CN116985711A

CN116985711A - Control method and device of vehicle, processor and vehicle

Info

Publication number: CN116985711A
Application number: CN202311069051.5A
Authority: CN
Inventors: 关鑫; 郑欢; 杜雁南; 房诗源; 连政; 鲍雪; 李华玉; 付萌萌; 丁晨阳; 张昊东
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-08-23
Filing date: 2023-08-23
Publication date: 2023-11-03

Abstract

The invention discloses a vehicle control method and device, a processor and a vehicle. Wherein the method comprises the following steps: acquiring facial feature information of a target object in a vehicle in the running process of the vehicle, wherein the facial feature information is used for representing the fatigue degree of the target object; determining a fatigue level of the target object based on the facial feature information; controlling at least one internal device of the vehicle to perform a first operation in response to the fatigue level being a first fatigue level, wherein the first operation is for causing the target object to be less tired than the first fatigue level; and responding to the fatigue level being the second fatigue level, controlling at least one internal device to execute a first operation, and controlling an avoidance unit of the vehicle to execute a second operation, wherein the second operation is used for prompting the mobile object around the vehicle to avoid the vehicle and/or prompting the vehicle to avoid the mobile object. The invention solves the technical problem of low control accuracy of the vehicle when the target object is tired.

Description

Control method and device of vehicle, processor and vehicle

Technical Field

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

Background

At present, aiming at the reminding problem of the target object in fatigue, whether the target object is drowsy or frequently yawned can be judged only through the face image of the target object, so as to determine whether the target object is tired. If tired, an alarm in the vehicle can be controlled to give an alarm sound to prompt the target object, however, the fatigue of the target object is not considered to a certain extent, the alarm prompt is invalid, and even if the prompt is given, some emergency situations in the running process of the vehicle cannot be processed. Therefore, there is still a technical problem that control accuracy of the vehicle is low when the target object is fatigued.

Aiming at the technical problems that when a target object is tired, the control accuracy of the vehicle is low, no effective solution is proposed at present.

Disclosure of Invention

The embodiment of the invention provides a vehicle control method, a device, a processor and a vehicle, which are used for at least solving the technical problem of low control accuracy of the vehicle when a driver is tired.

According to an aspect of an embodiment of the present invention, there is provided a control method of a vehicle. The method may include: acquiring facial feature information of a target object in a vehicle in the running process of the vehicle, wherein the facial feature information is used for representing the fatigue degree of the target object; determining a fatigue level of the target object based on the facial feature information, wherein the fatigue level is a first fatigue level or a second fatigue level, and the fatigue level of the target object in the first fatigue level is lower than the fatigue level of the target object in the second fatigue level; controlling at least one internal device of the vehicle to perform a first operation in response to the fatigue level being a first fatigue level, wherein the first operation is for causing the target object to be less tired than the first fatigue level; and responding to the fatigue level being the second fatigue level, controlling at least one internal device to execute a first operation, and controlling an avoidance unit of the vehicle to execute a second operation, wherein the second operation is used for prompting the mobile object around the vehicle to avoid the vehicle and/or prompting the vehicle to avoid the mobile object.

Optionally, the internal device includes an air conditioning device and/or a speaker, and in response to the fatigue level being a first fatigue level, controlling at least one internal device of the vehicle to perform a first operation, including: and controlling the air conditioning equipment to cool the interior of the vehicle in response to the fatigue level being the first fatigue level, and/or controlling the loudspeaker to send alarm information so that the fatigue level is lower than the first fatigue level, wherein the alarm information is used for prompting the target object.

Optionally, the avoidance unit at least includes an emergency avoidance system and at least one external device of the vehicle, and in response to the fatigue level being the second fatigue level, the avoidance unit is controlled to perform the first operation by the at least one internal device, and the avoidance unit of the vehicle is controlled to perform the second operation, including: detecting the surrounding environment of the vehicle to obtain a detection result, wherein the detection result is used for representing whether the surrounding environment of the vehicle is safe; responding to the condition that the fatigue level is the second fatigue level and the detection result is that the surrounding environment where the vehicle runs is unsafe, controlling at least one internal device to execute a first operation, and controlling at least one external device and an emergency avoidance system to execute a second operation; and controlling at least one internal device to execute the first operation and controlling the external device to execute the second operation in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle runs is safe.

Optionally, the external device includes an alarm and/or an alarm lamp, and in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle is running is unsafe, the at least one internal device is controlled to perform the first operation, and the at least one external device and the emergency avoidance system are controlled to perform the second operation, including: controlling an air conditioning device and a speaker in the internal device to perform a first operation so that the fatigue level is lower than the second fatigue level in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment in which the vehicle is traveling is unsafe; the method comprises the steps of controlling an alarm lamp to emit light information and/or controlling an alarm to send prompt information to a mobile object, wherein the light information and the prompt information are used for prompting the mobile object to pay attention to avoiding vehicles; and controlling the emergency avoidance system to avoid the vehicle from the moving object in response to the distance between the vehicle and the moving object being less than the distance threshold.

Optionally, during the running of the vehicle, acquiring facial feature information of the target object in the vehicle includes: controlling an image sensor in a vehicle, and collecting expression data of a target object, wherein facial feature information is expression data, and the expression data at least comprises eye features and mouth features of the target object; the expression data is transmitted to an electronic controller unit in the vehicle, wherein the electronic controller unit is configured to acquire facial feature information.

Optionally, determining the fatigue level of the target object based on the facial feature information includes: in the electronic controller unit, a fatigue level is determined based on the expression data.

Optionally, in the electronic controller unit, determining the fatigue level based on the expression data includes: determining the fatigue level as a first fatigue level in response to the expression data exceeding a first expression data threshold; and determining the fatigue level to be a second fatigue level in response to the expression data exceeding a second expression data threshold, wherein the first expression data threshold is less than the second expression data threshold.

According to another aspect of the embodiment of the invention, a control device of a vehicle is also provided. The apparatus may include: an acquisition unit configured to acquire facial feature information of a target object in a vehicle during running of the vehicle, wherein the facial feature information is used to characterize a fatigue degree of the target object; a determining unit configured to determine a fatigue level of the target object based on the facial feature information, wherein the fatigue level is a first fatigue level or a second fatigue level, and a fatigue level of the target object in the first fatigue level is lower than a fatigue level of the target object in the second fatigue level; a first control unit configured to control at least one internal device inside the vehicle to perform a first operation for making the fatigue level of the target object lower than a first fatigue level in response to the fatigue level being the first fatigue level; the second control unit is used for responding to the fatigue level being a second fatigue level, controlling at least one internal device to execute a first operation and controlling the avoidance unit of the vehicle to execute a second operation, wherein the second operation is used for prompting the mobile object around the vehicle to avoid the vehicle and/or prompting the vehicle to avoid the mobile object.

According to another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein the device in which the computer readable storage medium is controlled to execute the control method of the vehicle of the embodiment of the present invention when the program runs.

According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program executes the control method of the vehicle according to the embodiment of the invention when running.

According to another aspect of an embodiment of the present invention, there is also provided a vehicle. The vehicle is used for executing the control method of the vehicle according to the embodiment of the invention.

In the embodiment of the invention, the facial feature information of the target object in the vehicle can be detected in real time in the running process of the vehicle so as to determine the fatigue degree of the target object. When the fatigue level of the target object reaches the first fatigue level, indicating that the target object is slightly fatigued, at least one internal device in the vehicle can be controlled to execute a first operation to remind the target object to keep awake, so that the fatigue level of the target object is lower than the first fatigue level. When the fatigue degree of the target object reaches the second fatigue level, the severe fatigue of the target object is indicated, and the target object is reminded that the driving safety risk possibly exists only by the internal equipment. Therefore, the second operation is also required to be performed by the avoidance unit of the vehicle to prompt the moving object around the vehicle, so that the moving object is noticed to avoid the vehicle, and the vehicle can also avoid the moving object autonomously. Because the safety of the target object and the moving object is ensured by considering different fatigue degrees of the target object through vehicle control of different degrees, the aim of improving the safety of vehicle running when the target object is tired is fulfilled, the technical problem of low control accuracy of the vehicle when the target object is tired is solved, and the technical effect of improving the control accuracy of the vehicle when the target object is tired is realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

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

FIG. 2 is a flow chart of a method for information prompt to prevent fatigue driving according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an information prompt device module for preventing fatigue driving according to an embodiment of the present application;

fig. 4 is a schematic view of a control device of a vehicle according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

According to an embodiment of the present invention, there is provided an embodiment of a control method of a vehicle, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method may include the steps of:

step S102, during the running of the vehicle, facial feature information of a target object in the vehicle is acquired.

In the solution provided in the above step S102 of the present invention, the target object may be a driver who is driving a vehicle. The facial feature information may be used to characterize the fatigue level of the target object, and may be used to represent the change condition of the facial five sense organs of the driver during driving of the vehicle, such as blinking and opening and closing of the mouth. Note that the above-described facial feature information of the target object is merely illustrative, and is not particularly limited herein.

In this embodiment, during the running of the vehicle, the face of the target object in the vehicle may be collected in real time, and the facial feature information of the target object during the running of the target object in a period of time may be summarized.

Optionally, an image sensor or the like capable of collecting facial features of the target object is deployed around the target object in the vehicle to acquire information of facial features of the driver during driving, such as blink conditions and mouth opening and closing conditions, in real time. Finally, the facial feature information of the target object in a period of time is summarized, for example, the facial feature information such as the blink frequency, the mouth opening and closing frequency and the like of the target object in each period of time can be summarized, and the fatigue degree of the target object can be judged.

Step S104, determining the fatigue level of the target object based on the facial feature information.

In the solution provided in the above step S104 of the present invention, the fatigue grade may be the first fatigue grade or the second fatigue grade, which is only illustrated herein, and the number of grades included in the fatigue grade is not specifically limited. Any process and method that requires different degrees of control of the internal and external devices of the vehicle according to different fatigue levels is within the scope of the embodiments of the present invention. The target object in the first fatigue level is less tired than the target object in the second fatigue level, i.e. the first fatigue level is lower than the second fatigue level.

In this embodiment, after the facial feature information of the target object is acquired while the vehicle is traveling, the fatigue level of the target object may be determined based on the facial feature information.

Alternatively, after the facial feature information of the target object is acquired by detecting the facial feature of the target object by the image sensor, the facial feature information may be transmitted to an on-board electronic controller unit (Electronic Control Unit, abbreviated as ECU) in the vehicle. The electronic controller unit can judge the fatigue degree of the target object based on the facial feature information of the target object, and determine whether the target object is in a fatigue driving state. If the target object is determined to be in the fatigue driving state, the fatigue grade of the target object can be further determined through the facial feature information, so that the vehicle can be controlled in different degrees according to different fatigue grades in a targeted manner, and the safety of the vehicle, pedestrians in the surrounding environment of the vehicle and the vehicle can be ensured. If the physiological state of the target object is determined not to be the fatigue driving state, the fatigue degree level can be controlled to continuously detect the facial feature information of the target object in real time without further determining the fatigue degree level.

For example, after the electronic controller unit receives the facial feature information of the driver, each feature of the face of the driver in the facial feature information may be respectively determined, for example, data corresponding to the eye blink situation of the driver may be compared with a corresponding preset threshold value of the eye blink situation meeting the first fatigue level, and if the magnitude between the data and the threshold value is greater than the threshold value, it may be indicated that the current fatigue level of the driver meets the first fatigue level. It should be noted that the above-mentioned process and method for determining the fatigue level of the driver are merely examples, and are not particularly limited herein.

In step S106, at least one internal device of the vehicle is controlled to perform a first operation in response to the fatigue level being the first fatigue level.

In the solution of step S106 of the present invention, the first fatigue level may be a level of slight fatigue, which may also be referred to as first-level fatigue. The internal device may be a device for reminding or stimulating the target object in the vehicle to relieve the fatigue degree, for example, may be an air conditioning device in the vehicle or an alarm in the vehicle, or may be a device such as a seat on which the target object sits or a steering wheel being controlled. It should be noted that the internal devices of the vehicle are merely examples, and are not particularly limited herein. The method and the device are within the protection scope of the embodiment of the invention as long as the driver is in a slight fatigue state through the internal equipment and the corresponding control method for reminding or stimulating the driver. The first operation may be for causing the fatigue level of the target object to be lower than the first fatigue level, and may be an operation performed for the internal device that is capable of stimulating or alerting the target object.

In this embodiment, after determining that the fatigue level of the target object is the first fatigue level based on the facial feature information, at least one internal device of the vehicle may be controlled to perform the first operation.

Optionally, when the fatigue level of the target object is detected to be the first fatigue level, it may be indicated that the target object is in a state of slightly tired driving at the time, and the target object at the time may be kept awake through slight stimulus of the internal device of the vehicle, so as to alleviate the fatigue. Thus, after the fatigue level is the first fatigue level, the internal device of the vehicle may be controlled to give a certain degree of stimulus to the target object, for example, the driver may be reminded of keeping the awake state by slightly vibrating the seat or the steering wheel.

For example, when the fatigue level of the driver is the first fatigue level, the air conditioner in the vehicle interior equipment may be controlled to perform corresponding temperature adjustment, such as appropriately lowering the temperature so that the driver feels a change in the temperature, and the driver is stimulated to keep awake. The speaker or alarm in the vehicle interior equipment may also be controlled to beep, or a corresponding voice may be emitted to alert the driver to keep awake.

It should be noted that the above process and method for stimulating the target object by the internal device so as to alleviate the fatigue of the target object are only illustrative, and are not limited herein.

Step S108, in response to the fatigue level being the second fatigue level, controlling at least one internal device to execute the first operation, and controlling the avoidance unit of the vehicle to execute the second operation.

In the above step S108 of the present invention, the second fatigue grade may be a grade of heavy fatigue, and may also be referred to as a second fatigue. The avoidance device may include an emergency avoidance system of the vehicle and at least one external device of the vehicle. The emergency avoidance system can be used for carrying out emergency avoidance when the target object is severely tired and the vehicle has some emergency conditions so as to ensure the running safety. The moving object may be a pedestrian around a vehicle, or the like, and is merely illustrative and not particularly limited herein. The external device can be a device which is used for reminding a moving object around the vehicle outside the vehicle, so that the vehicle can pay attention to actively avoiding a heavy fatigue target object and ensure the safety of the external device, for example, the external device can be a device such as an alarm or a warning lamp outside the vehicle. It should be noted that the external devices of the vehicle are merely examples, and are not particularly limited herein. Any external device and corresponding control method for reminding by a moving object around the vehicle when the driver is in a heavy fatigue state are within the protection scope of the embodiment of the invention. The second operation may be used to prompt the mobile object surrounding the vehicle to avoid the vehicle and/or the vehicle to avoid the mobile object, and may be an operation performed by the external device or the external device and the emergency avoidance system that is capable of stimulating or reminding the target object.

In this embodiment, after determining that the fatigue level of the target object is the second fatigue level based on the facial feature information, at least one internal device of the vehicle may be controlled to perform the first operation so that the fatigue level of the target object is alleviated, and at least one external device of the vehicle or the external device and the emergency avoidance system may be controlled to perform the second operation so that safety of the moving object around the vehicle is ensured.

Alternatively, when the fatigue level of the target object at this time is detected to be the first fatigue level, it may be indicated that the target object is in a state of heavy fatigue driving at this time, and the target object at this time can be kept awake through stimulation by the internal equipment of the vehicle, so as to alleviate the fatigue. Because the target object cannot handle the emergency situation in the running process in the deep fatigue, the moving objects around the vehicle can be avoided through the emergency avoidance system of the vehicle, for example, when the distance from the moving object is detected to be close, the avoidance can be automatically triggered, and the emergency braking can be automatically triggered. The problem can be changed, and the external equipment can prompt the surrounding moving objects, for example, the corresponding sound can be sent out by an alarm outside the vehicle to prompt the moving objects to pay attention to avoidance.

For example, when the fatigue level of the driver is the second fatigue level, the target object may be presented, or the air conditioner, the speaker, the alarm, etc. in the internal device may be controlled to alert the driver to keep awake, as in the presentation mode in the first fatigue level, but the control level may be appropriately emphasized during the control, for example, the temperature may be lowered to be lower, the speaker sound may be raised, etc. When the vehicle is prompted to a moving object around the vehicle, an alarm outside the vehicle can be controlled to send alarm sound or corresponding voice information, and an alarm lamp outside the vehicle can be controlled to flash a red light to warn, so that the moving object is prompted, a driver on the vehicle to be warned needs to pay attention to driving fatigue, and the driver needs to pay attention to avoiding in order to ensure self safety. The vehicle can also be supplemented by an emergency avoidance system of the vehicle when the moving object around the vehicle is prompted or the moving object is detected to avoid automatically, namely, the vehicle can automatically avoid or brake in emergency when a driver cannot deal with the emergency.

When the target object is tired, whether the target object is tired slightly or tired heavily, the target object can only be warned to prompt that the target object needs to keep the situation through an alarm and the like in the vehicle, however, when the target object is tired heavily, the self-reaction is reduced, and the emergency situation cannot be automatically dealt with, so the technical problem that the safety of the vehicle driving is low when the driver is tired still exists. However, in the embodiments of the present invention, solutions can be made by corresponding measures for different fatigue degrees. When the target object is in the severe fatigue degree, not only can the internal equipment send out an alarm to prompt the target object to keep awake, but also the external equipment can prompt the moving object around the vehicle, so that when the reaction of the target object is reduced, the moving object can react in time to avoid the vehicle. If the moving object is not timely avoided, the moving object can be avoided through an emergency avoidance system of the vehicle. Thereby realizing the technical effect of improving the safety of the vehicle driving when the driver is tired.

In the present application, in the steps S102 to S108, the facial feature information of the target object in the vehicle may be detected in real time during the running of the vehicle, so as to determine the fatigue degree of the target object. When the fatigue level of the target object reaches the first fatigue level, indicating that the target object is slightly fatigued, at least one internal device in the vehicle can be controlled to execute a first operation to remind the target object to keep awake, so that the fatigue level of the target object is lower than the first fatigue level. When the fatigue degree of the target object reaches the second fatigue level, the severe fatigue of the target object is indicated, and the target object is reminded that the driving safety risk possibly exists only by the internal equipment. Therefore, the second operation is also required to be performed by the avoidance unit of the vehicle to prompt the moving object around the vehicle, so that the moving object is noticed to avoid the vehicle, and the vehicle can also avoid the moving object autonomously. Because the safety of the target object and the moving object is ensured by considering different fatigue degrees of the target object through vehicle control of different degrees, the aim of improving the safety of vehicle running when the target object is tired is fulfilled, the technical problem of low control accuracy of the vehicle when the target object is tired is solved, and the technical effect of improving the control accuracy of the vehicle when the target object is tired is realized.

The above-described method of this embodiment is further described below.

As an alternative embodiment, step S106, the internal device includes an air conditioning device and/or a speaker, and in response to the fatigue level being a first fatigue level, controlling at least one internal device of the vehicle to perform a first operation, including: and controlling the air conditioning equipment to cool the interior of the vehicle in response to the fatigue level being the first fatigue level, and/or controlling the loudspeaker to send alarm information so that the fatigue level is lower than the first fatigue level, wherein the alarm information is used for prompting the target object.

In this embodiment, in the process of determining that the fatigue level of the target object is the first fatigue level and controlling at least one internal device of the vehicle, when the internal device has an air conditioning device, the air conditioning device may be controlled to cool the interior of the vehicle, so that the fatigue level of the target object is lower than the first fatigue level. When the internal device has a speaker, the speaker may be controlled to transmit alarm information to make the fatigue level of the target object lower than the first fatigue level, where the alarm information may be used to prompt the target object, and may be a buzzer or an alarm voice, and the above alarm information is merely illustrative and not particularly limited herein. The internal devices may include air conditioning devices and/or speakers.

Optionally, when it is determined that the fatigue level of the target object is the first fatigue level, the air conditioner in the vehicle can be controlled to perform cooling to remind the target object, so that the target object keeps awake to relieve the fatigue level. The loudspeaker can be controlled to give out buzzes to give out alarms to remind the driver.

As an optional embodiment, step S108, where the avoidance unit includes at least an emergency avoidance system and at least one external device of the vehicle, controls at least one internal device to perform a first operation in response to the fatigue level being the second fatigue level, and controls the avoidance unit of the vehicle to perform a second operation, includes: detecting the surrounding environment of the vehicle to obtain a detection result, wherein the detection result is used for representing whether the surrounding environment of the vehicle is safe; responding to the condition that the fatigue level is the second fatigue level and the detection result is that the surrounding environment where the vehicle runs is unsafe, controlling at least one internal device to execute a first operation, and controlling at least one external device and an emergency avoidance system to execute a second operation; and controlling at least one internal device to execute the first operation and controlling the external device to execute the second operation in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle runs is safe.

In this embodiment, when it is determined that the fatigue level of the target object is the second fatigue level, in the process of controlling the internal device and the avoidance unit of the vehicle, the state of the surrounding environment during the running of the vehicle may be detected, a detection result may be obtained, and whether the surrounding environment of the vehicle is safe or not may be determined by the detection result. If the surrounding environment of the vehicle is unsafe, at least one internal device can be controlled to execute a first operation to relieve the fatigue degree of the target object, and at the same time, the external device of the vehicle and the emergency avoidance system can be controlled to execute a second operation to remind the moving object around the vehicle, and the vehicle can be controlled to actively avoid the moving object. If the surrounding environment of the vehicle is safe, at least one internal device can be controlled to execute a first operation to relieve the fatigue degree of the target object, and at the same time, the external device of the vehicle can be controlled to remind the moving object around the vehicle, so that the moving object is noticed to avoid the vehicle. The avoidance unit may include at least an emergency avoidance system and at least one vehicle external device. The external device may include an alarm lamp and an alarm outside the vehicle, and the alarm outside the vehicle may give a buzzer.

Optionally, when it is determined that the fatigue level of the target object is the second fatigue level, the running environment of the vehicle can be detected in real time, whether the running environment is safe or not is determined, if so, an air conditioner in the vehicle can be controlled to perform refrigeration and cooling to remind the target object, so that the target object is kept awake, a loudspeaker can be controlled to emit beeping to warn to remind a driver, and at the moment, external equipment outside the vehicle can be controlled to remind surrounding moving objects in the running process of the vehicle, so that the driver is aware of actively avoiding the vehicle. If the vehicle is unsafe, it can be stated that the distance between the moving object and the vehicle exceeds the safe distance, and the moving object may not avoid timely, at this time, not only the internal equipment of the vehicle and the external equipment of the vehicle can be controlled by the above method, but also the vehicle needs to be controlled to avoid the moving object by the emergency avoidance system of the vehicle.

As an optional embodiment, step S108, where the external device includes an alarm and/or an alarm lamp, and in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle is running is unsafe, controls at least one internal device to perform a first operation, and controls at least one external device and the emergency avoidance system to perform a second operation, includes: controlling an air conditioning device and a speaker in the internal device to perform a first operation so that the fatigue level is lower than the second fatigue level in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment in which the vehicle is traveling is unsafe; the method comprises the steps of controlling an alarm lamp to emit light information and/or controlling an alarm to send prompt information to a mobile object, wherein the light information and the prompt information are used for prompting the mobile object to pay attention to avoiding vehicles; and controlling the emergency avoidance system to avoid the vehicle from the moving object in response to the distance between the vehicle and the moving object being less than the distance threshold.

In this embodiment, when the fatigue level is the second fatigue level and the detection result is that the vehicle surroundings are unsafe, then the air conditioning apparatus and the speaker in the internal apparatus may be controlled to perform the first operation so that the fatigue level of the target object is alleviated so that the fatigue level is lower than the second fatigue level. If the external equipment comprises an alarm and/or an alarm lamp, the alarm lamp can be controlled to emit light information to prompt the mobile object to avoid the vehicle. The alarm can be controlled to send out prompt information to prompt the mobile object to avoid the vehicle. When the distance between the vehicle and the moving object is detected to be smaller than the distance threshold value, the emergency avoidance system can be controlled so that the vehicle avoids the moving object. The external devices may include warning lights and/or warning lights, for example purposes only, and are not specific devices. The light information and the prompt information can be used for prompting the mobile object to pay attention to avoid the vehicle. The prompt message may be a buzzer. The light information may be a hazard warning light. The distance threshold may be referred to as a safety distance, and may be a preset safety distance value, or may be safety distance data set by itself according to its own situation. It should be noted that, the above-mentioned method for setting the distance threshold is merely illustrative, and is not limited herein.

Optionally, when it is determined that the fatigue level of the target object is the second fatigue level and the running surrounding environment of the vehicle is not safe, the air conditioner in the vehicle can be controlled to perform cooling, so as to remind the target object, and keep the target object clear and wake up to relieve the fatigue level. The loudspeaker can be controlled to give out buzzes to give out alarms to remind the driver. The alarm outside the vehicle can be controlled to give out buzzing to give an alarm, and the alarm lamp can be started to prompt pedestrians around the vehicle or drivers approaching the vehicle to pay attention to avoiding. Meanwhile, whether the distance between the vehicle and the moving object is smaller than the safety distance can be detected, and if so, the emergency avoidance system of the vehicle can be controlled to automatically avoid the moving object.

As an optional embodiment, step S102, during running of the vehicle, acquires facial feature information of a target object in the vehicle, including: controlling an image sensor in a vehicle, and collecting expression data of a target object, wherein facial feature information is expression data, and the expression data at least comprises eye features and mouth features of the target object; the expression data is transmitted to an electronic controller unit in the vehicle, wherein the electronic controller unit is configured to acquire facial feature information.

In this embodiment, during the course of acquiring facial feature information of the target object, which may be expression data, during the course of traveling of the vehicle, an image sensor in the vehicle may be controlled, expression data of the target object may be acquired, and the expression data may be transmitted to the electronic controller unit. The expression data may include ocular features and mouth features of the target subject. The eye feature may be used to represent blink frequency information of the target subject, which may be blink information. The mouth characteristics may be used to represent the degree of mouth opening of the target object, which may be angle information.

Alternatively, expression data corresponding to the eye feature and the mouth feature of the target object is recognized by an image sensor in the vehicle, and the recognized expression data may be transmitted to the electronic controller unit, so that facial feature information may be acquired.

Alternatively, blink information of the driver and angle information of mouth opening may be acquired by the image sensor, and the blink information of the driver and the angle information may be transmitted to the vehicle-mounted ECU.

As an optional embodiment, step S104, determining the fatigue level of the target object based on the facial feature information, includes: in the electronic controller unit, a fatigue level is determined based on the expression data.

In this embodiment, the fatigue level may be determined based on the expression data in the electronic controller unit of the vehicle.

Alternatively, the vehicle-mounted ECU may determine whether the driver is in a fatigue driving state according to the obtained blink information of the driver and the angle information of the mouth opening, thereby determining the fatigue level.

As an alternative embodiment, step S104, in the electronic controller unit, determines a fatigue level based on the expression data, includes: determining the fatigue level as a first fatigue level in response to the expression data exceeding a first expression data threshold; and determining the fatigue level to be a second fatigue level in response to the expression data exceeding a second expression data threshold, wherein the first expression data threshold is less than the second expression data threshold.

In this embodiment, the magnitudes of both the expression data and the first expression data threshold may be determined, and if it is determined that the expression data exceeds the first expression data threshold, the fatigue level may be determined to be the first fatigue level. The magnitudes of the expression data and the second expression data threshold value can be judged, and if the judgment shows that the expression data exceeds the second expression data threshold value, the expression data can comprise blink information and mouth angle information. The first expression data threshold is smaller than the second expression data threshold. The first expression data threshold and the second expression data threshold may include a threshold corresponding to the respective blink information and a threshold corresponding to the mouth angle information. The first expression data threshold and the second expression data threshold may be preset values or self-set values, and it should be noted that the setting manners of the first expression data threshold and the second expression data threshold are only illustrative, and are not limited in this regard.

Optionally, in the electronic controller unit, blink information in the expression data may be compared with a first blink information threshold in the first expression data threshold, or mouth angle information in the expression data may be compared with a first mouth angle information threshold in the first expression data threshold, and when at least one of the blink information and the mouth angle information exceeds the corresponding threshold, it may be stated that the fatigue level of the target object is the first fatigue level.

Optionally, in the electronic controller unit, the blink information in the expression data may be compared with a second blink information threshold in the second expression data threshold, or the angle of mouth information in the expression data may be compared with a second angle of mouth information threshold in the second expression data threshold, and when at least one of the blink information and the angle of mouth information exceeds the corresponding threshold, it may be stated that the fatigue level of the target object is the second fatigue level.

Example 2

The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.

At present, with the progress of science and technology and the improvement of living standard of people, automobiles become the most common transportation means for traveling in life, so that the driving safety problem of automobiles is also paid more and more attention to. One investigation by the american society of automobiles showed that: fatigue driving accounts for 21% of the deaths in traffic accidents in the united states, with about 6400 people lost life each year. The reason is that when people are tired to drive, people's tired, brain reaction can be slowed down, and the sight can be gradually blurred, and the driver's control to the steering wheel loses control gradually, and all road conditions of driving can become dangerous road conditions this moment. The existing fatigue driving detection is to grasp the face image of a driver through a camera, recognize the eye characteristics of the driver through an image recognition algorithm, judge whether drowsiness is present or not, and prompt fatigue behavior through stimulus such as sound after detecting drowsiness and eye closure. However, the accuracy of judging whether to be tired or not is not high enough only through the eye features, and a more comprehensive early warning scheme is adopted under the condition that the driver is not helpful in reminding how to sleep. Therefore, there is still a technical problem that the control accuracy of the vehicle is low when the driver is tired.

In a related art, a monitoring system and a method for preventing fatigue driving are proposed, wherein an image sensor is arranged in a vehicle-mounted system and a heartbeat sensor is arranged in a safety belt; the image sensor is used for acquiring blink information and head inclination angle information of a driver; the heartbeat sensor is used for acquiring heartbeat information of the driver; obtaining blink information and head inclination angle information of a driver through image wearing; and transmits blink information of the driver and head inclination angle information to the in-vehicle ECU. And the vehicle-mounted ECU judges whether the driver is in a fatigue driving state according to the obtained blink information, head inclination angle information and heartbeat information of the driver.

However, the embodiment of the invention provides an information prompting method for preventing fatigue driving, which can detect the facial feature information of a target object in a vehicle in real time to determine the fatigue degree of the target object in the vehicle driving process. When the fatigue level of the target object reaches the first fatigue level, indicating that the target object is slightly fatigued, at least one internal device in the vehicle can be controlled to execute a first operation to remind the target object to keep awake, so that the fatigue level of the target object is lower than the first fatigue level. When the fatigue degree of the target object reaches the second fatigue level, the severe fatigue of the target object is indicated, and the target object is reminded that the driving safety risk possibly exists only by the internal equipment. Therefore, the second operation is also required to be performed by the avoidance unit of the vehicle to prompt the moving object around the vehicle, so that the moving object is noticed to avoid the vehicle, and the vehicle can also avoid the moving object autonomously. Because the safety of the target object and the moving object is ensured by considering different fatigue degrees of the target object through vehicle control of different degrees, the aim of improving the safety of vehicle running when the target object is tired is fulfilled, the technical problem of low control accuracy of the vehicle when the target object is tired is solved, and the technical effect of improving the control accuracy of the vehicle when the target object is tired is realized.

Embodiments of the present invention are further described below.

Fig. 2 is a flowchart of an information prompting method for preventing fatigue driving according to an embodiment of the present invention, and as shown in fig. 2, the method may include the steps of:

step S202, facial feature information of the driver is acquired by the image sensor.

In this embodiment, an image sensor or the like capable of acquiring facial features of a target object may be disposed around the target object in the vehicle to acquire information of facial features of a driver during driving, such as blinking and opening and closing of the mouth, in real time. Finally, the facial feature information of the target object in a period of time is summarized, for example, the facial feature information such as the blink frequency, the mouth opening and closing frequency and the like of the target object in each period of time can be summarized, and the fatigue degree of the target object can be judged.

Step S204, facial feature information is sent to the electronic controller unit through the image sensor.

In this embodiment, blink information of the driver and angle information of mouth opening are acquired by the image sensor, and the blink information of the driver and the angle information may be transmitted to the in-vehicle ECU.

Step S206, judging whether the vehicle is in a fatigue driving state or not according to the obtained facial feature information by the electronic controller unit.

In this embodiment, it is possible to determine the fatigue level by determining whether the driver is in the fatigue driving state by the vehicle-mounted ECU based on the obtained blink information of the driver and the angle information of the mouth opening.

Step S208, when the driver is detected to be at the first fatigue level, alarming and reminding the driver through cooling and reminding and buzzing of an air conditioner in the vehicle; when the driver is detected to be at the second fatigue level, the vehicle is also subjected to alarm prompt through the external buzzer and the alarm lamp, and the emergency avoidance system of the vehicle is controlled to carry out emergency avoidance.

In this embodiment, it is possible to determine whether the first fatigue level or the second fatigue level is the fatigue level of the driver, and if the driver is detected to be at the first fatigue level, the driver is alerted by the cooling alert and the buzzer of the air conditioner in the vehicle. If the driver is detected to be at the second fatigue level, the vehicle can also carry out alarm prompt through the external buzzer and the alarm lamp, and the emergency avoidance system of the vehicle is controlled to carry out emergency avoidance.

For example, when it is determined that the fatigue level of the target object is the second fatigue level and the running surrounding environment of the vehicle is not safe, the air conditioner in the vehicle can be controlled to perform cooling to remind the target object, so that the target object is kept clear and awakened to relieve the fatigue level. The loudspeaker can be controlled to give out buzzes to give out alarms to remind the driver. The alarm outside the vehicle can be controlled to give out buzzing to give an alarm, and the alarm lamp can be started to prompt pedestrians around the vehicle or drivers approaching the vehicle to pay attention to avoiding. Meanwhile, whether the distance between the vehicle and the moving object is smaller than the safety distance can be detected, and if so, the emergency avoidance system of the vehicle can be controlled to automatically avoid the moving object.

In the embodiment of the invention, the fatigue degree can be solved by corresponding measures aiming at different fatigue degrees. When the target object is in the severe fatigue degree, not only can the internal equipment send out an alarm to prompt the target object to keep awake, but also the external equipment can prompt the moving object around the vehicle, so that when the reaction of the target object is reduced, the moving object can react in time to avoid the vehicle. If the moving object is not timely avoided, the moving object can be avoided through an emergency avoidance system of the vehicle. Thereby realizing the technical effect of improving the safety of the vehicle driving when the driver is tired.

In this embodiment, the vehicle-mounted reminder system is an automotive electronics-based system, which is an integrated system established to enhance the safety of the vehicle. The vehicle monitoring system is constructed by a communication technology, a computer processing technology and the like, and is used for helping a user unit to monitor a vehicle through a management center and a vehicle, generally, the driving state of a driver is monitored through a camera shooting mode, relevant automobile parameters are collected, and an alarm is actively given when abnormal data are found. Fig. 3 is a schematic diagram of an information prompt device module for preventing fatigue driving according to an embodiment of the present invention, as shown in fig. 3, the device may include an on-vehicle communication unit 301, an aggregate communication unit 302, a microcontroller 303, a control module 304, a camera module 305, and an alarm module 306, where the camera module 305 may be used to capture a facial image of a driver and transmit the facial image to the microcontroller 303. The microcontroller 303 may be configured to communicate the received facial image of the driver to the monitoring module via the corresponding in-vehicle communication unit. The monitoring module may include a control module 304 and an alarm module 306, wherein the control module further includes temperature control for an air conditioner within the vehicle.

Optionally, the vehicle-mounted monitoring module comprises a plurality of vehicle-mounted monitoring units arranged on the vehicle and used for collecting the state information of each vehicle and sending the state information to the monitoring module through wireless communication, and the monitoring module is arranged in a monitoring center and used for analyzing the state information of the vehicle and giving an alarm. The wireless communication module comprises a plurality of vehicle-mounted communication units and a summarizing communication unit, wherein the vehicle-mounted communication units are in one-to-one correspondence with the vehicle-mounted monitoring units, the vehicle-mounted communication units are arranged on vehicles where the corresponding vehicle-mounted monitoring units are located, and the summarizing unit is arranged in the monitoring center to buy vehicles in the communication units and summarize and hear the safety unit based on wireless communication.

Example 3

According to the embodiment of the invention, a control device of the vehicle is also provided. The control device of the vehicle may be used to execute the control method of the vehicle in embodiment 1.

Fig. 4 is a schematic view of a control device of a vehicle according to an embodiment of the present invention. As shown in fig. 4, the control device 400 of the vehicle may include: an acquisition unit 402, a determination unit 404, a first control unit 406, and a second control unit 408.

An acquiring unit 402, configured to acquire facial feature information of a target object in a vehicle during running of the vehicle, where the facial feature information is used to characterize a fatigue degree of the target object.

And a determining unit 404 configured to determine a fatigue level of the target object based on the facial feature information, where the fatigue level is a first fatigue level or a second fatigue level, and the fatigue level of the target object in the first fatigue level is lower than the fatigue level of the target object in the second fatigue level.

The first control unit 406 is configured to control at least one internal device inside the vehicle to perform a first operation in response to the fatigue level being a first fatigue level, wherein the first operation is configured to make the fatigue level of the target object lower than the first fatigue level.

The second control unit 408 is configured to control at least one internal device to perform a first operation in response to the fatigue level being the second fatigue level, and control the avoidance unit of the vehicle to perform a second operation, where the second operation is used to prompt the mobile object around the vehicle to avoid the vehicle and/or the vehicle to avoid the mobile object.

Alternatively, the first control unit 406 may include: the first control module is used for responding to the fatigue level being a first fatigue level, controlling the air conditioning equipment to cool the interior of the vehicle and/or controlling the loudspeaker to send alarm information so that the fatigue level is lower than the first fatigue level, wherein the alarm information is used for prompting a target object.

Alternatively, the second control unit 408 may include: the detection module is used for detecting the surrounding environment of the vehicle to obtain a detection result, wherein the detection result is used for representing whether the surrounding environment of the vehicle is safe; the second control module is used for controlling at least one internal device to execute a first operation and controlling at least one external device and the emergency avoidance system to execute a second operation in response to the fatigue level being a second fatigue level and the detection result being that the surrounding environment of the vehicle is unsafe; and the third control module is used for controlling at least one internal device to execute the first operation and controlling the external device to execute the second operation in response to the fact that the fatigue level is the second fatigue level and the detection result is that the surrounding environment where the vehicle runs is safe.

Optionally, the second control module may include: a first control sub-module for controlling the air conditioning equipment and the speaker in the internal equipment to perform a first operation so that the fatigue level is lower than the second fatigue level in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle is traveling is unsafe; the second control sub-module is used for controlling the alarm lamp to emit light information and/or controlling the alarm to send prompt information to the mobile object, wherein the light information and the prompt information are used for prompting the mobile object to pay attention to avoiding the vehicle; and the third control sub-module is used for controlling the emergency avoidance system to avoid the vehicle from the moving object in response to the fact that the distance between the vehicle and the moving object is smaller than the distance threshold value.

Alternatively, the acquisition unit 402 may include: the fourth control module is used for controlling an image sensor in the vehicle and collecting expression data of the target object, wherein the facial feature information is expression data, and the expression data at least comprises eye features and mouth features of the target object; and the transmission module is used for transmitting the expression data to an electronic controller unit in the vehicle, wherein the electronic controller unit is used for acquiring facial feature information.

Alternatively, the determining unit 404 may include: and the determining module is used for determining the fatigue level based on the expression data in the electronic controller unit.

Optionally, the determining module may include: a first determining sub-module for determining a fatigue level as a first fatigue level in response to the expression data exceeding a first expression data threshold; and a second determining sub-module for determining the fatigue level to be a second fatigue level in response to the expression data exceeding a second expression data threshold, wherein the first expression data threshold is less than the second expression data threshold.

In the embodiment of the invention, the facial feature information of the target object in the vehicle is acquired by the acquisition unit in the running process of the vehicle, wherein the facial feature information is used for representing the fatigue degree of the target object; determining, by the determining unit, a fatigue level of the target object based on the facial feature information, wherein the fatigue level is a first fatigue level or a second fatigue level, a fatigue level of the target object in the first fatigue level being lower than a fatigue level of the target object in the second fatigue level; controlling, by the first control unit, at least one internal device inside the vehicle to perform a first operation for making the fatigue level of the target object lower than the first fatigue level in response to the fatigue level being the first fatigue level; the second control unit is used for responding to the fatigue level being the second fatigue level, controlling at least one internal device to execute a first operation, and controlling the avoidance unit of the vehicle to execute a second operation, wherein the second operation is used for prompting the moving object around the vehicle to avoid the vehicle and/or the vehicle to avoid the moving object, so that the technical problem of low control accuracy of the vehicle when the target object is tired is solved, and the technical effect of improving the control accuracy of the vehicle when the target object is tired is realized.

Example 4

According to an embodiment of the present application, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the control method of the vehicle described in embodiment 1.

Example 5

According to an embodiment of the present application, there is also provided a processor for running a program, wherein the program executes the control method of the vehicle described in embodiment 1 when running.

Example 6

According to an embodiment of the present application, there is also provided a vehicle for executing the control method of the vehicle of the embodiment of the present application.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A control method of a vehicle, characterized by comprising:

acquiring facial feature information of a target object in a vehicle in the running process of the vehicle, wherein the facial feature information is used for representing the fatigue degree of the target object;

determining a fatigue level of the target object based on the facial feature information, wherein the fatigue level is a first fatigue level or a second fatigue level, the fatigue level of the target object in the first fatigue level being lower than the fatigue level of the target object in the second fatigue level;

controlling at least one internal device of the vehicle to perform a first operation in response to the fatigue level being the first fatigue level, wherein the first operation is for causing the fatigue level of the target object to be lower than the first fatigue level;

and responding to the fatigue level being the second fatigue level, controlling at least one internal device to execute the first operation, and controlling an avoidance unit of the vehicle to execute a second operation, wherein the second operation is used for prompting a moving object around the vehicle to avoid the vehicle and/or the vehicle to avoid the moving object.

2. The method of claim 1, wherein the internal device comprises an air conditioning device and/or a speaker, and wherein controlling at least one internal device of the vehicle to perform a first operation in response to the fatigue level being the first fatigue level comprises:

and responding to the fatigue level being the first fatigue level, controlling the air conditioning equipment to cool the interior of the vehicle, and/or controlling the loudspeaker to send alarm information so that the fatigue level is lower than the first fatigue level, wherein the alarm information is used for prompting the target object.

3. The method of claim 1, wherein the evasion unit includes at least an emergency evasion system and at least one external device of the vehicle, and wherein responsive to the fatigue level being the second fatigue level, controlling at least one of the internal devices to perform the first operation and controlling the evasion unit of the vehicle to perform a second operation comprises:

detecting the surrounding environment of the vehicle to obtain a detection result, wherein the detection result is used for representing whether the surrounding environment of the vehicle is safe;

Responding to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle runs is unsafe, controlling at least one of the internal devices to execute the first operation, and controlling at least one of the external devices and the emergency avoidance system to execute the second operation;

and controlling at least one of the internal devices to execute the first operation and controlling the external device to execute the second operation in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment where the vehicle is running is safe.

4. A method according to claim 3, wherein the external device comprises an alarm and/or warning light, and wherein controlling at least one of the internal devices to perform the first operation and controlling at least one of the external device and the emergency avoidance system to perform the second operation in response to the fatigue level being the second fatigue level and the detection result being that the surrounding environment in which the vehicle is traveling is unsafe comprises:

controlling an air conditioning device and a speaker in the internal device to perform the first operation so that the fatigue level is lower than the second fatigue level in response to the fatigue level being the second fatigue level and the detection result being that an ambient environment in which the vehicle is traveling is unsafe;

Controlling the alarm lamp to emit light information and/or controlling the alarm to send the prompt information to the mobile object, wherein the light information and the prompt information are used for prompting the mobile object to pay attention to avoid the vehicle;

and controlling the emergency avoidance system to avoid the vehicle from the moving object in response to the distance between the vehicle and the moving object being less than a distance threshold.

5. The method according to claim 1, wherein acquiring facial feature information of a target object in a vehicle during running of the vehicle includes:

controlling an image sensor in the vehicle, and collecting expression data of the target object, wherein the facial feature information is the expression data, and the expression data at least comprises eye features and mouth features of the target object;

and transmitting the expression data to an electronic controller unit in the vehicle, wherein the electronic controller unit is used for acquiring the facial feature information.

6. The method of claim 5, wherein determining the fatigue level of the target object based on the facial feature information comprises:

In the electronic controller unit, the fatigue level is determined based on the expression data.

7. The method of claim 6, wherein determining, in the electronic controller unit, the fatigue level based on the expression data comprises:

determining the fatigue level as the first fatigue level in response to the expression data exceeding a first expression data threshold;

and determining the fatigue level to be the second fatigue level in response to the expression data exceeding a second expression data threshold, wherein the first expression data threshold is less than the second expression data threshold.

8. A control device for a vehicle, comprising:

an acquisition unit configured to acquire facial feature information of a target object in a vehicle during running of the vehicle, wherein the facial feature information is used to characterize a fatigue degree of the target object;

a determining unit configured to determine a fatigue level of the target object based on the facial feature information, wherein the fatigue level is a first fatigue level or a second fatigue level, and a fatigue level of the target object in the first fatigue level is lower than a fatigue level of the target object in the second fatigue level;

A first control unit configured to control at least one internal device inside the vehicle to perform a first operation for making the fatigue level of the target object lower than the first fatigue level in response to the fatigue level being the first fatigue level;

the second control unit is used for responding to the fatigue level being the second fatigue level, controlling at least one internal device to execute the first operation and controlling the avoidance unit of the vehicle to execute the second operation, wherein the second operation is used for prompting a moving object around the vehicle to avoid the vehicle and/or the vehicle to avoid the moving object.

9. A processor for running a program, wherein the program when run by the processor performs the method of any one of claims 1 to 7.

10. A vehicle, characterized by being adapted to perform the method of any one of claims 1 to 7.