CN115352450A

CN115352450A - Vehicle driving assistance method and device, vehicle and storage medium

Info

Publication number: CN115352450A
Application number: CN202210970461.6A
Authority: CN
Inventors: 谭杰
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-18

Abstract

The application relates to the technical field of intelligent automobiles, in particular to a driving assisting method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring physiological data, facial expressions and/or gesture actions of a driver; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or the gesture motion; whether a driver is in a preset incapability state or not is determined by judging the size relationship between the first incapability level and the second incapability level and the incapability threshold value and whether the vehicle is in a preset disordered driving state or not, and when the driver is in the incapability state, the vehicle is controlled to execute a safe parking action and simultaneously rescue information is sent to a preset terminal. From this, solved only monitor the driver state through the bracelet among the correlation technique, the accuracy is relatively poor, and only can realize reminding the function, can't effectively guarantee to drive safety scheduling problem.

Description

Vehicle driving assistance method and device, vehicle and storage medium

Technical Field

The application relates to the technical field of intelligent automobiles, in particular to a driving assisting method and device for a vehicle, the vehicle and a storage medium.

Background

At present, with the higher and higher popularization of automobiles, the potential safety hazards caused by automobile driving factors are more and more. The condition that the driver causes traffic accident because of self fatigue or sudden illness takes place occasionally at the driving in-process, consequently, when the driver can't drive the action, needs carry out corresponding safety assistance to the driver, promotes the security of driving.

For solving above-mentioned problem among the correlation technique, realize driver disability rescue through the mode of wearing intelligent bracelet for the driver usually, guarantee driver's life safety. However, in the related art, the state of the driver is monitored only through the bracelet, the accuracy is poor, the reminding function can be realized only, and the driving safety cannot be effectively guaranteed.

Disclosure of Invention

The application provides a vehicle driving assisting method, a vehicle driving assisting device, a vehicle and a storage medium, and aims to solve the problems that in the related art, the state of a driver is monitored only through a bracelet, the accuracy is poor, only a reminding function can be realized, and the driving safety cannot be effectively guaranteed.

An embodiment of a first aspect of the present application provides a driving assistance method for a vehicle, including the following steps: acquiring physiological data, facial expressions and/or gesture actions of a driver; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions; when the first incapability grade and the second incapability grade are both larger than a incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered driving state based on vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

According to the technical means, the embodiment of the application can match the corresponding disability level according to the physiological data of the driver and the facial expression and/or gesture actions, determine whether the driver loses the capability of normally controlling the vehicle by judging the size relation between the disability level and the disability threshold value and whether the vehicle is in the preset disordered driving state, and control the vehicle to execute the safe parking action and send rescue information to the corresponding rescue terminal when the vehicle cannot be normally controlled, so that the aim of performing corresponding safe assistance when the driver cannot perform driving actions any more is achieved, the driving safety is ensured, meanwhile, whether the driver is in the disability state can be determined in many aspects, the accuracy is high, and the driving experience of the user is improved.

Optionally, in an embodiment of the present application, before controlling the vehicle to perform the safe parking action, the method includes: controlling a vehicle to keep running in a lane, controlling the vehicle to execute a preset awakening action, and identifying an actual awakening state of the driver; and when the actual awakening state is a preset awakening state, controlling the vehicle to stop the preset awakening work, otherwise, counting the continuous execution time of the preset awakening action, and when the continuous execution time is longer than a preset value, controlling the vehicle to execute a safe parking action.

According to the technical means, when the driver is in the incapability state, the vehicle is controlled to keep the lane to run, meanwhile, the driver is waken up, so that the driver can save oneself, the driver cannot be wakened up successfully within a certain time, at the moment, the vehicle is controlled to be parked safely, the reliability and the accuracy are higher, and the user experience and the driving safety are improved.

Optionally, in an embodiment of the present application, after controlling the vehicle to perform the safe parking action, the method includes: detecting whether the vehicle parking is completed; after the vehicle is detected to be stopped, controlling the vehicle to perform an acoustic reminding action and/or an optical reminding action, and simultaneously controlling the door of the vehicle to be unlocked.

According to the technical means, after the vehicle is safely parked, the vehicle is controlled to alarm and remind, and meanwhile the vehicle door is unlocked, so that a driver can be rescued in a short time, the missing of the optimal rescue time is avoided, and the safety of the driver is further guaranteed.

Optionally, in an embodiment of the present application, the acquiring physiological data, facial expression and/or gesture actions of the driver includes: acquiring a driver image shot by in-vehicle monitoring equipment of driver physiological data detected by an intelligent bracelet; and recognizing the driver image to obtain the facial expression and/or gesture action of the driver.

According to the technical means, the embodiment of the application can monitor the body data of the driver through the intelligent bracelet, and the facial expressions and gesture actions of the driver can be checked in real time through the monitoring equipment in the vehicle, so that the basis is provided for judging whether the driver is in the incapability state.

An embodiment of a second aspect of the present application provides a driving assistance apparatus for a vehicle, including: the acquisition module is used for acquiring physiological data, facial expressions and/or gesture actions of a driver; a matching module for matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions; the auxiliary module is used for judging that the driver is in a preset incapability state when the first incapability grade and the second incapability grade are both larger than an incapability threshold value, or the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered running state based on vehicle running data, controlling the vehicle to execute a safe parking action and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

Optionally, in an embodiment of the present application, before controlling the vehicle to perform the safe parking action, the method includes: the first control module is used for controlling a vehicle to execute a preset awakening action while keeping the vehicle running in the lane and identifying the actual awakening state of the driver; and the second control module is used for controlling the vehicle to stop the preset awakening work when the actual awakening state is the preset awakening state, otherwise, counting the continuous execution time of the preset awakening action, and controlling the vehicle to execute the safe parking action when the continuous execution time is greater than the preset value.

Optionally, in an embodiment of the present application, after controlling the vehicle to perform the safe parking action, the method includes: the detection module is used for detecting whether the vehicle is parked or not; and the third control module is used for controlling the vehicle to carry out acoustic reminding action and/or optical reminding action and simultaneously controlling the unlocking of the vehicle door after the vehicle is detected to be parked.

Optionally, in an embodiment of the application, the obtaining module is further configured to obtain a driver image captured by a monitoring device in a vehicle of physiological data of a driver detected by the smart band, and recognize the driver image to obtain a facial expression and/or a gesture of the driver.

An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of assisted driving of a vehicle as described in the above embodiments.

A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing a driving assistance method for a vehicle as described in the above embodiments.

Therefore, the application has at least the following beneficial effects:

1. the corresponding disability level can be matched according to the physiological data of the driver and the facial expressions and/or the gesture actions, whether the driver loses the capability of normally controlling the vehicle is determined by judging the size relation between the disability level and the disability threshold value and whether the vehicle is in a preset disordered driving state, and when the vehicle cannot be normally controlled, the vehicle is controlled to execute safe parking actions and send rescue information to a corresponding rescue terminal, so that corresponding safety assistance is carried out when the driver cannot drive any more, the driving safety is guaranteed, meanwhile, whether the driver is in the disability state can be determined in many aspects, the accuracy is high, and the driving experience of a user is improved.

2. Can be when the driver is in the disability state, when control vehicle keeps this lane to go, awaken the action up to the driver for the driver can save oneself, fails to awaken the driver up to the success in certain time, and at this moment, control vehicle safety stops, and reliability and accuracy are higher, improve user experience and driving safety nature.

3. After the vehicle is safely stopped, the vehicle is controlled to alarm and remind, meanwhile, the vehicle door is unlocked, so that a driver can be rescued in a short time, the missing of the optimal rescue time is avoided, and the safety of the driver is further guaranteed.

4. Can look over driver's facial expression, gesture action in real time through the supervisory equipment in the car through intelligent bracelet monitoring driver's health data, provide the basis for judging whether driver is in the disability state.

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

Drawings

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

fig. 1 is a flowchart of a driving assistance method for a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a method of assisting driving of a vehicle according to an embodiment of the application;

FIG. 3 is a schematic diagram of a driver incapability determination logic according to an embodiment of the present application;

fig. 4 is a schematic diagram of a rescue scheme according to an embodiment of the present application;

FIG. 5 is a block diagram illustrating an apparatus for assisting driving of a vehicle according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Description of reference numerals: an acquisition module-100, a matching module-200, an auxiliary module-300, a memory-601, a processor-602, and a communication interface-603.

Detailed Description

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

A driving assist method of a vehicle, an apparatus, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings. In view of the above-mentioned problems of the background art, the present application provides a driving assistance method for a vehicle, in which physiological data, facial expressions, and/or gesture actions of a driver are acquired; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions; when the first incapability grade and the second incapability grade are both larger than the incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered driving state based on the vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state. From this, solved only monitor the driver state through the bracelet among the correlation technique, the accuracy is relatively poor, and only can realize reminding the function, can't effectively guarantee to drive safety scheduling problem.

Specifically, fig. 1 is a schematic flowchart of a driving assistance method for a vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the driving assistance method of the vehicle includes the steps of:

in step S101, physiological data, facial expressions, and/or gesture actions of the driver are acquired.

According to the method and the device, when the vehicle runs and a driver cannot normally control the vehicle, the vehicle is controlled to execute corresponding safety auxiliary actions, driving safety is improved, and in order to accurately judge whether the driver can drive any more, the physiological data, the facial expression and/or the gesture actions of the driver can be acquired.

In one embodiment of the present application, acquiring physiological data, facial expressions and/or gesture actions of a driver comprises: acquiring a driver image which is detected by the intelligent bracelet and is shot by the in-vehicle monitoring equipment of the physiological data of the driver; and recognizing the image of the driver to obtain the facial expression and/or the gesture action of the driver.

It CAN be understood that, as shown in fig. 2, in the embodiment of the present application, physiological data such as the heart rate of the driver, the blood flow rate and the like CAN be monitored through the smart band, the physical state of the driver CAN be measured and calculated, data of the physical state condition of the driver CAN be sent out, the data CAN be transmitted to the vehicle end (the driver cabin controller) through bluetooth, and CAN be converted into CAN data to be sent out to the vehicle bus; the method comprises the steps that a human body image of a driver can be acquired through in-vehicle monitoring equipment such as a camera, facial expressions (frequency of blinking actions, opening and closing of eyelids and the like) and gesture actions (holding a steering wheel) of the driver are recognized by means of a human image recognition technology and the like, meanwhile, the in-vehicle monitoring equipment can send the states to a vehicle bus, so that whether the driver is in fatigue, syncope and other states is judged, and the vehicle is controlled to execute corresponding safety measures when the driver is in an abnormal state.

In step S102, a first disability level of the driver is matched based on the physiological data, and a second disability level of the driver is matched based on the facial expression and/or the gesture motion.

Wherein, the first disability level and the second disability level can be divided into light fatigue, moderate fatigue, severe fatigue and the like. In order to accurately judge the incapability state of the driver and protect the personal safety of the driver, the incapability grade division is carried out according to the acquired physiological data, facial expressions and/or gesture actions of the driver.

In step S103, when the first disable level and the second disable level are both greater than the disable threshold, or when the first disable level is greater than the disable threshold and the second disable level is less than or equal to the disable threshold and the vehicle is identified to be in the preset disordered driving state based on the vehicle driving data, it is determined that the driver is in the preset disable state, and the vehicle is controlled to perform a safe parking action while transmitting rescue information to the preset terminal, otherwise, it is determined that the driver is not in the preset disable state.

The disabling threshold may be the maximum limit of the driver' S ability to normally operate and control the vehicle, the preset disordered driving state may be abnormal driving of the vehicle, for example, the vehicle goes S, the driver does not step on the brake, and the preset terminal may be a vehicle enterprise service, a 120 first aid, or the like.

The vehicle travel data in the embodiment of the present application may be a vehicle travel state, driver's manipulation information, and travel information. The driving state of the vehicle comprises driving speed, engine torque, motor torque and the state of charge of the electric energy storage unit, and the operation information of the driver comprises the operation amount of an accelerator pedal and the operation amount of a brake pedal.

It can be understood that when both the first disability level of the driver physiological data and the second disability level of the facial expression and/or gesture actions are greater than the disability threshold, it can be determined that the driver is in the preset disability state; or when the first disability level of the physiological data of the driver is greater than the disability threshold value, the second disability level of the facial expression and/or gesture actions is less than or equal to the disability threshold value, and the state information vehicle of the vehicle is in the preset disordered driving state, the driver can be judged to be in the preset disability state; when a driver is in an incapability state, the vehicle is controlled to execute a safe parking action, meanwhile, rescue information is sent to a preset terminal, and rescue is waited.

In the embodiment of the application, when the first incapability level of the physiological data of the driver is greater than the incapability threshold value, the intelligent bracelet outputs the state of the driver as incapability. And when the second incapability level of the facial expression and/or gesture actions of the driver is greater than the incapability threshold value, the in-vehicle monitoring device controller outputs the state of the driver as incapability.

Specifically, in the embodiment of the present application, a driver incapability determination logic is described in detail, as shown in fig. 3, when the state of the driver output by the smart band is that the driver is not incapacitated, the driver incapability safety assistance system does not execute a corresponding safety measure; when the intelligent bracelet outputs that the state of the driver is disabled, the output of the monitoring camera controller in the automobile is disabled, and the driving state is disordered, the disabled safety auxiliary system of the driver executes safety measures; when the intelligent bracelet outputs that the state of the driver is disabled, the output of the monitoring camera controller in the automobile is disabled, the driving state is not disordered, and the disabled safety auxiliary system of the driver executes safety measures; when the intelligent bracelet outputs that the state of the driver is disabled, the output of the monitoring camera controller in the automobile is disabled, the driving state is disordered, and the disabled safety auxiliary system of the driver executes safety measures; when the intelligent bracelet outputs that the state of the driver is disabled, the output of the monitoring camera controller in the automobile is disabled, the driving state is not disordered, and the driver disabling safety auxiliary system does not execute corresponding safety measures.

In one embodiment of the present application, before controlling the vehicle to perform the safe parking action, the method includes: controlling the vehicle to execute a preset awakening action while keeping the vehicle running in the lane, and identifying the actual awakening state of the driver; and when the actual awakening state is the preset awakening state, controlling the vehicle to stop the preset awakening work, otherwise, counting the continuous execution time of the preset awakening action, and controlling the vehicle to execute the safe parking action when the continuous execution time is greater than the preset value.

The preset awakening action can be specifically set according to actual conditions, such as awakening modes of voice awakening, steering wheel vibration and/or seat vibration and the like; the preset value may be specifically set or calibrated, for example, may be set to 10S or 20S, and is usually set to a smaller value, and is used to identify whether the driver recovers the behavior ability, so as to ensure the driving safety.

It can be understood that, before the body of the driver is in the disabled state and the vehicle is controlled to execute the safe parking action, as shown in fig. 4, the embodiment of the present application can control the vehicle to keep the lane running, and simultaneously, perform the waking action in the aspect of auditory sense or visual sense on the driver, so that the driver can save himself, and cannot successfully wake up the driver in a certain time.

As a possible implementation manner, the embodiment of the application may detect whether the vehicle has a collision risk when the driving state of the vehicle is in a disordered state, and control the vehicle to perform a safe parking action if the collision risk exists. Wherein the risk of collision may be that the longitudinal deceleration exceeds 90% the CDD threshold or the lateral lane-line distance is less than 0.1m, the guardrail, side-car distance is less than 0.2m (calibrated with vehicle speed, curvature), and the departure speed is greater than 0.

In one embodiment of the present application, after controlling the vehicle to perform the safe parking action, the method includes: detecting whether the vehicle is parked or not; after the vehicle is detected to be stopped, the vehicle is controlled to perform an acoustic reminding action and/or an optical reminding action, and meanwhile, the door of the vehicle is controlled to be unlocked.

The reminding action of this application can be that acoustics reminding device sends out the police dispatch newspaper sound, like the pronunciation of on-vehicle stereo set is reminded, or the vehicle is from the sound of dripping of taking the device. The vehicle can also be reminded by an optical reminding device, such as a vehicle indicator lamp flickering device.

Specifically, in order to enable a driver to be rescued in a short time and avoid missing the optimal rescue time, the embodiment of the application controls the optical reminding device or the acoustic reminding device of the vehicle to unlock the vehicle door while reminding the driver when detecting that the vehicle stops. As a possible implementation mode, when a driver is in a preset disabled state and controls a vehicle to execute a safe parking action, rescue information is sent to a vehicle enterprise customer service at the first time, for example, the vehicle is positioned, the customer service dials a telephone of an emergency contact of the driver at the first time to perform relevant processing, the vehicle synchronously opens double flashes, sends out a horn sound, and unlocks a vehicle door, so that other people can rescue the driver.

In the actual implementation process, there are various ways to detect whether the vehicle is parked or not, for example, the embodiment of the application may determine whether the vehicle is parked or not by the vehicle speed, and when the vehicle speed of the vehicle is equal to 0, it may be determined that the vehicle is parked or not. Or the vehicle parking can be judged to be finished when the positioning of the vehicle is in a static state in the map navigation system through the map navigation system and the positioning technology. In this regard, those skilled in the art may set the setting according to actual situations, and are not particularly limited.

According to the driving assistance method for the vehicle, physiological data, facial expressions and/or gesture actions of a driver are obtained; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions; when the first incapability grade and the second incapability grade are both larger than the incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value, and the vehicle is identified to be in a preset disordered driving state based on the vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state. From this, solved only monitor the driver state through the bracelet among the correlation technique, the accuracy is relatively poor, and only can realize reminding the function, can't effectively guarantee to drive safety scheduling problem.

Next, a driving assistance apparatus for a vehicle according to an embodiment of the present application will be described with reference to the drawings.

Fig. 5 is a block diagram schematically illustrating a driving assistance apparatus of a vehicle according to an embodiment of the present application.

As shown in fig. 5, the driving assistance apparatus 10 for a vehicle includes: an acquisition module 100, a matching module 200 and an assistance module 300.

The acquiring module 100 is used for acquiring physiological data, facial expressions and/or gesture actions of a driver; a matching module 200 for matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or the gesture motion; the auxiliary module 300 is configured to determine that the driver is in the preset disabled state when the first disabled level and the second disabled level are both greater than the disabled threshold, or the first disabled level is greater than the disabled threshold and the second disabled level is less than or equal to the disabled threshold, and the vehicle is identified to be in the preset disordered driving state based on the vehicle driving data, and send rescue information to the preset terminal while controlling the vehicle to perform a safe parking action, otherwise, determine that the driver is not in the preset disabled state.

Optionally, in an embodiment of the present application, before controlling the vehicle to perform the safe parking action, the method includes: the first control module is used for controlling the vehicle to execute a preset awakening action while keeping the vehicle running in the lane and identifying the actual awakening state of the driver; and the second control module is used for controlling the vehicle to stop the preset awakening work when the actual awakening state is the preset awakening state, otherwise counting the continuous execution time of the preset awakening action, and controlling the vehicle to execute the safe parking action when the continuous execution time is greater than the preset value.

Optionally, in an embodiment of the present application, after controlling the vehicle to perform the safe parking action, the method includes: the detection module is used for detecting whether the vehicle is parked or not; and the third control module is used for controlling the vehicle to carry out acoustic reminding action and/or optical reminding action and simultaneously controlling the unlocking of the vehicle door after the vehicle parking is detected to be finished.

Optionally, in an embodiment of the application, the obtaining module 100 is further configured to obtain a driver image captured by the in-vehicle monitoring device of the driver physiological data detected by the smart band, and recognize the driver image to obtain a facial expression and/or a gesture of the driver.

It should be noted that the foregoing explanation of the embodiment of the driving assistance method for a vehicle is also applicable to the driving assistance device for a vehicle of this embodiment, and is not repeated here.

According to the driving assistance device of the vehicle, the physiological data, the facial expressions and/or the gesture actions of the driver are acquired; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or the gesture motion; when the first incapability grade and the second incapability grade are both larger than the incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered driving state based on the vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state. From this, solved only monitor the driver state through the bracelet among the correlation technique, the accuracy is relatively poor, and only can realize reminding the function, can't effectively guarantee to drive safety scheduling problem.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

The processor 602, when executing the program, implements the driving assistance method for the vehicle provided in the above-described embodiment.

Further, the vehicle further includes:

a communication interface 603 for communication between the memory 601 and the processor 602.

The memory 601 is used for storing computer programs that can be run on the processor 602.

The Memory 601 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.

If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete mutual communication through an internal interface.

The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a driving assistance method for a vehicle as above.

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

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

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

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A driving assistance method of a vehicle, characterized by comprising the steps of:

acquiring physiological data, facial expressions and/or gesture actions of a driver;

matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions;

when the first incapability grade and the second incapability grade are both larger than a incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered driving state based on vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

2. The method of claim 1, prior to controlling the vehicle to perform a safe parking action, comprising:

controlling a vehicle to keep running in a lane, controlling the vehicle to execute a preset awakening action, and identifying an actual awakening state of the driver;

and when the actual awakening state is a preset awakening state, controlling the vehicle to stop the preset awakening work, otherwise, counting the continuous execution time of the preset awakening action, and when the continuous execution time is longer than a preset value, controlling the vehicle to execute a safe parking action.

3. The method according to claim 1 or 2, characterized in that after controlling the vehicle to perform a safe parking action, it comprises:

detecting whether the vehicle parking is completed;

after the vehicle is detected to be stopped, controlling the vehicle to perform an acoustic reminding action and/or an optical reminding action, and simultaneously controlling the door of the vehicle to be unlocked.

4. The method of claim 1, wherein the obtaining physiological data, facial expressions, and/or gestural actions of the driver comprises:

acquiring a driver image which is detected by the intelligent bracelet and is shot by the in-vehicle monitoring equipment of the physiological data of the driver;

and identifying the driver image to obtain the facial expression and/or gesture action of the driver.

5. A driving assistance apparatus of a vehicle, characterized by comprising:

the acquisition module is used for acquiring physiological data, facial expressions and/or gesture actions of a driver;

a matching module for matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions;

the auxiliary module is used for judging that the driver is in a preset incapability state when the first incapability grade and the second incapability grade are both larger than an incapability threshold value, or the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered running state based on vehicle running data, controlling the vehicle to execute a safe parking action and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

6. The apparatus of claim 5, prior to controlling the vehicle to perform the safe parking action, comprising:

the first control module is used for controlling the vehicle to execute a preset awakening action while keeping the vehicle running in the lane and identifying the actual awakening state of the driver;

and the second control module is used for controlling the vehicle to stop the preset awakening work when the actual awakening state is the preset awakening state, otherwise, counting the continuous execution time of the preset awakening action, and controlling the vehicle to execute the safe parking action when the continuous execution time is greater than the preset value.

7. The apparatus according to claim 5 or 6, characterized by, after controlling the vehicle to perform a safe parking action, comprising:

the detection module is used for detecting whether the vehicle is parked or not;

and the third control module is used for controlling the vehicle to carry out an acoustic reminding action and/or an optical reminding action and simultaneously controlling the unlocking of the vehicle door after the vehicle is detected to be parked completely.

8. The device according to claim 5, wherein the obtaining module is further configured to obtain a driver image captured by the in-vehicle monitoring device based on the physiological data of the driver detected by the smart band, and recognize the driver image to obtain the facial expression and/or the gesture of the driver.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of assisted driving of a vehicle as claimed in any one of claims 1 to 4.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method for driving assistance of a vehicle according to any one of claims 1 to 4.