CN115503738A

CN115503738A - Vehicle control method and device, electronic equipment, storage medium and vehicle

Info

Publication number: CN115503738A
Application number: CN202211185262.0A
Authority: CN
Inventors: 袁忠诚; 李成炫
Original assignee: Human Horizons Shandong Technology Co Ltd
Current assignee: Human Horizons Shandong Technology Co Ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2022-12-23

Abstract

The disclosure provides a vehicle control method, a vehicle control device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of intelligent vehicles and automatic driving vehicles. The specific implementation scheme is as follows: in response to detecting that a steer-by-wire system of the vehicle is disabled, prompting a driver to take over the vehicle for a first preset time; monitoring the speed of the vehicle within a second preset time under the condition that the driver successfully takes over the vehicle; and in the case that the speed of the vehicle is not reduced to the first preset speed within the second preset time, terminating the driver's takeover and controlling the speed of the vehicle to be reduced to the second preset speed. According to the technical scheme of the invention, a processing strategy which gives priority to taking over by a driver and controls the speed reduction of the vehicle under the condition of improper after-treatment taking over can be set under the condition that a steer-by-wire system of the vehicle fails, so that the loss of parts of the vehicle is reduced as much as possible under the condition of ensuring the driving safety, and the effect of degrading the whole vehicle is achieved.

Description

Vehicle control method and device, electronic equipment, storage medium and vehicle

Technical Field

The present disclosure relates to the field of intelligent vehicle and automatic driving vehicle technologies, and in particular, to a vehicle control method and apparatus, an electronic device, a storage medium, and a vehicle.

Background

Currently, a Steering-by-wire (SBW) system is regarded as a necessary trend of the development of a Steering system in a future unmanned scene due to the advantages of good Steering stability, collision safety, realization of decoupling of driver operation and vehicle movement, and the like. However, since the steer-by-wire system cancels all mechanical connections between the steering wheel unit and the steering actuator unit, it is important to ensure driving safety in the event of failure of the steer-by-wire system.

Disclosure of Invention

The disclosure provides a vehicle control method, a vehicle control device, an electronic apparatus, a storage medium and a vehicle.

In a first aspect, an embodiment of the present disclosure provides a vehicle control method, including:

in response to detecting that a steer-by-wire system of the vehicle is disabled, prompting a driver to take over the vehicle for a first preset time;

monitoring the speed of the vehicle within a second preset time under the condition that the driver successfully takes over the vehicle;

and in the case that the speed of the vehicle is not reduced to the first preset speed within the second preset time, terminating the driver's takeover and controlling the speed of the vehicle to be reduced to the second preset speed.

In a second aspect, an embodiment of the present disclosure provides a vehicle control apparatus including:

the system comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for responding to the detection that a steer-by-wire system of the vehicle is invalid and prompting a driver to take over the vehicle within a first preset time;

the monitoring module is used for monitoring the speed of the vehicle within a second preset time under the condition that the driver successfully takes over the vehicle;

and the control module is used for stopping the driver to take over and controlling the speed of the vehicle to be reduced to the second preset speed under the condition that the speed of the vehicle is not reduced to the first preset speed within the second preset time.

In a third aspect, an embodiment of the present application provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to any one of the embodiments of the present disclosure.

In a fourth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform a method in any of the embodiments of the present disclosure.

In a fifth aspect, embodiments of the present disclosure provide a vehicle including an electronic device according to an embodiment of the third aspect of the present disclosure or an apparatus according to an embodiment of the second aspect of the present disclosure.

According to the technology disclosed by the invention, the processing strategy of preferentially considering the driver to take over and assisting the driver to take over the deceleration under the condition of improper post-processing can be set under the condition that the steer-by-wire system of the vehicle fails, so that the loss of parts of the vehicle is reduced as much as possible under the condition of ensuring the driving safety, and the effect of degrading the whole vehicle is achieved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a first schematic flow chart diagram of a vehicle control method according to an embodiment of the present disclosure;

FIG. 2 is a second flowchart illustration of a vehicle control method according to an embodiment of the present disclosure;

FIG. 3 is a third schematic flow chart diagram of a vehicle control method according to an embodiment of the present disclosure;

FIG. 4 is a fourth flowchart illustration of a vehicle control method according to an embodiment of the disclosure;

FIG. 5 is a first schematic diagram of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 6 is a second schematic diagram of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 7 is a third schematic diagram of a vehicle control device according to an embodiment of the present disclosure;

fig. 8 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a flowchart illustrating a vehicle control method according to an embodiment of the present disclosure, including:

s110, responding to the detection that a steer-by-wire system of the vehicle is invalid, and prompting a driver to take over the vehicle within a first preset time;

s120, monitoring the speed of the vehicle within a second preset time under the condition that the driver successfully takes over the vehicle;

and S130, under the condition that the speed of the vehicle is not reduced to the first preset speed within the second preset time, stopping taking over by the driver and controlling the speed of the vehicle to be reduced to the second preset speed.

The first preset speed is a safe speed which needs to be reached by the vehicle within a second preset time after the driver takes over the vehicle under the condition that the vehicle determines that the steer-by-wire system is invalid, and can be 0 or other speeds used for determining that the driver completes effective braking on the vehicle speed. For example, the first preset speed may be preset according to the second preset time. The second preset speed may be the same as the first preset speed, or may be specifically configured according to actual requirements, which is not limited herein. If the speed of the vehicle is not reduced to the first preset speed within the second preset time, the fact that the driver does not properly process the current situation is proved, and in order to guarantee driving safety, the driver is stopped taking over and replacing the vehicle to control the reduction of the speed of the vehicle.

By adopting the method of the embodiment, when the failure of the steer-by-wire system of the vehicle is detected, the priority is given to the condition that the driver takes over rather than directly controlling the deceleration by the vehicle, so that the function loss of the vehicle part can be reduced. Meanwhile, under the condition that the driver takes over, the safe speed which the driver needs to control the vehicle to reach is set in a specific time, the driving condition after the driver takes over is detected, the driver takes over is stopped under the condition that the driver does not control the vehicle to reach the safe speed, the vehicle controls the speed to be reduced, and the driving safety is guaranteed.

Further, as shown in fig. 2, the vehicle control method further includes:

and S210, controlling the speed of the vehicle to be reduced to a second preset speed under the condition that the driver fails to take over the vehicle.

It will be appreciated that in the event of a detected failure of the steer-by-wire system of the vehicle, the driver is given priority over taking over, but if the driver fails to take over the vehicle within the first predetermined time, the vehicle itself controls the speed reduction of the vehicle for driving safety reasons.

Illustratively, as shown in fig. 3, the specific steps of the vehicle controlling the vehicle to decelerate to the second preset speed include:

s310, controlling the deceleration of the vehicle to reach the first preset deceleration within the third preset time;

s320, controlling the deceleration of the vehicle to increase from the first preset deceleration to the second preset deceleration within the fourth preset time;

and S330, controlling the vehicle to maintain the second preset deceleration until the speed of the vehicle is reduced to the second preset speed.

The steps S310, S320, and S330 are three stages of controlling the vehicle to decelerate, respectively, in the first stage, the deceleration of the vehicle is controlled to reach the first preset deceleration within the third preset time, and the variation value of the vehicle deceleration per unit time in this stage is the maximum value in the three stages, so that on one hand, after the steer-by-wire system fails, the vehicle can be quickly braked to ensure driving safety, and on the other hand, a warning effect can be provided for a driver who has failed to take over the vehicle within the first preset time before, so as to ensure that the driver is aware of the failure of the steer-by-wire system.

In the second stage, the deceleration of the vehicle is controlled to be increased from the first preset deceleration to a second preset deceleration within a fourth preset time, and the second preset deceleration is the maximum deceleration which can be reached by the vehicle under the condition of ensuring the safety. And after the second preset deceleration is reached, entering a third stage, and maintaining the second preset deceleration until the speed of the vehicle is reduced to a second preset speed.

It is understood that the above three stages of the vehicle controlling the self-deceleration are the configuration in which the original vehicle speed is in the ideal interval, and depending on the speed in the actual driving situation, there may be a case where the vehicle does not reach the maximum deceleration (the first stage or the second stage) but the speed of the vehicle has decreased to the second preset speed, in which case, whether in the first stage or the second stage, if the speed of the vehicle has decreased to the second preset speed, it is regarded that the process of the vehicle controlling the self-deceleration has been completed, and the vehicle does not mechanically perform the three stages of controlling the self-deceleration.

By adopting the method of the embodiment, under the condition that the driver cannot take over the vehicle or the driver takes over the vehicle to terminate, the vehicle controls the speed of the vehicle to be reduced in stages until the speed of the vehicle is reduced to the safe speed, the loss of parts of the vehicle in the speed reduction process can be reduced as much as possible on the premise of ensuring the driving safety, the effect of degrading the whole vehicle is achieved, meanwhile, the effect of bad experience of the driver and passengers due to the fact that the driver and the passengers take the vehicle when the vehicle is braked suddenly is avoided by controlling the speed of the vehicle in stages, and the safety problem of the driver and the passengers due to the fact that the driver and the passengers brake suddenly is avoided further.

Optionally, as shown in fig. 4, the vehicle control method further includes:

and S410, in response to the condition that the duration of the pressure applied to the brake pedal of the vehicle is not less than the fifth preset time, determining that the driver successfully takes over the vehicle.

It will be appreciated that in the event that the vehicle prompts the driver to take over the vehicle for a first predetermined time, the effect of a false touch on the take-over event needs to be taken into account. The method can be configured in the situation that the line control steering system fails, the driver takes over the operation of the vehicle to step on the brake pedal, and if the duration that the pressure is applied to the brake pedal of the vehicle is detected to be not less than the fifth preset time, the driver can be determined to receive the taking over prompt of the vehicle and be ready to take over the vehicle.

Further, the means for preventing the impact of the accidental touch on the take-over event may also set a threshold value for the pressure applied to the brake pedal (the intention of the driver to take over is determined only in the case where the pressure applied to the brake pedal by the driver is greater than the threshold value), and the like, and is not particularly limited herein.

By adopting the method of the embodiment, after the driver is informed to take over the vehicle, the condition for determining the successful taking over of the vehicle by the driver is set, so that the influence of mistaken touch on the taking over event is avoided, the processing of the vehicle to the failure of the steer-by-wire system is prevented from being delayed under the condition that the driver cannot take over the vehicle, and the driving safety of the steer-by-wire system vehicle is further ensured.

For example, the vehicle does not respond to requests from the accelerator pedal and the brake pedal in controlling the vehicle to decelerate to a second preset speed.

It can be understood that, in order to ensure the smooth progress of the deceleration process of the vehicle control itself, the vehicle does not respond to the acceleration and deceleration request of the vehicle by the driver in this stage. However, the vehicle does not respond to the request and does not mean that the vehicle stops detecting the behavior of the driver, the driver can still express an intention by operating the accelerator pedal and the brake pedal, for example, the driver fails to receive a take-over prompt of the vehicle and successfully takes over the vehicle for objective or subjective reasons within a first preset time, but is aware of a failure condition of the steer-by-wire system in the deceleration process of the vehicle control self (for example, the vehicle rapidly brakes the vehicle itself in the first stage of the deceleration of the vehicle control self to a second preset speed and carries out secondary prompt on the driver), the driver can still apply pressure on the brake pedal for a duration not less than a fifth preset time to express a driving intention to the vehicle, and the vehicle can transfer the vehicle control right to the driver after controlling the vehicle to decelerate to the second preset speed.

Illustratively, in another specific example of the present application, the controller for implementing the three stages of the self-controlled deceleration in the vehicle in the above-described steps S310 to S330 is different from the controller for supporting the driver to control the deceleration of the vehicle through the brake pedal. In this case, in the above steps S120 and S130, a third preset speed, which is greater than the first preset speed and is also used for monitoring the speed of the vehicle in step S120, may be set.

It can be understood that if the initial speed of the vehicle is high when the steer-by-wire system fails, there are situations where it is difficult for the driver to reduce the speed of the vehicle to the first preset speed within the second preset time. If the driver does not successfully reduce the speed of the vehicle to the first preset speed within the second preset time when taking over the vehicle, but the requirement that the speed of the vehicle is reduced to the third preset speed or below is met, the driver can be considered to perform an operation behavior with a certain control effect on the vehicle under the condition that the online control steering system fails, in order to ensure driving safety, the vehicle can send a request for controlling the self-deceleration without stopping taking over of the driver (namely continuously responding to the request of the brake pedal), and then the driver can realize double deceleration of deceleration controlled by the brake pedal and self-deceleration controlled by the vehicle, so that the vehicle can be decelerated more efficiently under emergency conditions.

By adopting the method of the embodiment, the process of controlling the vehicle to decelerate can be prevented from being interfered by the behavior of the driver, and the driving safety under the condition that the steer-by-wire system is invalid is further ensured.

The specific arrangements and implementations of the embodiments of the present application have been described above from various perspectives. By using the method provided by the embodiment, under the condition that the failure of the steer-by-wire system of the vehicle is detected, the condition that the driver takes over is preferentially considered, and the processing strategy that the vehicle controls the speed reduction under the condition that the driver fails to take over or the processing strategy that the vehicle controls the speed reduction under the condition that the processing is improper after taking over is taken over, so that the loss of the parts of the vehicle is reduced as much as possible under the condition that the driving safety is ensured, and the effect of degrading the whole vehicle is achieved.

As implementations of the above methods, embodiments of the present disclosure also provide a vehicle control device.

Fig. 5 is a schematic diagram of a vehicle control apparatus according to an embodiment of the present disclosure, the apparatus including:

a first detection module 510, configured to prompt a driver to take over a vehicle within a first preset time in response to detecting that a steer-by-wire system of the vehicle is disabled;

the monitoring module 520 is used for monitoring the speed of the vehicle within a second preset time under the condition that the driver successfully takes over the vehicle;

and the control module 530 is used for terminating the driver taking over and controlling the speed of the vehicle to be reduced to the second preset speed in the case that the speed of the vehicle is not reduced to the first preset speed within the second preset time.

Illustratively, the control module is further configured to:

in the event that the driver fails to take over the vehicle, the speed of the vehicle is controlled to decrease to a second preset speed.

Illustratively, as shown in fig. 6, the control module includes:

a first control unit 631 for controlling the deceleration of the vehicle to reach the first preset deceleration within a third preset time;

a second control unit 632 for controlling the deceleration of the vehicle to increase from the first preset deceleration to a second preset deceleration within a fourth preset time;

a third control unit 633 for controlling the vehicle to maintain the second preset deceleration until the speed of the vehicle decreases to the second preset speed.

Exemplarily, as shown in fig. 7, the vehicle control apparatus further includes:

and the second detection module 710 is used for responding to the situation that the duration of the pressure applied to the brake pedal of the vehicle is detected to be not less than the fifth preset time, and determining that the driver successfully takes over the vehicle.

Optionally, the vehicle is not responsive to requests from the accelerator pedal and the brake pedal during control of the vehicle to decelerate to the second preset speed.

The functions of each unit, module or sub-module in each device in the embodiments of the present disclosure may refer to the corresponding description in the above method embodiments, and have corresponding beneficial effects, and no further description is given here

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a vehicle.

FIG. 8 shows a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM 802 and/or communications unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method comprising:

and under the condition that the speed of the vehicle is not reduced to the first preset speed within the second preset time, stopping taking over by the driver and controlling the speed of the vehicle to be reduced to the second preset speed.

2. The method of claim 1, wherein the method further comprises:

and in the case that the driver fails to take over the vehicle, controlling the speed of the vehicle to be reduced to a second preset speed.

3. The method of claim 1 or 2, wherein said controlling the vehicle to decelerate to a second preset speed comprises:

controlling the deceleration of the vehicle to reach a first preset deceleration within a third preset time;

controlling the deceleration of the vehicle to increase from the first preset deceleration to a second preset deceleration within a fourth preset time;

controlling the vehicle to maintain the second preset deceleration until the speed of the vehicle is reduced to the second preset speed.

4. The method according to claim 1 or 2, wherein the method further comprises:

and in response to detecting that the duration of the pressure on the brake pedal of the vehicle is not less than a fifth preset time, determining that the driver successfully takes over the vehicle.

5. A method according to claims 1-4, wherein the vehicle is not responding to requests from an accelerator pedal and a brake pedal during the control of the vehicle to decelerate to a second preset speed.

6. A vehicle control apparatus comprising:

and the control module is used for stopping the driver to take over and controlling the speed of the vehicle to be reduced to a second preset speed under the condition that the speed of the vehicle is not reduced to the first preset speed within the second preset time.

7. The apparatus of claim 6, wherein the control module is further to:

in case the driver fails to take over the vehicle, the speed of the vehicle is controlled to decrease to a second preset speed.

8. The apparatus of claim 6 or 7, wherein the control module comprises:

a first control unit configured to control deceleration of the vehicle to reach a first preset deceleration within a third preset time;

a second control unit configured to control the deceleration of the vehicle to increase from the first preset deceleration to a second preset deceleration within a fourth preset time;

a third control unit configured to control the vehicle to maintain the second preset deceleration until the speed of the vehicle decreases to the second preset speed.

9. The apparatus of claim 6 or 7, wherein the apparatus further comprises:

and the second detection module is used for determining that the driver successfully takes over the vehicle in response to the condition that the duration of the pressure on the brake pedal of the vehicle is detected to be not less than the fifth preset time.

10. The apparatus of claims 6-9, wherein the vehicle is unresponsive to requests from an accelerator pedal and a brake pedal in controlling the vehicle to decelerate to a second preset speed.

11. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.

13. A vehicle comprising the electronic device of claim 11 or the apparatus of any one of claims 6-10.