measures to safely stop the vehicle after receiving the takeover prompt, so that driving danger is easy to occur.

Disclosure of Invention

The application provides a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle control medium, which are used for solving the problem that driving danger is easy to occur due to insufficient interactivity between a vehicle and a driver.

In a first aspect, the present application provides a vehicle control method comprising:

after abnormal information generated in the running process of a vehicle is acquired, controlling a man-machine interaction interface of the vehicle to output primary warning information according to the abnormal information, wherein the primary warning information is used for prompting a driver of the vehicle to take over the vehicle;

determining parking indication information according to the vehicle state information and the road information corresponding to the vehicle;

controlling the human-computer interaction interface to output the parking indication information so as to prompt the driver to park the vehicle according to the parking indication information;

judging whether the driver takes over the vehicle or not within a preset time length of outputting the primary warning information;

and when the fact that the driver does not manage the vehicle is detected, the vehicle is parked according to the parking indication information.

In the embodiment, after the abnormal information generated in the driving process of the vehicle is acquired, the man-machine interaction interface of the vehicle is controlled to output the primary warning information, so that the driver is prompted to take over the vehicle. And then, determining stop indication information according to the vehicle state information and the road information corresponding to the vehicle, and controlling the human-computer interaction interface to output the stop indication information. According to the method, various information is continuously output by using the human-computer interaction interface, so that the interactivity between the vehicle and the driver is increased, and the driving danger is avoided. On the one hand, the parking indication information exists, so that the driver can immediately park the vehicle according to the parking indication information after receiving the taking-over prompt, the driver does not need to decide a parking position and a parking path according to the road condition, the reaction time of the driver is shortened, and the driving danger is avoided. On the other hand, if the driver does not take over the vehicle after the first-level warning information is output, the presence of the parking indication information can continuously prompt the driver to take over the vehicle as soon as possible. Although the driver still does not take over the vehicle, the safe parking control system can also control the vehicle to park autonomously, but the driver controls the vehicle undoubtedly when the vehicle is abnormal, the flexibility and the safety are higher, therefore, the driver can be prompted to take over the vehicle as soon as possible by outputting the parking indication information after the warning information is output, and the driving danger is further avoided.

In a possible implementation manner, the determining the stop indication information according to the vehicle state information and the road information corresponding to the vehicle specifically includes:

determining parking path information according to the vehicle state information and the road information corresponding to the vehicle;

determining a lane through which the vehicle passes when the vehicle stops according to the stop path information;

determining parking danger information according to a first vehicle position corresponding to a running vehicle in the lane and a first current vehicle speed, wherein the running vehicle is located on the rear side of the vehicle running direction;

and determining parking indication information according to the parking path information and the parking danger information.

In the embodiment, after the man-machine interaction interface for controlling the vehicle outputs the primary warning information to prompt the driver, the parking indication information capable of indicating the driver to park the vehicle safely can be generated, the interactivity between the vehicle and the driver is increased, and driving danger caused by untimely response after the driver takes over the vehicle is avoided. The parking path information in the parking indication information can indicate the path of the safe parking of the vehicle, and the parking danger information can indicate the danger degree of parking according to the parking path information, so that the driver or the vehicle can be indicated to smoothly park the vehicle to a dangerous area through the parking indication information, and the driving danger is avoided. Further, since a lane change may occur when the vehicle stops, that is, a change to another lane is required, a vehicle located on the rear side in the vehicle traveling direction on the lane may collide with the vehicle during the stop. Therefore, the parking danger information needs to be determined according to the first vehicle position corresponding to the running vehicle in the lane and the first current vehicle speed, so that whether the vehicle can be parked according to the parking path information at present is judged, the parking safety is guaranteed, and the running danger is avoided.

In a possible implementation manner, the determining parking risk information according to a first vehicle position corresponding to a vehicle traveling in the lane and a first current vehicle speed specifically includes:

judging whether a running vehicle exists in the lane within a first preset distance from the vehicle according to a first vehicle position corresponding to the running vehicle in the lane;

when no running vehicle exists within a first preset distance of the vehicle, the parking danger information is first parking information;

when a running vehicle exists in the first preset distance of the vehicle, determining whether the running vehicle is within a second preset distance from the vehicle, if so, determining that the parking danger information is third parking information, if not, determining that whether a first current vehicle speed corresponding to the running vehicle is greater than a vehicle speed threshold value, if the first current vehicle speed is greater than the vehicle speed threshold value, determining that the parking danger information is third parking information, if the first current vehicle speed is not greater than the vehicle speed threshold value, determining that the parking danger information is second parking information, and the first preset distance is greater than the second preset distance.

In the present embodiment, the degree of risk of parking according to the parking path information may be determined according to the distance area where the traveling vehicle is located in the lane and the vehicle speed range, and different parking risk information may be determined according to different degrees of risk. Through such setting, carry out the classification to the dangerous information of berthing, can further increase the interactivity between vehicle and the driver to avoid taking place driving danger.

In a possible embodiment, the parking the vehicle according to the parking indication information specifically includes:

judging whether the parking danger information in the parking indication information is third parking information or not;

if so, the vehicle is not parked according to the parking indication information until the parking danger information is changed into first parking information or second parking information;

if not, judging whether the parking danger information is first parking information or not, if so, parking the vehicle according to the parking path information in the parking indication information, if not, acquiring a second vehicle position and a second current vehicle speed of a running vehicle with the minimum distance from the vehicle in the lane, and parking the vehicle according to the parking path information, the second vehicle position and the second current vehicle speed.

In this embodiment, when the vehicle is parked according to the parking indication information, the parking risk degree can be first determined according to the parking risk information in the parking indication information, and then whether the vehicle is parked according to the parking path information and how the vehicle is parked according to the parking path information can be determined according to the parking risk degree. Through such setting, can further improve the security that the vehicle was berthhed, avoid taking place driving danger.

In a possible implementation manner, the determining whether the driver takes over the vehicle within a preset time period of outputting the primary warning information specifically includes:

judging whether the driver takes over the vehicle or not within a first preset time length of outputting the primary warning information;

when the fact that the driver does not take over the vehicle is detected, controlling the human-computer interaction interface to output secondary warning information according to the abnormal information, and judging whether the driver takes over the vehicle or not within a second preset time length when the secondary warning information is output, wherein the secondary warning information is used for prompting the driver of the vehicle to take over the vehicle;

the primary warning information comprises character information, sound information and graphic information, and the secondary warning information comprises character information, sound information, graphic information and touch information.

In the embodiment, if the driver still does not take over the vehicle after the primary warning information is output, the driver can be prompted to take over the vehicle by outputting the secondary warning information with higher warning degree, so that the situation that the driver neglects the primary warning because of sleeping, getting tired, being inattentive and the like is avoided, the driver is prompted to take over the vehicle as soon as possible in time, and the driving danger is avoided. Furthermore, the primary warning information only comprises text information, sound information and graphic information with low prompting degree, and discomfort cannot be caused to the driver, so that the driver can take over the vehicle comfortably; the secondary warning information not only comprises character information, sound information and graphic information with higher prompting degree, but also comprises tactile information with higher prompting degree, and the possibility that the driver takes over the vehicle is further improved through prompting in various forms.

In one possible embodiment, the method further comprises:

after the vehicle is detected to finish parking, sending the abnormal information and the vehicle position of the vehicle to a cloud server;

after receiving an information receiving signal fed back by the cloud server, controlling the human-computer interaction interface to output rescue selection information;

if the rescue information fed back by the human-computer interaction interface is received, or the information fed back by the human-computer interaction interface is not received within a third preset time, sending a rescue request to the cloud server, wherein the rescue request is used for instructing the cloud server to determine a corresponding rescue vehicle according to the vehicle position and sending the abnormal information and the vehicle position to the rescue vehicle.

In this embodiment, before the human-computer interaction interface is controlled to output the rescue selection information, whether the vehicle and the cloud server can normally communicate or not can be judged, and the rescue selection information can be output only when the vehicle and the cloud server can normally communicate. By such an arrangement, waste of resources can be avoided, and it is determined that the rescue request can be normally transmitted. Furthermore, rescue selection information is output by controlling the human-computer interaction interface, the interactivity among the vehicle, the driver and the cloud server is increased, the driver is given a choice whether to carry out rescue, and whether to send a rescue request to the cloud server can be judged according to the feedback condition of the driver. If the driver considers that the problem is not large and can be solved by himself, rescue is not needed; if the driver thinks that the problem can not be solved by oneself or the driver can not select because of being injured, rescue is needed. Through such setting, not only can guarantee the promptness and the necessity of rescue, can also further avoid the waste of resource.

In one possible embodiment, the anomaly information includes: one or more of vehicle state abnormality information, driver state abnormality information, driving environment abnormality information, and vehicle failure information.

In the present embodiment, the abnormal state of the vehicle, the abnormal state of the driver, the abnormal information on the digital display of the driving environment, the vehicle failure, and the like are all factors that cause the automatic driving of the vehicle to be not normally performed, and therefore, in order to improve the accuracy of the determination of the driving state of the vehicle and avoid an erroneous determination, a combination of one or more of the above information may be used as the abnormal information.

In a second aspect, the present application provides a vehicle control apparatus comprising:

the warning information output module is used for controlling a man-machine interaction interface of the vehicle to output primary warning information according to the abnormal information after the abnormal information generated in the running process of the vehicle is obtained, and the primary warning information is used for prompting a driver of the vehicle to take over the vehicle;

the parking indication information determining module is used for determining parking indication information according to the vehicle state information and the road information corresponding to the vehicle;

the parking indication information output module is used for controlling the human-computer interaction interface to output the parking indication information so as to prompt the driver to park the vehicle according to the parking indication information;

the take-over judging module is used for judging whether the driver takes over the vehicle or not within the preset time length of outputting the primary warning information;

and the safe parking module is used for parking the vehicle according to the parking indication information when detecting that the driver does not manage the vehicle.

In a third aspect, the present application provides a vehicle control apparatus comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes the computer-executable instructions stored by the memory to implement the methods described above.

In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the above-mentioned method when executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method described above.

Drawings

FIG. 1 is a human-machine interface display of a vehicle according to an embodiment;

FIG. 2 is a diagram of a human-machine interface display of a vehicle according to an embodiment of the present application;

FIG. 3 is a diagram of an interface display for area A;

FIG. 4 is a flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 5 is a flow chart of a vehicle control method of another embodiment of the present application;

fig. 6 is a display interface diagram of rescue selection information according to another embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present application.

Reference numerals: 1. a vehicle; 2. a human-computer interaction interface; 3 a safe parking position; 4. parking path information; 5. a lane; 6. parking danger information; 71. a warning information output module; 72. a docking indication information determination module; 73. a parking indication information output module; 74. a take-over judging module 75 and a safe parking module.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terms referred to in this application are explained first:

a Human Machine Interface (HMI), also called a user Interface or a user Interface, is a medium for interaction and information exchange between a system and a user, and can realize conversion between an internal form of information and a Human-acceptable form, and a Human-Machine Interface exists in the field of Human-Machine information exchange.

The vehicle control method provided by the embodiment of the application can be applied to the scenes of ports, high speed, logistics, mines, ports, closed parks, urban traffic and the like, and can be applied to the vehicle control method as long as the scenes of automatic driving of the vehicle are involved.

In the process of automatic driving of the vehicle, if abnormal situations such as abnormal vehicle state, abnormal driver state, abnormal driving environment or vehicle faults occur, the vehicle can not be automatically driven any more, and emergency stop is needed. Since the driver can control the vehicle when the vehicle is abnormal, the flexibility and the safety are higher, and the driver needs to be prompted to take over the vehicle as soon as possible. The existing safe parking system can prompt a driver to take over the vehicle through information forms such as voice, characters and the like, and when the driver does not take over the vehicle, the driver can automatically control the vehicle to park according to the surrounding environment. When the driver takes over the vehicle, the driver can park the vehicle to a safe area such as a no-parking road according to the surrounding road conditions.

FIG. 1 is a display diagram of a human-machine interface of a vehicle according to an embodiment, as shown in FIG. 1, where 1 represents a vehicle, and 2 represents a human-machine interface, and when an abnormality occurs in the vehicle 1, the safety parking system controls the human-machine interface 2 to output a warning message "vehicle abnormality, please take over for a driver! | A | A ", thereby prompting the driver to take over the vehicle.

However, due to insufficient interactivity between the vehicle and the driver, on one hand, the safety parking system automatically stops after prompting once or twice, and does not prompt the driver any more, and this situation needs the driver to flexibly deal with the situation, and the automatic parking may cause an increase in the probability of driving danger. On the other hand, the driver may not pay attention before, and may not react to how to handle the vehicle after receiving the takeover prompt, or temporarily observe the road condition to judge the safe parking place, so that the reaction time is long, and the driving danger is further caused. Therefore, it is important to increase the interactivity between the vehicle and the driver so as to prompt the driver to take over the vehicle in time and provide a parking route.

The present application provides a vehicle control method, which aims to solve the above technical problems in the prior art. According to the method, after abnormal information generated in the driving process of the vehicle is acquired, the man-machine interaction interface of the vehicle is controlled to output the primary warning information, so that a driver is prompted to take over the vehicle. And then, determining stop indication information according to the vehicle state information and the road information corresponding to the vehicle, and controlling the human-computer interaction interface to output the stop indication information. According to the method, various information is continuously output by using the human-computer interaction interface, so that the interactivity between the vehicle and the driver is increased, and the driving danger is avoided. On the one hand, the parking indication information exists, so that the driver can immediately park the vehicle according to the parking indication information after receiving the taking-over prompt, the driver does not need to decide a parking position and a parking path according to the road condition, the reaction time of the driver is shortened, and the driving danger is avoided. On the other hand, if the driver does not take over the vehicle after the first-stage warning information is output, the presence of the parking indication information can also continuously prompt the driver to take over the vehicle as soon as possible. Although the driver still does not take over the vehicle, the safe parking control system can also control the vehicle to park autonomously, but the driver controls the vehicle to have higher flexibility and safety undoubtedly when the vehicle is abnormal, so that the driver can be prompted to take over the vehicle as soon as possible by outputting the parking indication information after the warning information is output, and the driving danger is further avoided.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

FIG. 2 is a display diagram of a human-machine interface of a vehicle according to an embodiment of the present disclosure, as shown in FIG. 2, where 1 denotes the vehicle, and 2 denotes the human-machine interface, when the vehicle 1 is abnormal, the safety parking system not only controls the human-machine interface 2 to output a warning message "vehicle abnormal, please take over for the driver! | A | A And then prompting the driver to take over the vehicle, and controlling the human-computer interaction interface 2 to output parking indication information corresponding to the area A so as to prompt the driver to park the vehicle according to the parking indication information. Fig. 3 is an interface display diagram of the area a, as shown in fig. 3, a circular dot 3 indicates a safe parking position, a dotted line segment 4 indicates parking path information, a 5 indicates a lane, and a dotted line frame 6 indicates parking hazard information. When the driver parks the vehicle 1, the vehicle 1 can be safely parked to the circular dot 3 according to the dotted frame 6 and the dotted segment 4 displayed in the area a.

Example one

Fig. 4 is a flowchart of a vehicle control method provided in an embodiment of the present application, where an execution subject of the vehicle control method provided in the embodiment of the present application may be a safety parking control system on a vehicle, or may also be a vehicle, and the vehicle control method is described with the execution subject as the safety parking control system in the present embodiment. As shown in fig. 4, the vehicle control method may include the steps of:

s101: after the abnormal information generated in the running process of the vehicle is obtained, controlling a human-computer interaction interface of the vehicle to output first-level warning information according to the abnormal information, wherein the first-level warning information is used for prompting a driver of the vehicle to take over the vehicle.

In the embodiment, during the automatic driving of the vehicle, the safety parking control system also collects various information generated or received during the driving of the vehicle in real time, and analyzes and judges the information. When some information is considered as abnormal information, the vehicle can be considered to be abnormal currently and is not suitable for continuous automatic driving, the driver needs to manually stop the vehicle and check, and at the moment, the human-computer interaction interface of the vehicle needs to be controlled to output primary warning information so as to prompt the driver of the vehicle to take over the vehicle.

In this embodiment, the primary warning information may be generated according to the abnormality information control to prompt the driver of the reason for the current abnormality, so as to take relevant measures in time.

In a possible implementation manner, the abnormality information in step S101 may include: one or more of the vehicle state abnormality information, the driver state abnormality information, the driving environment abnormality information, and the vehicle failure information may be included, and of course, other abnormality information may be included, which is not limited herein.

In the present embodiment, the vehicle state abnormality information may be vehicle operation parameter abnormality information, such as deviation or error of some parameters in the driving process compared with normal parameters; the driving environment abnormality information may be environmental information unsuitable for automatic driving, such as rainy or snowy weather, occurrence of debris flow, or the like; the driver state abnormality information may be physical information unsuitable for automatic driving, such as sudden driver illness or the like; the vehicle failure information may be failure information that occurs during the travel of the vehicle.

S102: and determining stop indication information according to the vehicle state information and the road information corresponding to the vehicle.

In this embodiment, the docking indication information may be text information, graphic information, voice information, or a combination of the above information, which is not limited herein.

In one possible embodiment, the step S102 of determining the stop indication information according to the vehicle state information and the road information corresponding to the vehicle may include:

s1021: and determining parking path information according to the vehicle state information and the road information corresponding to the vehicle.

S1022: and determining the lane where the vehicle passes when the vehicle stops according to the stopping path information.

S1023: determining parking danger information according to a first vehicle position corresponding to a running vehicle in the lane and a first current vehicle speed, wherein the running vehicle is located on the rear side of the running direction of the vehicle.

S1024: and determining parking indication information according to the parking path information and the parking danger information.

In the present embodiment, the vehicle state information includes, but is not limited to: information such as current vehicle speed, vehicle position, operating parameters and the like; road information includes, but is not limited to: the lane where the vehicle is located, the degree of road congestion and the like. The person skilled in the art can set up this flexibly without any restriction whatsoever.

In the present embodiment, the running vehicle located on the rear side in the vehicle running direction refers to a vehicle that may be at risk of collision with the vehicle during parking of the vehicle.

In this embodiment, the stop indication information may include stop path information and stop danger information, and the stop path information may be determined according to vehicle state information such as a current vehicle speed, a vehicle position, and an operation parameter, and road information such as a lane where the vehicle is located and a road congestion degree; the stop risk information may be determined from information of a running vehicle in a lane through which the vehicle is stopped.

In this embodiment, the landing path information may be text information, graphic information, voice information, or a combination of the above information, which is not limited herein. Similarly, the parking danger information may be text information, graphic information, voice information, or a combination of the above information, which is not limited herein.

In one possible embodiment, the determining of the parking risk information according to the first vehicle position corresponding to the traveling vehicle in the lane and the first current vehicle speed in step S1023 may include:

31: and judging whether the running vehicle exists in the lane within a first preset distance from the vehicle according to the first vehicle position corresponding to the running vehicle in the lane.

32: when the running vehicle does not exist within the first preset distance of the vehicle, the parking danger information is first parking information.

33: when the running vehicle exists in the first preset distance of the vehicle, whether the running vehicle is within a second preset distance from the vehicle or not is determined, and the first preset distance is larger than the second preset distance.

34: if so, the parking danger information is third parking information.

35: if not, judging whether the first current vehicle speed corresponding to the running vehicle is greater than the vehicle speed threshold value or not.

36: and if the first current vehicle speed is greater than the vehicle speed threshold value, the parking danger information is third parking information.

37: and if the first current vehicle speed is not greater than the vehicle speed threshold, the parking danger information is second parking information.

In the present embodiment, when the distance between the running vehicle and the vehicle is greater than or equal to the first preset distance, the running vehicle does not collide with the parked vehicle; when the distance between the running vehicle and the vehicle is smaller than or equal to a second preset distance, the running vehicle and the parked vehicle collide with each other; when the distance between the running vehicle and the vehicle is between the first preset distance and the second preset distance, the running vehicle has a risk of collision with the parked vehicle.

In this embodiment, the specific first preset distance and the second preset distance can be flexibly set by those skilled in the art as long as the first preset distance is greater than the second preset distance. For example, the first preset distance may be 100m, and the second preset distance may be 30 m; the first preset distance may be 150m and the second preset distance may be 50 m. Furthermore, the vehicle speed threshold value can be flexibly set by a person skilled in the art, as long as the running vehicle does not collide with the parked vehicle at the vehicle speed threshold value when the distance between the running vehicle and the vehicle is between the first preset distance and the second preset distance. For example, the vehicle speed threshold may be 50Km/h or 60 Km/h.

In this embodiment, when the parking danger information is text information and/or graphic information, the first parking information, the second parking information, and the third parking information may be respectively corresponding to different colors; when the parking danger information is voice information, the first parking information, the second parking information and the third parking information can be respectively corresponding to different voice frequencies; of course, other corresponding manners are also possible, and no limitation is made herein.

Illustratively, the correspondence table of parking hazard information and colors is shown in table 1 below:

TABLE 1

Parking hazard information	Colour(s)
		First docking information	Green colour
Second stop information	Yellow colour
		Third stop information	Red colour

In the present embodiment, the degree of risk of parking according to the parking path information may be determined according to the distance area in which the traveling vehicle is located in the lane and the vehicle speed range, and different parking risk information may be determined according to different degrees of risk. Through such setting, carry out the classification to the dangerous information of berthing, can further increase the interactivity between vehicle and the driver to avoid taking place driving danger.

S103: and controlling the human-computer interaction interface to output parking indication information so as to prompt a driver to park the vehicle according to the parking indication information.

In this embodiment, after the human-computer interaction interface for controlling the vehicle outputs the primary warning information, if the driver does not take over the vehicle, the driver can be continuously prompted to take over the vehicle through the output parking indication information, so that driving danger is avoided.

In the present embodiment, a region a in fig. 2 represents the stop indication information, fig. 3 is an interface display diagram of the region a, as shown in fig. 3, a circular dot 3 represents a safe stop position, a dashed line segment 4 represents stop path information, 5 represents a lane, a dashed line frame 6 represents stop danger information, and the color of the dashed line frame 6 may represent a stop danger level.

S104: and judging whether the driver takes over the vehicle or not within the preset time length of outputting the primary warning information.

In a possible embodiment, the step S104 of determining whether the driver takes over the vehicle within a preset time period of outputting the primary warning information may include: judging whether a driver takes over the vehicle or not within a first preset time length of outputting the primary warning information; when the fact that the driver does not take over the vehicle is detected, controlling a human-computer interaction interface to output secondary warning information according to the abnormal information, judging whether the driver takes over the vehicle or not within a second preset time length when the secondary warning information is output, wherein the secondary warning information is used for prompting the driver of the vehicle to take over the vehicle; the first-level warning information comprises character information, sound information and graphic information, and the second-level warning information comprises character information, sound information, graphic information and touch information.

In this embodiment, a person skilled in the art may flexibly set the first preset time period and the second preset time period, where the first preset time period and the second preset time period may be the same or different, and no limitation is made herein. For example, the first preset time period and the second preset time period may be both 10 s.

For example, the correspondence table between the warning information and each information form is shown in table 2 below:

TABLE 2

S105: and when the fact that the driver does not manage the vehicle is detected, the vehicle is parked according to the parking indication information.

In one possible embodiment, the parking the vehicle according to the parking indication information in step S105 may include:

s1051: judging whether the parking danger information in the parking indication information is third parking information or not;

s1052: if so, the vehicle is not parked according to the parking indication information until the parking danger information becomes the first parking information or the second parking information.

S1053: if not, judging whether the parking danger information is the first parking information.

S1054: and if the parking danger information is the first parking information, parking the vehicle according to the parking path information in the parking indication information.

S1055: and if the parking danger information is not the first parking information, acquiring a second vehicle position and a second current speed of the running vehicle with the minimum distance from the vehicle in the lane, and parking the vehicle according to the parking path information, the second vehicle position and the second current speed.

In this embodiment, if the stop risk information is the third stop information, it is described that the traveling vehicle in the lane collides with the vehicle, and at this time, the vehicle cannot stop according to the stop route information, and it is necessary to wait for the traveling vehicle to leave, and the stop risk information is changed to the first stop information or the second stop information. If the parking danger information is the first parking information, it is indicated that the running vehicle in the lane does not collide with the vehicle, and the vehicle can be parked immediately according to the parking path information. If the parking danger information is the second parking information, it is indicated that the running vehicle in the lane has a risk of collision with the vehicle, the position and the vehicle speed of the running vehicle closest to the vehicle in the lane need to be noticed, if the position is far and the vehicle speed is small, the vehicle is parked according to the parking path information at a large vehicle speed, if the position is near or the vehicle speed is large, the running vehicle needs to be waited to drive away, and the parking danger information is changed into the first parking information.

In this embodiment, the method of the present application may control the human-computer interaction interface of the vehicle to output the primary warning information after acquiring the abnormal information generated in the driving process of the vehicle, so as to prompt the driver to take over the vehicle. And then, determining stop indication information according to the vehicle state information and the road information corresponding to the vehicle, and controlling the human-computer interaction interface to output the stop indication information. According to the method, various information is continuously output by using the human-computer interaction interface, so that the interactivity between the vehicle and the driver is increased, and the driving danger is avoided. On the one hand, the parking indication information exists, so that the driver can immediately park the vehicle according to the parking indication information after receiving the taking-over prompt, the driver does not need to decide a parking position and a parking path according to the road condition, the reaction time of the driver is shortened, and the driving danger is avoided. On the other hand, if the driver does not take over the vehicle after the first-stage warning information is output, the presence of the parking indication information can also continuously prompt the driver to take over the vehicle as soon as possible. Although the driver still does not take over the vehicle, the safe parking control system can also control the vehicle to park autonomously, but the driver controls the vehicle undoubtedly when the vehicle is abnormal, the flexibility and the safety are higher, therefore, the driver can be prompted to take over the vehicle as soon as possible by outputting the parking indication information after the warning information is output, and the driving danger is further avoided.

Example two

Fig. 5 is a flowchart of a vehicle control method provided in an embodiment of the present application, where an execution subject of the vehicle control method provided in the embodiment of the present application may be a safety parking control system on a vehicle, or may also be a vehicle, and the vehicle control method is described with the execution subject as the safety parking control system in the present embodiment. As shown in fig. 5, the vehicle control method may include the steps of:

s201: after the abnormal information generated in the running process of the vehicle is obtained, controlling a human-computer interaction interface of the vehicle to output first-level warning information according to the abnormal information, wherein the first-level warning information is used for prompting a driver of the vehicle to take over the vehicle.

In one possible implementation, the abnormality information in step S201 may include: one or more of the vehicle state abnormality information, the driver state abnormality information, the driving environment abnormality information, and the vehicle failure information may be included, and of course, other abnormality information may be included, which is not limited herein.

S202: and determining stop indication information according to the vehicle state information and the road information corresponding to the vehicle.

In this embodiment, the specific implementation manner of determining the stop indication information according to the vehicle state information and the road information corresponding to the vehicle in the step S202 may refer to the step S102 in the first embodiment, which is not described herein again.

S203: and controlling the human-computer interaction interface to output parking indication information so as to prompt a driver to park the vehicle according to the parking indication information.

In this embodiment, after the human-computer interaction interface that controls the vehicle outputs the primary warning information, if the driver has not taken over the vehicle yet, the driver can be continuously prompted to take over the vehicle through the output parking instruction information, so as to avoid the occurrence of driving danger.

S204: and judging whether the driver takes over the vehicle or not within the preset time length of outputting the primary warning information.

In this embodiment, the specific implementation manner of determining whether the driver takes over the vehicle in the step S204 within the preset time length of the output of the primary warning information may be referred to as step S104 in the first embodiment, which is not described herein again.

S205: and when the fact that the driver does not manage the vehicle is detected, the vehicle is parked according to the parking indication information.

In this embodiment, in the above step S205, a specific implementation of parking the vehicle according to the parking indication information can be seen in step S105 of the first embodiment, which is not described herein again.

S206: after the fact that the vehicle stops is detected, the abnormal information and the vehicle position of the vehicle are sent to the cloud server.

S207: and after receiving an information receiving signal fed back by the cloud server, controlling a human-computer interaction interface to output rescue selection information.

S208: if the rescue information fed back by the human-computer interaction interface is received or the information fed back by the human-computer interaction interface is not received within a third preset time, a rescue request is sent to the cloud server, and the rescue request is used for indicating the cloud server to determine a corresponding rescue vehicle according to the position of the vehicle and sending abnormal information and the position of the vehicle to the rescue vehicle.

In this embodiment, fig. 6 is a display interface diagram of rescue selection information according to another embodiment of the present application, and as shown in fig. 6, after the driver receives the rescue selection information output by the human-computer interaction interface, if the driver considers that the problem is not much solved by himself/herself, the driver may select the "no" option, and at this time, the safe parking system does not send a rescue request to the cloud server. If the driver thinks that the problem can not be solved by himself, then the driver can select the option "yes", and at this moment, the safe parking system can send the rescue request to the cloud server. If the driver cannot select the driver due to injury or illness, the safe parking system can also send a rescue request to the cloud server.

The vehicle control method of the present application will be explained below with a specific embodiment.

EXAMPLE III

In a specific embodiment, when a vehicle is automatically driven on a highway, the safety parking system of the vehicle collects various information generated or received during the driving process of the vehicle in real time. At a certain moment, the safe parking system acquires that some parameters are abnormal in the driving process, automatic driving cannot be continued, and the safe parking of the vehicle needs to be controlled, wherein the specific vehicle control process is as follows:

the first step, the safety parking system controls a human-computer interaction interface of the vehicle to output first-level warning information according to the parameter abnormal information, and the first-level warning information comprises: abnormal information and driver prompt information in a text form, low-frequency ringing of a buzzer in a voice form and a danger warning yellow icon in a graphic form.

And secondly, determining parking indication information by the safe parking system according to the vehicle state information and the road information corresponding to the vehicle.

And thirdly, the safety parking system controls the human-computer interaction interface to output parking indication information.

Fourthly, the safety parking system detects that the driver does not manage the vehicle after outputting the first-level warning information for 10s, and then controls a human-computer interaction interface of the vehicle to output second-level warning information according to the parameter abnormal information, wherein the second-level warning information comprises: abnormal information and driver prompt information in a text form, buzzer high-frequency sound in a voice form, danger warning red icons in a graphic form, seat vibration in a touch form and seat belt tightening in a touch form.

And fifthly, the safety parking system detects that the driver does not manage the vehicle after outputting the secondary warning information for 10s, and then the vehicle is parked according to the parking indication information.

And sixthly, after the safe parking system detects that the vehicle is parked, the abnormal information and the vehicle position of the vehicle are sent to the cloud server.

And seventhly, after receiving the information receiving signal fed back by the cloud server, the safety parking system controls the human-computer interaction interface to output rescue selection information.

And eighthly, if the safety parking system receives rescue information fed back by the human-computer interaction interface or does not receive information fed back by the human-computer interaction interface within a third preset time, sending a rescue request to the cloud server, wherein the rescue request is used for instructing the cloud server to determine a corresponding rescue vehicle according to the position of the vehicle and sending abnormal information and the position of the vehicle to the rescue vehicle.

Fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, and as shown in fig. 7, the vehicle control device includes: a warning information output module 71, a stop indication information determination module 72, a stop indication information output module 73, a take-over judgment module 74 and a safety stop module 75. The warning information output module 71 is configured to control a human-computer interaction interface of the vehicle to output primary warning information according to the abnormal information after the abnormal information generated in the driving process of the vehicle is acquired, wherein the primary warning information is used for prompting a driver of the vehicle to take over the vehicle. The stop indication information determination module 72 is configured to determine stop indication information according to vehicle state information corresponding to the vehicle and the road information. The parking indication information output module 73 is used for controlling the human-computer interaction interface to output parking indication information so as to prompt a driver to park the vehicle according to the parking indication information. The takeover judgment module 74 is configured to judge whether the driver takes over the vehicle within a preset time period of outputting the primary warning information. The safe parking module 75 is used for parking the vehicle according to the parking indication information when detecting that the driver does not manage the vehicle. In an embodiment, the description of the specific implementation functions of the vehicle control device may refer to steps S101 to S105 in the first embodiment, which are not described herein again.

Fig. 8 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present application, and as shown in fig. 8, the vehicle control apparatus includes: a processor 101, and a memory 102 communicatively coupled to the processor 101; the memory 102 stores computer-executable instructions; the processor 101 executes computer-executable instructions stored in the memory 102 to implement the steps of the vehicle control method in the various method embodiments described above.

The vehicle control device may be a stand-alone device or a part of a vehicle, and the processor 101 and the memory 102 may use existing hardware of the vehicle.

In the vehicle control apparatus described above, the memory 102 and the processor 101 are electrically connected directly or indirectly to achieve transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines, such as may be provided via a bus. The memory 102 stores computer-executable instructions for implementing the data access control method, including at least one software functional module that can be stored in the memory 102 in the form of software or firmware, and the processor 101 executes various functional applications and data processing by running software programs and modules stored in the memory 102.

The Memory 102 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 102 is used for storing programs, and the processor 101 executes the programs after receiving the execution instructions. Further, the software programs and modules within the memory 102 may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

The processor 101 may be an integrated circuit chip having signal processing capabilities. The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and so on. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the steps of the method embodiments of the present application.

An embodiment of the present application also provides a computer program product comprising a computer program that, when being executed by a processor, performs the steps of the method embodiments of the present application.

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, with a true scope and spirit of the application being indicated by the following claims.

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.

Claims

1. A vehicle control method characterized by comprising:

after acquiring abnormal information generated in the running process of a vehicle, controlling a human-computer interaction interface of the vehicle to output primary warning information according to the abnormal information, wherein the primary warning information is used for prompting a driver of the vehicle to take over the vehicle;

2. The method according to claim 1, wherein the determining of the stop indication information according to the vehicle state information and the road information corresponding to the vehicle specifically includes:

determining parking danger information according to a first vehicle position corresponding to a running vehicle in the lane and a first current vehicle speed, wherein the running vehicle is positioned at the rear side of the vehicle running direction;

3. The method according to claim 2, wherein the determining of the parking risk information according to the first vehicle position corresponding to the vehicle traveling in the lane and the first current vehicle speed specifically comprises:

4. The method according to claim 3, wherein the parking the vehicle according to the parking indication information specifically includes:

5. The method according to any one of claims 1 to 4, wherein the determining whether the driver takes over the vehicle within a preset time period of outputting the primary warning information specifically comprises:

when the fact that the driver does not take over the vehicle is detected, the human-computer interaction interface is controlled to output secondary warning information according to the abnormal information, whether the driver takes over the vehicle or not is judged within a second preset time length of the output of the secondary warning information, and the secondary warning information is used for prompting the driver of the vehicle to take over the vehicle;

6. The method of claim 5, further comprising:

7. The method of claim 6, wherein the exception information comprises: one or more of vehicle state abnormality information, driver state abnormality information, driving environment abnormality information, and vehicle failure information.

8. A vehicle control apparatus comprising:

the warning information output module is used for controlling a man-machine interaction interface of the vehicle to output primary warning information according to the abnormal information after the abnormal information generated in the running process of the vehicle is obtained, wherein the primary warning information is used for prompting a driver of the vehicle to take over the vehicle;

the take-over judging module is used for judging whether the driver takes over the vehicle or not within a preset time length of outputting the primary warning information;

9. A vehicle control apparatus comprising a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1 to 7.

10. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the method of any one of claims 1 to 7.