CN116215557A - Vehicle control method and device, vehicle and storage medium - Google Patents

Vehicle control method and device, vehicle and storage medium Download PDF

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Publication number
CN116215557A
CN116215557A CN202310378968.7A CN202310378968A CN116215557A CN 116215557 A CN116215557 A CN 116215557A CN 202310378968 A CN202310378968 A CN 202310378968A CN 116215557 A CN116215557 A CN 116215557A
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China
Prior art keywords
vehicle
information
driver
control strategy
control
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CN202310378968.7A
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Chinese (zh)
Inventor
华东南
牛雷
陶鹏
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202310378968.7A priority Critical patent/CN116215557A/en
Publication of CN116215557A publication Critical patent/CN116215557A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/26—Incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present disclosure relates to the field of automotive technologies, and in particular, to a method and apparatus for controlling a vehicle, and a storage medium. The control method of the vehicle includes: acquiring face image information of a driver in a vehicle and position information of the vehicle; determining fatigue state information of a driver according to the facial image information; according to the fatigue state information, the position information is sent to the cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not; receiving a control strategy sent by a cloud; and controlling the vehicle according to the control strategy. According to the method and the device, under the condition that fatigue driving of the driver occurs, lane changing control can be carried out on the vehicle according to the fatigue condition of the driver, safe driving of the driver is guaranteed, and then the accident rate is reduced.

Description

Vehicle control method and device, vehicle and storage medium
Technical Field
The present disclosure relates to the field of automotive technologies, and in particular, to a method and apparatus for controlling a vehicle, and a storage medium.
Background
When a driver drives a vehicle for a long time, fatigue such as drowsiness, weakness of limbs, distraction, and deterioration of judgment occur. After the fatigue condition occurs, unsafe factors such as physiological function and psychological function disorder, operation pause and the like can be generated for a driver, and road traffic accidents are extremely easy to generate. At present, in order to reduce traffic accidents caused by fatigue situations, the fatigue situations of a driver are monitored when the driver drives a vehicle, and the driver is reminded when the driver is tired. However, the above-mentioned method only can make the driver temporarily wake, and the fatigue driving may occur to the driver in the near future, and the problem of fatigue driving cannot be fundamentally solved, so that the driving safety of the driver cannot be guaranteed.
Disclosure of Invention
One of the objects of the present application is to provide a control method of a vehicle, which can reduce the occurrence rate of accidents in the case where fatigue driving has occurred; a second object of the present application is to provide a control device for a vehicle; it is a third object of the present application to provide a vehicle; it is a fourth object of the present application to provide a storage medium.
In order to achieve the above object, in a first aspect, the present application provides a control method of a vehicle, comprising:
acquiring face image information of a driver in a vehicle and position information of the vehicle;
determining fatigue state information of the driver according to the face image information;
according to the fatigue state information, the position information is sent to a cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not;
receiving a control strategy sent by the cloud;
and controlling the vehicle according to the control strategy.
Further, the sending the location information to the cloud according to the fatigue state information includes:
when the fatigue state information is a first fatigue grade, acquiring target times of the fatigue state information continuously being the first fatigue grade;
Acquiring control image information of a steering wheel in the vehicle;
and when the target times reach preset times and the control image information does not contain a human hand, sending the position information to a cloud.
Further, the sending the location information to the cloud according to the fatigue state information includes:
when the fatigue state information is of a second fatigue level, controlling a prompting device in the vehicle to work so as to prompt the driver;
after the prompting device prompts the driver for a first preset time, executing the step of acquiring the facial image information of the driver in the vehicle;
and when the fatigue state information is still at the second fatigue level, sending the position information to a cloud.
Further, the cloud end determines a control strategy corresponding to the vehicle according to the position information, including:
the cloud end determines attribute information of a road where the vehicle is located according to the position information;
acquiring road condition image information of the road and the running speed of the vehicle;
determining lane change information of the vehicle according to the road condition image information and the running speed;
and determining a control strategy corresponding to the vehicle according to the attribute information and the lane change information.
Further, the cloud end determines a control strategy corresponding to the vehicle according to the attribute information and the lane change information, including:
the cloud determines the control strategy as a first control strategy when determining that the attribute information is parking permission and the lane change information is lane change permission;
the controlling the vehicle according to the control strategy includes:
when the control strategy is a first control strategy, controlling the vehicle to change lanes to a target lane; the method comprises the steps of,
after controlling the vehicle to change lane to the target lane, controlling the vehicle to stop running and controlling an alarm lamp in the vehicle to be turned on.
Further, the method further comprises:
after controlling the vehicle to stop traveling and controlling the warning lamp in the vehicle to be turned on, performing the step of acquiring face image information of a driver in the vehicle;
when the fatigue state information is awake, determining a first duration in which the driver has been at rest;
when the first time period does not reach a second preset time period, determining a second time period for the driver to rest;
and controlling a prompting device in the vehicle to work according to the second duration so as to prompt the driver.
Further, the face image information includes: eye image information and mouth image information;
the determining fatigue state information of the driver according to the face image information includes:
determining eye state information of a driver according to the eye image information;
determining the mouth state information of the driver according to the mouth image information;
and determining fatigue state information of the driver according to the eye state information and the mouth state information.
In order to achieve the above object, a second aspect of the present application further provides a control device of a vehicle, including: an acquisition module configured to acquire face image information of a driver in a vehicle and position information of the vehicle;
a determining module for determining fatigue state information of the driver according to the face image information;
the sending module is used for sending the position information to a cloud end according to the fatigue state information, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not;
the receiving module is used for receiving the control strategy sent by the cloud;
And the control module is used for controlling the vehicle according to the control strategy.
In order to achieve the above object, the present application further provides, in a third aspect, a vehicle including: the control system includes a processor for executing a control program of a vehicle stored in a memory to implement the control method of the vehicle as described above, and a memory.
In order to achieve the above object, the present application further provides a storage medium storing one or more programs executable by one or more processors to implement the control method of a vehicle as described above.
The beneficial effects of this application: the utility model provides a control method of vehicle, through obtaining the facial image information of driver and the positional information of vehicle in the vehicle, according to facial image information, confirm driver's fatigue state information, according to fatigue state information, send positional information to the high in the clouds, so that the high in the clouds is according to the control strategy that positional information confirms the vehicle correspondence, wherein, control strategy is used for instructing whether the vehicle changes the way, receive the control strategy that the high in the clouds sent, in order to control the vehicle according to control strategy, thereby under the condition that driver's fatigue driving has taken place, can carry out the lane change control to the vehicle according to driver's fatigue condition, ensured driver's safe driving, and then reduced the incidence of accident.
Drawings
Fig. 1 shows a schematic structural diagram of a control system of a vehicle according to an embodiment of the present application;
fig. 2 shows a flow chart of a control method of a vehicle according to an embodiment of the present application;
fig. 3 is a flow chart schematically illustrating another method for controlling a vehicle according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a control method of another vehicle according to an embodiment of the present application;
fig. 5 shows a schematic structural diagram of a control device for a vehicle according to an embodiment of the present application;
fig. 6 shows a schematic structural diagram of a vehicle according to an embodiment of the present application;
wherein:
101. an information acquisition device; 102. a vehicle control apparatus; 103. and (3) cloud end.
10. An acquisition module; 20. a determining module; 30. a transmitting module; 40. a receiving module; 50. a control module;
600. a vehicle; 601. a processor; 602. a memory; 6021. an operating system; 6022. an application program; 603. a user interface; 604. a network interface; 605. a bus system.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
For the purpose of facilitating an understanding of the embodiments of the present application, reference will now be made to the following description of specific embodiments, taken in conjunction with the accompanying drawings, in which the embodiments are not intended to limit the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system of a vehicle according to an embodiment of the present application. The embodiment of the application provides a control system of a vehicle, which comprises: the information acquisition device 101, the vehicle control device 102 and the cloud 103, wherein the information acquisition device 101 is used for acquiring face image information of a driver in a vehicle and position information of the vehicle, and sending the acquired face image information and position information to the vehicle control device 102, and the vehicle control device 102 determines fatigue state information of the driver according to the acquired face image information. The vehicle control device 102 transmits the acquired positional information to the cloud 103 according to the fatigue state information. The cloud 103 determines a control strategy corresponding to the vehicle according to the acquired position information, wherein the control strategy is used for indicating whether the vehicle changes lanes or not. After determining the control policy corresponding to the vehicle, the cloud 103 sends the control policy to the vehicle control device 102. The vehicle control apparatus 102 controls the vehicle according to the acquired control strategy.
Referring to fig. 2, fig. 2 is a flow chart of a control method of a vehicle according to an embodiment of the present application. The control method of the vehicle provided by the embodiment of the application comprises the following steps:
s201: face image information of a driver in a vehicle and position information of the vehicle are acquired.
In the present embodiment, the execution body is a vehicle control apparatus in a control system of a vehicle. The face image information and the position information of the vehicle are collected by the information collecting device and sent to the vehicle control device, so that the vehicle control device carries out logic judgment according to the obtained related information to control the vehicle.
S202: fatigue state information of the driver is determined from the face image information.
In the present embodiment, the face image information of the driver includes: eye image information and mouth image information. The fatigue state information of the current driver is determined by analyzing the eye state and the mouth state in the face image information. Wherein, in the step S202, fatigue state information of the driver is determined according to the facial image information, including:
determining eye state information of a driver according to the eye image information;
determining the mouth state information of the driver according to the mouth image information;
And determining fatigue state information of the driver according to the eye state information and the mouth state information.
Specifically, the eye state information includes: the eyes open and eyes close, and the mouth status information includes: the mouth is open and the mouth is closed. The fatigue state information includes: a first fatigue level, a second fatigue level, and wakefulness, wherein the second fatigue level is higher than the first fatigue level. When the eye state information is that the eyes are open and the mouth state information is that the mouth is closed, determining that the fatigue state information of the driver is awake; when the eye state information is that eyes are closed and the mouth state information is that the mouth is closed, determining that the fatigue state information of the driver is a first fatigue level; and when the eye state information is that the eyes are open and the mouth state information is that the mouth is open, determining that the fatigue state information of the driver is a second fatigue level.
More specifically, the eye state information and the mouth state information may be detected by a YOLOV5 neural network model.
S203: and sending the position information to the cloud end according to the fatigue state information, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, wherein the control strategy is used for indicating whether the vehicle changes lanes or not.
In this embodiment, after the vehicle control device determines the fatigue state information, it is determined whether the position information of the vehicle needs to be sent to the cloud to perform the determination of the control policy according to the fatigue state information. After the vehicle control equipment determines to send the position information to the cloud according to the fatigue state information, the cloud can determine a control strategy corresponding to the vehicle according to the position information. When the fatigue state information is the first fatigue level or when the fatigue state information is the second fatigue level, the vehicle control device is required to further judge the fatigue state information so as to determine whether to send the position information to the cloud end, and when the fatigue state information is awake, the vehicle control device does not need to send the position information to the cloud end, and a driver can control the vehicle to run. The specific implementation means for the vehicle control device to send the position information to the cloud according to the fatigue state information will be described below, and will not be described herein in detail in this embodiment.
Specifically, in step S203, the cloud end determines a control policy corresponding to the vehicle according to the location information, including:
the cloud end determines attribute information of a road where the vehicle is located according to the position information;
the cloud acquires road condition image information of a road and the running speed of a vehicle;
Determining lane change information of the vehicle according to the road condition image information and the running speed;
and determining a control strategy corresponding to the vehicle according to the attribute information and the lane change information.
Wherein the attribute information includes: allowed parking and not allowed parking; the lane change information includes: allow lane change and not allow lane change. The determination of the attribute information of the road on which the vehicle is located based on the position information can be understood as: judging whether a forbidden stop sign exists on the urban road or not when the road where the vehicle is located is determined to be the urban road according to the position information, and judging that the attribute information of the urban road is not allowed to stop when the forbidden stop sign exists on the urban road; when the urban road does not have the stop prohibition sign, the attribute information of the urban road is stop permission. Determining whether an emergency lane exists on the expressway when the road where the vehicle is located is the expressway according to the position information, and judging that the attribute information of the expressway is parking permission when the emergency lane exists on the expressway; when the expressway does not have an emergency lane, the attribute information of the expressway is that parking is not allowed. Specifically, whether the urban road has a stop prohibition sign or not and whether the expressway has an emergency lane or not can be determined through a map stored in the cloud.
The road condition image information of the road can be acquired through the information acquisition equipment, and the information acquisition equipment sends the acquired road condition image information to the cloud for processing. The information acquisition equipment comprises an image pickup device arranged beside the road, and the image pickup device is used for acquiring road condition image information of the road. The running speed of the vehicle can be acquired through the information acquisition equipment, and the information acquisition equipment sends the acquired running speed of the vehicle to the cloud for processing. The information acquisition equipment comprises a speed acquisition device arranged beside the road, and the speed acquisition device is used for acquiring the running speed of the vehicle. After receiving road condition image information of a road and the running speed of a vehicle, the cloud end determines whether the vehicle is suitable for lane changing to obtain lane changing information, and finally determines a control strategy corresponding to the final vehicle according to the attribute information and the lane changing information.
Specifically, the cloud end determines a control strategy corresponding to the vehicle according to the attribute information and the lane change information, and the method comprises the following steps:
when the cloud determines that the attribute information is parking permission and the lane changing information is lane changing permission, determining that the control strategy is a first control strategy;
When the cloud determines that the attribute information is not allowed to park and the lane changing information is allowed to change lanes, determining that the control strategy is a second control strategy;
the cloud determines the control strategy as a second control strategy when the attribute information is determined to be not allowed to park and the lane change information is determined to be not allowed to change lanes;
and when the cloud end determines that the attribute information is parking permission and the lane change information is lane change non-permission, determining that the control strategy is a second control strategy.
The first control strategy is used for indicating the lane change of the vehicle; the second control strategy is used to indicate that the vehicle is not changing lanes. The first control strategy and the second control strategy will be described below, and this embodiment will not be described here.
S204: and receiving a control strategy sent by the cloud.
In this embodiment, after the cloud determines the control policy corresponding to the vehicle, the control policy is sent to the vehicle control device, so that the vehicle control device controls the vehicle according to the control policy.
S205: and controlling the vehicle according to the control strategy.
In this embodiment, in step S205, the vehicle is controlled according to the control strategy, including:
when the control strategy is the first control strategy, controlling the vehicle to change the lane to the target lane; the method comprises the steps of,
After the control vehicle changes lane to the target lane, the control vehicle stops running and the alarm lamp in the control vehicle is turned on.
When the road where the vehicle is located is an urban road, the target lane is the rightmost lane of the road where the vehicle is located. When the road on which the vehicle is located is an expressway, the target lane is an emergency lane. Controlling the warning light in the vehicle to turn on is understood to mean controlling the vehicle to turn on a double flash.
In step S205, the vehicle is controlled according to the control strategy, and the method further includes:
when the control strategy is the second control strategy, controlling an alarm lamp in the vehicle to be started; the method comprises the steps of,
and sending a notification message to the traffic management system so that the traffic management system can send the notification message to vehicles around the vehicle, wherein the notification message carries the license plate number and the basic information of the vehicle.
After the vehicle cannot safely change the lane to the target lane for parking, the warning lamp in the vehicle can be controlled to be turned on, and corresponding notification messages are sent to the traffic management system, so that the traffic management system can send the notification messages to surrounding vehicles, the surrounding vehicles can know the condition of the vehicle in time, and the vehicle can be avoided. Alternatively, after the traffic management system receives the notification message, the vehicle may be forced to stop traveling by human intervention by a person of interest. The vehicle basic information includes: vehicle model and vehicle color.
In this embodiment, when the control strategy is the first control strategy, after the vehicle is controlled to change lanes to stop running and the alarm lamp in the vehicle is controlled to be turned on, the method further includes the following steps:
acquiring face image information of a driver in a vehicle after controlling the vehicle to stop running and an alarm lamp in the vehicle to be turned on;
determining a first period of time for which the driver has been at rest when the fatigue state information is determined to be awake according to the face image information;
when the first time length does not reach the second preset time length, determining the second time length for the driver to rest;
and controlling the operation of a prompting device in the vehicle according to the second duration to prompt the driver.
The second preset duration may be set according to actual needs, and in this embodiment, a specific numerical value of the second preset duration is not limited. The prompting device comprises: the voice unit and the display unit can broadcast the second duration of the driver to be at rest through the voice unit when the first duration does not reach the second preset duration, so that the driver can rest according to the broadcasted content; and when the first time period does not reach the second time period, the second time period for the driver to rest can be displayed through the display unit, so that the driver can rest according to the displayed content. The second time period is equal to the second preset time period minus the first time period. Through the mode, the driver is ensured to have enough rest time, and the safety of driving the vehicle by the driver is improved.
According to the vehicle control method, under the condition that fatigue driving of the driver occurs, lane changing control can be performed on the vehicle according to the fatigue condition of the driver, safe driving of the driver is guaranteed, and then the accident rate is reduced.
Referring to fig. 3, fig. 3 is a flowchart of another vehicle control method according to an embodiment of the present application. The control method of the vehicle provided by the embodiment of the application comprises the following steps:
s301: face image information of a driver in a vehicle and position information of the vehicle are acquired.
S302: fatigue state information of the driver is determined from the face image information.
In the above, the step S301 is consistent with the step S201, and the step S302 is consistent with the step S202, and the embodiment may refer to the above, and the details of the step S301 and the step S302 are not described herein.
S303: and when the fatigue state information is at the first fatigue level, acquiring the target number of times that the fatigue state information is continuously at the first fatigue level.
In this embodiment, the first fatigue level may be understood as the driver being in a drowsy state. After the fatigue state information is determined to be the first fatigue grade, the result is recorded, and the target number of times that the fatigue state information is continuously the first fatigue grade is obtained according to the recorded result. When the fatigue state information is determined to be the first fatigue level, the vehicle control device controls the prompting device to work so as to prompt the driver, thereby waking up the driver. The prompting device comprises: a voice unit and a buzzer unit. When the prompting device comprises a voice unit, the voice unit is used for broadcasting to prompt a driver. When the prompting device comprises a buzzer unit, the driver is prompted by alarming through the buzzer unit.
S304: and collecting control image information of a steering wheel in the vehicle.
In the present embodiment, the control image information is acquired by the information acquisition device, and the information acquisition device transmits the acquired control image information to the vehicle control device. The information acquisition equipment comprises an imaging device of the equipment in the vehicle, and the imaging device acquires control image information and sends the control image information to the vehicle control equipment.
S305: when the target times reach the preset times and the control image information does not contain a person, the position information is sent to the cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not.
In this embodiment, the preset times may be set according to actual needs, and specific numerical values of the preset times are not limited in this embodiment. When the target frequency reaches the preset frequency and the control image information does not contain hands, the fact that the driver has great danger in driving at the moment is indicated, and the vehicle needs to be controlled so as to reduce the possibility of danger of the driver. The preset times are variable, and can be determined by the running speed of the vehicle, and when the position information is sent to the cloud, the running speed of the vehicle is obtained, and the preset times are determined according to the running speed of the vehicle. Wherein, the preset times corresponding to the running speed can be determined from the association relation. The higher the running speed is, the smaller the preset times is, and the association relation stores a plurality of groups of corresponding relations between the running speeds and the preset times. The cloud end in step S305 determines that the control policy corresponding to the vehicle is consistent with that in step S203 according to the location information, and the embodiment is not described herein.
S306: and receiving a control strategy sent by the cloud.
S307: and controlling the vehicle according to the control strategy.
In the above, the step S306 is consistent with the step S204, and the step S307 is consistent with the step S205, and the embodiment may refer to the above, and the details of the step S306 and the step S307 are not described herein.
According to the vehicle control method, under the condition that fatigue driving of the driver occurs, lane changing control can be performed on the vehicle according to the fatigue condition of the driver, safe driving of the driver is guaranteed, and then the accident rate is reduced.
Referring to fig. 4, fig. 4 is a flowchart of a control method of a further vehicle according to an embodiment of the present application. The control method of the vehicle provided by the embodiment of the application comprises the following steps:
s401: face image information of a driver in a vehicle and position information of the vehicle are acquired.
S402: fatigue state information of the driver is determined from the face image information.
In the above, the step S401 is consistent with the step S201, and the step S402 is consistent with the step S202, and the embodiment may refer to the above, and the details of the step S401 and the step S402 are not described herein.
S403: and when the fatigue state information is the second fatigue level, controlling a prompting device in the vehicle to work so as to prompt the driver.
In this embodiment, the second fatigue level may be understood as the driver being in a state of falling asleep. After the fatigue state information is determined to be the second split level, the vehicle control device controls the prompting device to work so as to prompt the driver, and accordingly the driver is awakened. The prompting device comprises: a voice unit and a buzzer unit. When the prompting device comprises a voice unit, the voice unit is used for broadcasting to prompt a driver. When the prompting device comprises a buzzer unit, the driver is prompted by alarming through the buzzer unit.
S404: after the prompting device prompts the driver for a first preset time period, the face image information of the driver in the vehicle is acquired, so that fatigue state information of the driver is determined according to the face image information.
In this embodiment, the first preset duration may be set according to actual needs, and specific values of the first preset duration are not limited in this embodiment. After the prompting device prompts the driver for the first preset time period, the steps S401 and S402 are executed again to re-determine the fatigue state information of the driver.
S405: and when the fatigue state information is still at the second fatigue level, sending the position information to the cloud end so that the cloud end can determine a control strategy corresponding to the vehicle according to the position information, wherein the control strategy is used for indicating whether the vehicle changes lanes or not.
In this embodiment, after the fatigue state information is determined to be the second fatigue level again, it indicates that the driver cannot be awakened successfully, there is a great danger in driving by the driver, and the vehicle needs to be controlled to reduce the possibility of danger for the driver. The cloud determines that the control policy corresponding to the vehicle is consistent with the control policy in step S203 according to the location information, and the embodiment is not described herein.
S406: and receiving a control strategy sent by the cloud.
S407: and controlling the vehicle according to the control strategy.
In the above, the step S406 is consistent with the step S204, the step S407 is consistent with the step S205, and the embodiment may refer to the above, and the details of the step S406 and the step S407 are not described here.
According to the vehicle control method, under the condition that fatigue driving of the driver occurs, lane changing control can be performed on the vehicle according to the fatigue condition of the driver, safe driving of the driver is guaranteed, and then the accident rate is reduced.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device for a vehicle according to an embodiment of the present application. The embodiment of the application provides a control device of a vehicle, which comprises: the system comprises an acquisition module 10, a determination module 20, a transmission module 30, a reception module 40 and a control module 50. Wherein, the acquisition module 10 is used for acquiring the facial image information of a driver in a vehicle and the position information of the vehicle; a determining module 20 for determining fatigue state information of the driver based on the face image information; the sending module 30 is configured to send the location information to a cloud end according to the fatigue status information, so that the cloud end determines a control policy corresponding to the vehicle according to the location information, where the control policy is used to indicate whether the vehicle changes lanes; a receiving module 40, configured to receive the control policy sent by the cloud; the control module 50 is configured to control the vehicle according to the control strategy.
In the present embodiment, the sending module 30 is further configured to:
when the fatigue state information is a first fatigue grade, acquiring target times of the fatigue state information continuously being the first fatigue grade;
acquiring control image information of a steering wheel in the vehicle;
and when the target times reach preset times and the control image information does not contain a human hand, sending the position information to a cloud.
In the present embodiment, the sending module 30 is further configured to:
when the fatigue state information is of a second fatigue level, controlling a prompting device in the vehicle to work so as to prompt the driver;
after the prompting device prompts the driver for a first preset time period, acquiring facial image information of the driver in the vehicle to determine fatigue state information of the driver;
and when the fatigue state information is still at the second fatigue level, sending the position information to a cloud.
In this embodiment, the cloud end is further configured to:
determining attribute information of a road where the vehicle is located according to the position information;
acquiring road condition image information of the road and the running speed of the vehicle;
determining lane change information of the vehicle according to the road condition image information and the running speed;
And determining a control strategy corresponding to the vehicle according to the attribute information and the lane change information.
In this embodiment, the cloud end is further configured to:
and when the cloud determines that the attribute information is parking permission and the lane change information is lane change permission, determining that the control strategy is a first control strategy.
In this embodiment, the control module 50 is further configured to:
when the control strategy is a first control strategy, controlling the vehicle to change lanes to a target lane; the method comprises the steps of,
after controlling the vehicle to change lane to the target lane, controlling the vehicle to stop running and controlling an alarm lamp in the vehicle to be turned on.
In this embodiment, the determining module 20 is further configured to:
acquiring face image information of a driver in a vehicle after controlling the vehicle to stop traveling and controlling the alarm lamp in the vehicle to be turned on, so as to determine fatigue state information of the driver;
when the fatigue state information is awake, determining a first duration in which the driver has been at rest;
and when the first time period does not reach a second preset time period, determining the second time period for the driver to rest.
In this embodiment, the control module 50 is further configured to:
And controlling a prompting device in the vehicle to work according to the second duration so as to prompt the driver.
In this embodiment, the face image information includes: eye image information and mouth image information.
In this embodiment, the determining module 20 is further configured to:
determining eye state information of a driver according to the eye image information;
determining the mouth state information of the driver according to the mouth image information;
and determining fatigue state information of the driver according to the eye state information and the mouth state information.
According to the vehicle control method, under the condition that fatigue driving of the driver occurs, lane changing control can be performed on the vehicle according to the fatigue condition of the driver, safe driving of the driver is guaranteed, and then the accident rate is reduced.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application, and a vehicle 600 shown in fig. 6 includes: at least one processor 601, memory 602, at least one network interface 604, and other user interfaces 603. The various components in the vehicle 600 are coupled together by a bus system 605. It is understood that the bus system 605 is used to enable connected communications between these components. The bus system 605 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various buses are labeled as bus system 605 in fig. 6.
The user interface 603 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, a trackball, a touch pad, or a touch screen, etc.).
It is to be appreciated that the memory 602 in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DRRAM). The memory 602 described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some implementations, the memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system 6021 and application programs 6022.
The operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 6022 includes various application programs such as a Media Player (Media Player), a Browser (Browser), and the like for realizing various application services. A program for implementing the method of the embodiment of the present application may be included in the application 6022.
In the embodiment of the present application, the processor 601 is configured to execute the method steps provided by the method embodiments by calling a program or an instruction stored in the memory 602, specifically, a program or an instruction stored in the application 6022, including, for example: acquiring face image information of a driver in a vehicle and position information of the vehicle; determining fatigue state information of a driver according to the facial image information; according to the fatigue state information, the position information is sent to the cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not; receiving a control strategy sent by a cloud; and controlling the vehicle according to the control strategy.
The method disclosed in the embodiments of the present application may be applied to the processor 601 or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 601 or instructions in the form of software. The processor 601 may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks 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. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software elements in a decoded processor. The software elements may be located in a random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 602, and the processor 601 reads information in the memory 602 and performs the steps of the above method in combination with its hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (dspev, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
The vehicle provided in this embodiment may be a vehicle as shown in fig. 6, and may perform all steps of the control method of the vehicle as shown in fig. 2-4, so as to achieve the technical effects of the control method of the vehicle as shown in fig. 2-4, and the description thereof will be specifically referred to in fig. 2-4, and will not be repeated herein for brevity.
The embodiment of the application also provides a storage medium (computer readable storage medium). The storage medium here stores one or more programs. Wherein the storage medium may comprise volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid state disk; the memory may also comprise a combination of the above types of memories.
When one or more programs in the storage medium are executable by one or more processors, the control method of the vehicle that is executed on the control apparatus side of the vehicle is implemented.
The processor is configured to execute a control program of the vehicle stored in the memory to implement the following steps of a control method of the vehicle executed on a control device side of the vehicle: acquiring face image information of a driver in a vehicle and position information of the vehicle; determining fatigue state information of a driver according to the facial image information; according to the fatigue state information, the position information is sent to the cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not; receiving a control strategy sent by a cloud; and controlling the vehicle according to the control strategy.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It should be noted that references in the specification to "one implementation," "an embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A control method of a vehicle, characterized by comprising:
acquiring face image information of a driver in a vehicle and position information of the vehicle;
determining fatigue state information of the driver according to the face image information;
according to the fatigue state information, the position information is sent to a cloud end, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not;
receiving a control strategy sent by the cloud;
and controlling the vehicle according to the control strategy.
2. The method of claim 1, wherein the sending the location information to the cloud based on the fatigue status information comprises:
when the fatigue state information is a first fatigue grade, acquiring target times of the fatigue state information continuously being the first fatigue grade;
acquiring control image information of a steering wheel in the vehicle;
and when the target times reach preset times and the control image information does not contain a human hand, sending the position information to a cloud.
3. The method of claim 1, wherein the sending the location information to the cloud based on the fatigue status information comprises:
When the fatigue state information is of a second fatigue level, controlling a prompting device in the vehicle to work so as to prompt the driver;
after the prompting device prompts the driver for a first preset time, executing the step of acquiring the facial image information of the driver in the vehicle;
and when the fatigue state information is still at the second fatigue level, sending the position information to a cloud.
4. The method of claim 1, wherein the cloud determining the control strategy corresponding to the vehicle according to the location information comprises:
the cloud end determines attribute information of a road where the vehicle is located according to the position information;
acquiring road condition image information of the road and the running speed of the vehicle;
determining lane change information of the vehicle according to the road condition image information and the running speed;
and determining a control strategy corresponding to the vehicle according to the attribute information and the lane change information.
5. The method of claim 4, wherein the determining, by the cloud terminal, the control policy corresponding to the vehicle according to the attribute information and the lane change information includes:
the cloud determines the control strategy as a first control strategy when determining that the attribute information is parking permission and the lane change information is lane change permission;
The controlling the vehicle according to the control strategy includes:
when the control strategy is a first control strategy, controlling the vehicle to change lanes to a target lane; the method comprises the steps of,
after controlling the vehicle to change lane to the target lane, controlling the vehicle to stop running and controlling an alarm lamp in the vehicle to be turned on.
6. The method according to claim 5, further comprising:
after controlling the vehicle to stop traveling and controlling the warning lamp in the vehicle to be turned on, performing the step of acquiring face image information of a driver in the vehicle;
when the fatigue state information is awake, determining a first duration in which the driver has been at rest;
when the first time period does not reach a second preset time period, determining a second time period for the driver to rest;
and controlling a prompting device in the vehicle to work according to the second duration so as to prompt the driver.
7. The method of claim 1, wherein the facial image information comprises: eye image information and mouth image information;
the determining fatigue state information of the driver according to the face image information includes:
Determining eye state information of a driver according to the eye image information;
determining the mouth state information of the driver according to the mouth image information;
and determining fatigue state information of the driver according to the eye state information and the mouth state information.
8. A control device for a vehicle, comprising:
an acquisition module configured to acquire face image information of a driver in a vehicle and position information of the vehicle;
a determining module for determining fatigue state information of the driver according to the face image information;
the sending module is used for sending the position information to a cloud end according to the fatigue state information, so that the cloud end determines a control strategy corresponding to the vehicle according to the position information, and the control strategy is used for indicating whether the vehicle changes lanes or not;
the receiving module is used for receiving the control strategy sent by the cloud;
and the control module is used for controlling the vehicle according to the control strategy.
9. A vehicle, characterized by comprising: a processor and a memory, the processor being configured to execute a control program of the vehicle stored in the memory to implement the control method of the vehicle according to any one of claims 1 to 7.
10. A storage medium storing one or more programs executable by one or more processors to implement the method of controlling a vehicle of any one of claims 1-7.
CN202310378968.7A 2023-04-10 2023-04-10 Vehicle control method and device, vehicle and storage medium Pending CN116215557A (en)

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CN202310378968.7A CN116215557A (en) 2023-04-10 2023-04-10 Vehicle control method and device, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Publication Number Publication Date
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