WO2020024743A1 - 智能驾驶控制方法和装置、车辆、电子设备、介质、产品 - Google Patents

智能驾驶控制方法和装置、车辆、电子设备、介质、产品 Download PDF

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Publication number
WO2020024743A1
WO2020024743A1 PCT/CN2019/093647 CN2019093647W WO2020024743A1 WO 2020024743 A1 WO2020024743 A1 WO 2020024743A1 CN 2019093647 W CN2019093647 W CN 2019093647W WO 2020024743 A1 WO2020024743 A1 WO 2020024743A1
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Prior art keywords
vehicle
driving
detection result
response
sign
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PCT/CN2019/093647
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English (en)
French (fr)
Inventor
毛宁元
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上海商汤智能科技有限公司
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Application filed by 上海商汤智能科技有限公司 filed Critical 上海商汤智能科技有限公司
Priority to JP2020547280A priority Critical patent/JP2021504245A/ja
Priority to SG11202005837TA priority patent/SG11202005837TA/en
Publication of WO2020024743A1 publication Critical patent/WO2020024743A1/zh
Priority to US16/908,151 priority patent/US11117596B2/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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Definitions

  • This application relates to vehicle control technology, and in particular, to a method and device for intelligent driving control, a vehicle, an electronic device, a medium, and a product.
  • An embodiment of the present application provides an intelligent driving control technology.
  • an intelligent driving control method including:
  • a driving alert is triggered according to the detection result.
  • an intelligent driving control device including:
  • An environment detection unit configured to detect a driving environment of a vehicle, and obtain a detection result of at least one type of target object in the driving environment
  • a condition judging unit configured to determine whether the detection result meets a preset condition of a driving alarm
  • a vehicle speed judging unit configured to determine whether a driving speed of the vehicle exceeds a vehicle speed threshold in response to the detection result meeting a preset condition of a driving alarm
  • An alarm unit is configured to trigger a driving alarm according to the detection result in response to the traveling vehicle speed exceeding a vehicle speed threshold.
  • a vehicle including: the intelligent driving control device according to any one of the above.
  • an electronic device including a processor, where the processor includes the intelligent driving control device according to any one of the foregoing.
  • the electronic device may be a vehicle-mounted electronic device.
  • an electronic device including: a memory for storing executable instructions;
  • a processor configured to communicate with the memory to execute the executable instructions to complete operations of the intelligent driving control method according to any one of the above.
  • the electronic device may be a vehicle-mounted electronic device.
  • a computer storage medium for storing computer-readable instructions that, when executed, perform the operations of the intelligent driving control method according to any one of the foregoing.
  • a computer program product including computer-readable code, and when the computer-readable code runs on a device, a processor in the device executes to implement any of the above.
  • An instruction of the intelligent driving control method is provided, including computer-readable code, and when the computer-readable code runs on a device, a processor in the device executes to implement any of the above.
  • the vehicle speed threshold is used to limit the number of warnings with a low degree of danger and / or a low degree of urgency, which will not interfere with the normal judgment of the driver due to frequent alarms.
  • FIG. 1 is a schematic flowchart of a smart driving method according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of an intelligent driving device according to an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of an electronic device suitable for implementing a terminal device or a server according to an embodiment of the present application.
  • Embodiments of the invention can be applied to a computer system / server, which can operate with many other general or special purpose computing system environments or configurations.
  • Examples of well-known computing systems, environments, and / or configurations suitable for use with computer systems / servers include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, based on Microprocessor systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above, and so on.
  • a computer system / server may be described in the general context of computer system executable instructions, such as program modules, executed by a computer system.
  • program modules may include routines, programs, target programs, components, logic, data structures, and so on, which perform specific tasks or implement specific abstract data types.
  • the computer system / server can be implemented in a distributed cloud computing environment. In a distributed cloud computing environment, tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules may be located on a local or remote computing system storage medium including a storage device.
  • FIG. 1 is a schematic flowchart of an intelligent driving control method according to an embodiment of the present application. As shown in FIG. 1, the method in this embodiment includes:
  • Step 110 Detect a driving environment of the vehicle, and obtain a detection result of at least one type of target object in the driving environment.
  • At least one image acquisition device (such as a camera, etc.) provided around the vehicle is used to obtain the driving environment of the vehicle by collecting images of the surrounding of the vehicle, and the driving environment may include what can be observed around the vehicle
  • continuous multiple frames of surrounding images can be collected by image acquisition devices, for example, the driving environment of a vehicle is detected by collecting videos.
  • continuous multi-frame images can refer to continuous time frames. Each frame image in the video; it may also be a multi-frame image with a target object obtained after the target object is identified. At this time, two consecutive frames of images may be discontinuous in time.
  • step S110 may be executed by the processor calling a corresponding instruction stored in the memory, or may be executed by the environment detection unit 21 executed by the processor.
  • Step 120 Determine whether the detection result satisfies a preset condition of the driving alarm.
  • the driving alarm preset conditions are set to trigger driving alarms. Different driving alarm preset conditions can be set in different situations and / or corresponding to different driving environments, for example, different settings can be set for novice drivers and skilled drivers. Preset conditions for driving alerts to meet the different needs of different drivers, while improving safety, providing personalized services to different drivers and improving the user experience.
  • step S120 may be executed by the processor by calling the corresponding instruction stored in the memory, or may be executed by the condition judging unit 22 executed by the processor.
  • Step 130 Determine whether the driving speed of the vehicle exceeds a vehicle speed threshold value in response to the detection result satisfying the driving alarm preset condition.
  • this step S130 may be executed by the processor calling a corresponding instruction stored in the memory, or may be executed by the vehicle speed judging unit 23 executed by the processor.
  • Step 140 In response to the vehicle speed exceeding a vehicle speed threshold, a driving alarm is triggered according to the detection result.
  • this step S140 may be executed by the processor calling a corresponding instruction stored in the memory, or may be executed by the alarm unit 24 operated by the processor.
  • the driving environment of a vehicle is detected to obtain a detection result of at least one type of target object in the driving environment; it is determined whether the detection result satisfies a preset condition of a driving alarm; and in response to the detection result being satisfied
  • the driving alarm preset conditions determine whether the vehicle's driving speed exceeds the vehicle speed threshold; in response to the driving speed exceeding the vehicle speed threshold, a driving alarm is triggered according to the detection result, while improving the driving safety of the vehicle, the danger level is limited by the vehicle speed threshold and / Or the number of alarms with low urgency will not interfere with the normal judgment of the driver due to frequent alarms.
  • the vehicle speed threshold is set by default, or the vehicle speed threshold is set according to a received instruction.
  • the user may set a larger threshold or a smaller threshold according to his driving needs or behavior habits, which improves the universality of this embodiment and improves the user experience.
  • the vehicle speed threshold can be set to 0.
  • the vehicle speed threshold can be set to 0, which is equivalent to As long as the preset conditions of the driving alert are met, the driving alert is triggered without the need for speed judgment.
  • the speed thresholds for different types of target objects are the same or different; and / or,
  • Preset conditions for driving alerts corresponding to different types of target objects are the same or different; and / or,
  • Different types of target objects correspond to the same or different driving alerts.
  • vehicle speed thresholds, driving alarm preset conditions, and driving alarm modes can be set according to actual conditions.
  • the vehicle speed thresholds corresponding to different types of target objects can be set. It is the same or different, for example: the speed threshold corresponding to the lane line is set to 60 kilometers per hour, and the speed threshold of the motor vehicle is set to 200 kilometers per hour, the specific value of the vehicle speed threshold is not limited in this application; the same, different types
  • the driving alert preset conditions and driving alert modes corresponding to the target object may also be the same or different. This application does not limit the specific driving alert modes and driving alert preset conditions.
  • the driving alert mode includes, but is not limited to, at least one of the following modes: an audible alert mode, a visual alert mode, a tactile alert mode, and an olfactory alert mode.
  • the driving alert is to remind the driver to pay attention to the current driving environment.
  • one or more methods can be selected to stimulate the driver, for example, by means of an audible alarm (such as an alarm sound).
  • the alarm volume can be set according to specific conditions; and when the environment is noisy and the sound is difficult to recognize, other alarm methods or multiple alarm methods can be used, such as visual alarm methods (such as displaying an alarm screen at the corresponding position of the vehicle, etc.), And / or a combination of tactile warnings (for example, to draw the driver ’s attention through a bump on the steering wheel or seat), and / or an olfactory warning (for example, to attract the driver's attention by releasing a pungent odor of safe gas) ;
  • the specific driving warning method is not limited in this application.
  • At least one type of target object includes but is not limited to at least one of the following: lane lines, traffic signs, traffic lights, pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacle.
  • These target objects can appear individually or in combination. During detection, they can be detected separately by different detection techniques, or multiple target objects can be detected simultaneously based on image sources such as video images. When multiple target objects are detected at the same time, these target objects can be detected simultaneously. The target object judges the preset conditions of the driving alert.
  • the detection result of the driving environment includes a combination of one or more of the following: lane line offset detection results, traffic sign detection results, traffic signal status detection results, and distance detection of other objects result.
  • other objects include but are not limited to at least one of the following: pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacles.
  • the driving environment may include a variety of movable or immovable target objects around the vehicle, and safe driving requires compliance with traffic rules. Therefore, traffic signs, and / or traffic lights, and / or lane lines are required. Tests are performed to reduce driving violations of the vehicle, and other objects appearing near the vehicle need to reduce the risk of collisions.
  • the detection result of the driving environment includes detection results of multiple target objects
  • the corresponding vehicle speed threshold of the multiple target objects is at least two different vehicle speed thresholds
  • a smaller vehicle speed threshold is used as the vehicle speed corresponding to the current driving environment. Threshold.
  • the vehicle speed threshold needs to be limited to a small vehicle speed threshold.
  • the method in this embodiment further includes:
  • the driving control instruction of the vehicle is generated according to the default driving state corresponding to the detection result.
  • the embodiment of the present application provides assisted driving control.
  • the vehicle is mainly controlled by the driver, and a period of time can be reserved for the driver to take measures after the driving alert is issued; if the driver has not adjusted the driving state after the alert for a reasonable period of time , Indicating that the degree of danger has increased significantly.
  • the method provided in this embodiment further includes:
  • a driving control instruction for the vehicle is generated according to a default driving state corresponding to the detection result.
  • the driver After the driving alarm is issued, the driver is provided with a reasonable reflection time (preset time period) that can be judged by himself. During this time, the driver can choose to change the driving state or turn off the alarm (the alarm can be manually turned off after the problem is resolved ), But when the driver does not perform any operation, and the trend of the detection result indicates that the degree of danger continues to increase, that is, the degree of danger of the detection result increases over time, the vehicle needs to be automatically controlled to ensure safe driving.
  • a reasonable reflection time preset time period
  • step 110 may include:
  • the lane line deviation detection result is obtained.
  • a deep neural network can be used to detect lane lines in the image, for example, the image recognition network
  • identify the lane line of the vehicle obtain the position of the lane line in the image, and determine the relative position information between the vehicle and the lane line by combining the positions of the lane lines in multiple frames of continuous images.
  • the relative position information may include, but is not limited to, pressure lines, Offset to the left, offset to the right, centered, etc.
  • the embodiment of the present application can reduce the occurrence of illegal operations, such as pressing the vehicle, by obtaining the lane line offset detection result.
  • step 130 may include:
  • a first vehicle speed threshold is set for the lane line deviation detection result.
  • a driving alert can be issued to remind the driver to pay attention to the lane line deviation and reduce vehicle transmission Illegal operation.
  • the driving alert preset condition includes that the distance between the vehicle and the lane line is within a set range.
  • the distance between the vehicle and the lane line may be set according to the setting of the traffic rule, or according to the actual situation.
  • the deviation from the lane line means that the wheels have entered a certain distance range of the lane line, for example: [-k, k]; it can be considered that the preset conditions for driving warnings are met, and the vehicle's illegal traffic rules are reduced by means of warnings.
  • the value range of the first vehicle speed threshold is greater than 35 kilometers per hour.
  • the vehicle speed when the detection result of the lane line meets the preset conditions of the driving alarm, when the vehicle speed is small, the driver can handle the change by himself, reducing too frequent reminders to interfere with the correct processing of the driver or cause the driver to feel disgusted. If the vehicle speed is greater than the set value (This embodiment is 35 kilometers per hour), indicating that if the driver does not make adjustments in a timely manner, violations and / or dangers will occur. At this time, warnings will need to be issued to reduce violations and / or dangers and improve driving safety. .
  • the first vehicle speed threshold is 60-80 kilometers per hour.
  • acquiring the change trend of the detection result within a preset time period includes:
  • the driving control instruction of the vehicle is generated according to the default driving state corresponding to the detection result, including:
  • the change trend of the lane line deviation detection result indicates that when the lane line deviation increases and the alarm time exceeds a set threshold, the vehicle needs to be automatically controlled to reduce the occurrence of dangerous situations without the driver having time to deal with it.
  • the vehicle keeps shifting to the left of the lane line, and the driver does not adjust the direction after the alarm setting time, indicating that the vehicle must make a left turn. At this time, the vehicle can be controlled to turn on the left turn signal to reduce the rear vehicle collision.
  • a situation may include: in response to a change trend of the lane line deviation detection result indicating that the lane line deviation degree increases and the alarm time exceeds a set threshold, turning on a turn signal according to a default driving state corresponding to the lane line deviation detection result And / or control the vehicle to turn on the corresponding turn signal, including:
  • the change trend of the lane line deviation detection result indicates that the lane line deviation degree increases and the alarm time exceeds a set threshold
  • the vehicle is always shifting in the same direction, and it should be a turn. It can issue a prompt to turn on the turn signal or automatically turn on the turn signal to ensure that other vehicles can recognize the driving trajectory of the vehicle and reduce the possibility of danger.
  • Another situation may include: acquiring a change trend of detection results in a preset time period in response to the triggering of a driving alert, including: acquiring a fluctuation range of a distance between a vehicle and a lane line in response to the triggering of a driving alert;
  • the driving control instruction of the vehicle is generated according to the default driving state corresponding to the detection result, including:
  • the vehicle In response to the fluctuation range exceeding the safety distance range within the set threshold of the alarm time, the vehicle is controlled so that the distance between the vehicle and the lane line remains within the safety distance range.
  • the distance between the vehicle and the lane line is controlled within a stable safe distance by automatic control. Ensure safe driving.
  • acquiring the driving state of the vehicle within a preset time period includes:
  • generating a driving control instruction of the vehicle according to the default driving state corresponding to the detection result including:
  • the vehicle's turn signal status information is obtained. For example, the detection result of the lane line indicates that the vehicle is in the process of turning or starting to turn. At this time, if the vehicle is not turned on or If the turn signal is turned on by mistake, a prompt message and / or a control message is issued, so that the vehicle turns on the turn signal corresponding to the detection result, so as to reduce the possibility of a rear vehicle collision.
  • the vehicle when the vehicle needs to turn, in addition to the information of the lane line, it is necessary to observe the current state of the traffic signal and / or the type of the traffic sign, such as the current required turn and the state of the traffic signal and / or the type of the traffic sign. , Will be forbidden to turn, and adjust the vehicle back to the normal route, only when the state of the traffic signal and the type of traffic signs are consistent, the prompt message to turn on the turn signal and / or control the vehicle to turn on the corresponding turn signal.
  • the current state of the traffic signal and / or the type of the traffic sign such as the current required turn and the state of the traffic signal and / or the type of the traffic sign.
  • the default driving state corresponding to the detection result is determined based on the relative position information and the type of the lane line, and the type of the lane line includes at least one of the following: a white dotted line, a white solid line, a yellow dotted line, a yellow solid line, a double white dotted line, Double yellow solid line, yellow dotted solid line, and double white solid line.
  • the types of lane lines may include but are not limited to: white dashed lines, white solid lines, yellow dashed lines, yellow solid lines, double white dashed lines, double yellow solid lines, yellow dashed solid lines, and double white solid lines, etc .; different lanes Line types correspond to different guidance methods: Among them, the white dashed line: when drawn on a road segment, it is used to separate the traffic flowing in the same direction or as a safety distance recognition line; when drawn at an intersection, it is used to guide the vehicle.
  • White solid line When drawn on a road segment, it is used to separate motor vehicles and non-motorized vehicles traveling in the same direction, or to indicate the edge of a roadway; when drawn on an intersection, it can be used as a guide lane line or a stop line.
  • Yellow dotted line When used on a road segment, it is used to separate the opposite traffic flow. When used on a road side or on a rock, it is used to prohibit vehicles from parking on the roadside for a long time.
  • Yellow solid line When drawing on a road section, it is used to separate the opposite traffic flow; when drawing on the side of the road or on a rock, it is used to prohibit vehicles from parking on the roadside for a long time or temporarily.
  • Double white dashed line When drawing at an intersection, it is used as a deceleration yielding line; when drawing at a section, it is used as a variable lane line where the driving direction changes with time.
  • Double yellow solid line When drawn in a road segment, it is used to separate the opposite traffic flow. Yellow solid line: When drawing in the road segment, it is used to separate the opposite traffic flow; one side of the solid yellow line is prohibited from passing, crossing or turning, and the side of the yellow dotted line is allowed to pass, crossing or turning. .
  • Double white solid line When drawing at an intersection, it is used as a parking yield line.
  • step 110 may include:
  • the distance detection results of other objects are obtained according to the detection results of other objects and the relative position information of the vehicle.
  • the embodiment recognizes other objects through the image acquisition device, determines the distance information between the vehicle and other objects, and intelligently controls the vehicle based on the distance information, which can effectively reduce the occurrence of collisions and rear-end collisions and improve the safety of road traffic.
  • object for example: pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacles, etc.
  • the embodiment also recognizes other objects through the image acquisition device, determines the distance information between the vehicle and other objects, and intelligently controls the vehicle based on the distance information, which can effectively reduce the occurrence of collisions and rear-end collisions and improve the safety of road traffic.
  • step 130 may include:
  • a second vehicle speed threshold is set for the distance detection results of other objects.
  • a driving alarm can be issued to remind the driver to pay attention to the distance between the other objects. Reduce collisions and rear-end collisions.
  • the second vehicle speed threshold has different or the same value range corresponding to different other objects.
  • Different objects have different driving speeds, for example, pedestrians travel slowly, other motor vehicles travel faster, and fixed obstacles are immobile. Therefore, the relative speeds of different objects and vehicles are different.
  • the collision time at the same distance is also different, so different second vehicle speed thresholds are set for different other objects so that the possibility of collision can be reduced for different other objects.
  • the value of the second vehicle speed threshold ranges from 20 km / h to 200 km / h.
  • the speed of the motor vehicle is fast, at this time, if the speed of the vehicle is too fast, the control vehicle cannot be reflected in time. Therefore, the speed of the motor vehicle is limited to between 20 kilometers per hour and 200 kilometers per hour to ensure the reflection time. It can handle emergencies, reduce accidents and improve safety.
  • the value of the second vehicle speed threshold ranges from 20 km / h to 40 km / h.
  • Pedestrians usually travel at a slower speed. In order to reduce the danger of pedestrians, it is usually required to reduce the speed when pedestrians are found. Therefore, in this embodiment, when other objects are pedestrians, the vehicle speed is limited to a lower range to ensure the pedestrian's Safety.
  • the default state of the detection results of other objects is determined based on the collision time between the vehicle and other objects; the collision time is determined based on the distance information and the relative speed information between the vehicle and the other objects.
  • This embodiment determines the collision time by determining the relative speed between the vehicle and the obstacle. When the collision time is less than a preset time At this time, a collision danger may occur, and an alarm may be issued and / or the vehicle may be automatically controlled.
  • the vehicle may be calculated and determined through the change in the distance between the obstacle and the vehicle in the continuous multi-frame image in the video stream and the current vehicle speed. Relative speed to obstacles; divide the distance between the current vehicle and the obstacle by the relative speed to get the collision time.
  • acquiring the change trend of the detection result within a preset time period includes:
  • the collision time in the preset time period meets at least one of the following conditions: the collision time is less than the first preset time, the collision time is less than the second preset time, and the collision time is less than the third preset time;
  • generating a driving control instruction for the vehicle according to a default driving state corresponding to the detection result including:
  • the collision time is reduced and the warning time exceeds a set threshold, and a collision preset instruction is issued according to the default driving state corresponding to the detection result.
  • the collision preset instruction includes at least one of the following: prompt driving An instruction to decelerate the driver, an instruction to control the deceleration of the vehicle, an instruction to control some or all of the braking and / or steering functions of the vehicle.
  • the values of the first preset time, the second preset time, and the third preset time can be set according to the specific reaction time and conditions.
  • the number of preset times can be appropriately increased or decreased. For example, only the first preset time, or the first preset time and the second preset time, or the fourth preset time can be set.
  • Intelligent driving control can also be implemented. This embodiment does not limit the specific preset time.
  • the time value and the number of preset times are subject to the realization of safe and intelligent control.
  • issuing a collision preset instruction according to a default driving state corresponding to the detection result includes:
  • an alert message is issued to prompt the driver to slow down and / or turn; and / or,
  • an alert message is issued to prompt the driver to slow down and / or turn, and control part of the vehicle's braking and / or turning functions; and / or,
  • the vehicle In response to the collision time being less than the third preset time and the warning time exceeding a set threshold, the vehicle is controlled to brake and / or turn.
  • Different actions can be taken in different preset times, for example, when the time is longer (less than the first preset time), an alarm can be issued to remind the driver to control the vehicle by himself; when the time passes, when the time shortens When the time is less than the second preset time, some functions of the vehicle can be controlled at the same time as the alarm; when the time is shortened to the point where manual control is not possible (less than the third preset time), the vehicle brakes and / or steering are automatically controlled.
  • the value ranges of the first preset time, the second preset time, and the third preset time have an intersection or no intersection.
  • the range of the values of the first preset time, the second preset time, and the third preset time may have an intersection or no intersection.
  • an intersection exists for example, 2 seconds is in the first preset
  • the value range of the first preset time is 1.5 seconds to 5 seconds, and / or, the value range of the second preset time is 1 second to 2 seconds, and / or, the value of the third preset time is The value range is less than or equal to 1 second.
  • the vehicle in front is detected in real time during normal driving.
  • the forward collision warning function is activated; after the target vehicle is detected, the relative distance between the target vehicle and the own vehicle is output, and the relative collision time between the own vehicle and the preceding vehicle is calculated, such as :
  • a warning collision danger can be issued to remind the driver to decelerate; if the warning signal is not processed in time, and the vehicle is always close to the vehicle in front, if the relative collision is reduced to 1.5s (second Within the preset time), at this time, the assisted driver will issue an upgrade warning and start to perform the brake control function (point brake); further, if the driver's timely response is still not received, and the relative collision time is reduced to 1s (third Within the preset time), at this time, the assisted driving system will automatically take over the vehicle control system to stop the vehicle in time (emergency braking).
  • the pedestrian collision warning function is activated; after the target pedestrian is detected, the relative distance between the target pedestrian and the vehicle is output, and the relative collision time between the vehicle and the pedestrian is calculated.
  • the assisted driving will issue an upgrade warning and start to perform the brake control function (point brake); further, if the driver's timely response is still not received, and the relative collision time is reduced to 1s (the third preset time) Within this time, the assisted driving system will automatically take over the vehicle control system to stop the vehicle in time (emergency braking).
  • step 110 may include:
  • this embodiment uses an image acquisition device to obtain The video stream of traffic signs, and the images in the video stream are identified, the types of traffic signs are obtained, and the driving operations that the current vehicle can perform are determined based on the types of traffic signs, further improving the safety of intelligent driving.
  • step 130 may include:
  • a third vehicle speed threshold is set for the detection result of the traffic sign.
  • a driving alert can be issued to remind the driver to pay attention to the type of the traffic sign and reduce the illegal operation of the vehicle.
  • the traffic signs as part of the traffic rules are set at fixed positions.
  • Driving assistance reminds the driver and / or carries out automatic control to reduce incorrect operations caused by the driver not observing the traffic sign and improve driving safety. For example, if the vehicle does not comply with the prohibition sign, the driver will be reminded that the driver has seriously violated the regulations and further safety measures are required.
  • the value range of the third vehicle speed threshold is greater than 60 kilometers per hour.
  • the embodiment of the present application Set to more than 60 kilometers per hour, while reducing the number of illegal operations sent by the vehicle, it will not alarm frequently.
  • the driver can be alerted first after the traffic signs are found, and then there can be a reaction time (preset time), as in the pre- If the feedback operation is not received within the set time, automatic control can be performed to ensure the safe driving of the vehicle. For example, if the vehicle exceeds the speed limit, a corresponding warning message will be issued to remind the driver that the vehicle is speeding; after a period of t seconds (the value of t can be set according to the situation), the driver has not adjusted the corresponding driving. Speed, the system enables the speed limit control function.
  • generating a driving control instruction of the vehicle according to the default driving state corresponding to the detection result including at least one of the following operations :
  • an instruction is issued to control the speed of the vehicle to increase or decrease to the speed corresponding to the traffic sign;
  • an instruction is issued to control the vehicle to perform driving control according to the instruction of the traffic sign;
  • a vehicle In response to the category of the traffic sign being a road sign and / or a tourist area sign, and the driving state of the vehicle does not match the default driving state corresponding to the road sign and / or a tourist area sign, a vehicle is controlled in accordance with the destination of the vehicle Instructions to drive on the corresponding road;
  • a control vehicle In response to the type of traffic sign being a road construction safety sign, and the driving state of the vehicle does not match the default driving state corresponding to the road construction safety sign, a control vehicle is issued to perform deceleration, braking, detouring, and keeping driving status according to the instructions of the traffic sign , Decelerate, turn, turn on the turn signal, turn on the brake light one or more of the operation instructions.
  • different vehicle controls can be performed, such as: real-time detection of road traffic signs during normal driving, including various common speed limits such as 5, 15, 20, 30, 40, 50, 60, 70, 80, etc.
  • the speed of the control vehicle is reduced below the speed limit of the traffic sign, corresponding to the speed limit of 5 kilometers per hour, 15 kilometers per hour, 20 kilometers per hour, 30 kilometers per hour, 40 Below kilometers per hour, below 50 kilometers per hour, below 60 kilometers per hour, below 70 kilometers per hour and below 80 kilometers per hour, and prohibition signs such as: no left turn, no right turn, no turn, no turn, and no Stop the vehicle, etc. at this time to control the vehicle not to perform the operations prohibited by traffic signs. If the driver performs these prohibited operations, an alarm message can be issued and / or the automatic control prohibits the operation.
  • step 110 may include:
  • the state of the traffic signal may include, but is not limited to, distinguishing the traffic signal by color and / or shape, for example, distinguishing the traffic signal by color includes red, green, and yellow states, and distinguishing by shape may include going straight, Turn left, turn right, turn around and other shapes.
  • distinguishing the traffic signal by color includes red, green, and yellow states
  • distinguishing by shape may include going straight, Turn left, turn right, turn around and other shapes.
  • step 130 may include:
  • a preset condition of the driving alarm is satisfied, and it is determined whether the driving speed of the vehicle exceeds a fourth vehicle speed threshold.
  • a fourth vehicle speed threshold is set for the detection result of the traffic signal state.
  • a driving alarm can be issued to remind the driver of the state of the traffic signal and reduce the illegal operation of the vehicle.
  • the preset condition of the driving alarm includes that the current driving state of the vehicle does not match the detection result of the traffic signal state.
  • the colors of traffic lights include red, green, and yellow, and different colors correspond to different traffic conditions.
  • Red means that vehicles and / or pedestrians are prohibited
  • green means that vehicles and / or pedestrians are allowed
  • yellow means vehicles and / Or the pedestrian pass needs to pause and wait
  • the auxiliary color can also include shapes such as traffic signals, for example: a plus sign shape (an optional first preset shape) indicates that traffic is allowed, and a fork shape (an optional first The second preset shape) indicates that traffic is prohibited, the minus shape (an optional third preset shape) indicates a waiting state, and the like.
  • the value range of the fourth vehicle speed threshold is greater than 40 kilometers per hour.
  • this embodiment sets The value range of the fourth vehicle speed threshold is greater than 40 kilometers per hour, which will not frequently alarm the vehicle while reducing the number of illegal operations sent by the vehicle.
  • generating the driving control instruction of the vehicle according to the default driving state corresponding to the detection result includes:
  • an instruction to control turning on the turn signal, decelerating, braking and / or steering of the vehicle is output.
  • the vehicle can be controlled according to the default driving state corresponding to the current state of the traffic signal, for example, when the color of the traffic signal is green and the shape is a left-pointing arrow , You can control the vehicle to turn automatically (to the left) and / or turn on the turn signal (left turn signal) automatically; when the color of the traffic signal is green and the shape is a forward-pointing arrow, you can control the vehicle to slow down through the intersection; of course
  • the specific control of how the vehicle is driven is based on the combination of the destination set by the current vehicle and the current state of the traffic lights; by automatically controlling the vehicle to perform operations corresponding to the state of the traffic lights, intelligent driving with higher safety can be achieved, reducing Hidden safety hazards caused by human error.
  • the color of the traffic signal includes three colors of red, yellow, and green, and the shape includes an arrow shape, a circle, or other shapes.
  • the colors of the traffic signal includes three colors of red, yellow, and green
  • the shape includes an arrow shape, a circle, or other shapes.
  • the signals may not be accurately identified. Therefore, in this embodiment, by identifying at least two of a location area, a color, and a shape, for example, when determining a location area and a color of a traffic light, it is possible to determine which position of the current traffic light in the image (corresponding to which direction of the vehicle) ),
  • the status of the traffic light display can be determined by color (red, green, or yellow respectively correspond to different states), and assisted driving or autonomous driving can be realized by identifying different states of the traffic light; when determining the location area and shape of the traffic light, You can determine where the current traffic light is in the image (corresponding to which direction of the vehicle), and determine the status of the traffic light by its shape (for example: arrows pointing in
  • the foregoing program may be stored in a computer-readable storage medium.
  • the program is executed, the program is executed.
  • the method includes the steps of the foregoing method embodiment; and the foregoing storage medium includes: a ROM, a RAM, a magnetic disk, or an optical disc, which can store various program codes.
  • FIG. 2 is a schematic structural diagram of an embodiment of an intelligent driving control device according to an embodiment of the present application.
  • the device in this embodiment may be used to implement the foregoing method embodiments of the present application.
  • the apparatus of this embodiment includes:
  • the environment detection unit 21 is configured to detect a driving environment of a vehicle, and obtain a detection result of at least one type of target object in the driving environment.
  • the condition judging unit 22 is configured to determine whether the detection result meets a preset condition of the driving alarm.
  • the vehicle speed judging unit 23 is configured to determine whether a driving speed of the vehicle exceeds a vehicle speed threshold in response to a detection result satisfying a driving alarm preset condition.
  • the alarm unit 24 is configured to trigger a driving alarm according to a detection result in response to a driving vehicle speed exceeding a vehicle speed threshold.
  • the safety of the vehicle is improved, and the number of alarms with a low degree of danger and / or a low degree of urgency is limited by a vehicle speed threshold, and the driving will not be disturbed by frequent alarms. Normal judgement of the staff.
  • the vehicle speed threshold is set by default, or the vehicle speed threshold is set according to a received instruction.
  • the user may set a larger threshold or a smaller threshold according to his driving needs or behavior habits, which improves the universality of this embodiment and improves the user experience.
  • the vehicle speed threshold can be set to 0.
  • the vehicle speed threshold can be set to 0, which is equivalent to As long as the preset conditions of the driving alert are met, the driving alert is triggered without the need for speed judgment.
  • the speed thresholds for different types of target objects are the same or different; and / or,
  • Preset conditions for driving alerts corresponding to different types of target objects are the same or different; and / or,
  • Different types of target objects correspond to the same or different driving alerts.
  • the vehicle speed threshold, the driving alarm preset conditions, and the driving alarm mode can be set according to actual conditions.
  • the vehicle speed thresholds corresponding to different types of target objects can be set. It is the same or different, for example: the speed threshold corresponding to the lane line is set to 60 kilometers per hour, and the speed threshold of the motor vehicle is set to 200 kilometers per hour, the specific value of the vehicle speed threshold is not limited in this application; the same, different types
  • the driving alert preset conditions and driving alert modes corresponding to the target object may also be the same or different. This application does not limit the specific driving alert modes and driving alert preset conditions.
  • the at least one type of target object includes at least one of the following: lane lines, traffic signs, traffic lights, pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacles.
  • target objects can appear individually or in combination. During detection, they can be detected separately by different detection techniques, or multiple target objects can be detected simultaneously based on image sources such as video images. When multiple target objects are detected at the same time, these target objects can be detected simultaneously. The target object judges the preset conditions of the driving alert.
  • the driving alert mode includes, but is not limited to, at least one of the following modes: an audible alert mode, a visual alert mode, a tactile alert mode, and an olfactory alert mode.
  • the detection result of the driving environment includes a combination of one or more of the following: lane line offset detection results, traffic sign detection results, traffic signal status detection results, and distance detection of other objects
  • other objects include, but are not limited to, at least one of the following: pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacles.
  • the detection result of the driving environment includes detection results of multiple target objects
  • the corresponding vehicle speed threshold of the multiple target objects is at least two different vehicle speed thresholds
  • a smaller vehicle speed threshold is used as the vehicle speed corresponding to the current driving environment. Threshold.
  • the vehicle speed threshold needs to be limited to a small vehicle speed threshold.
  • the apparatus in this embodiment further includes:
  • a driving state acquiring unit configured to acquire a driving state of a vehicle within a preset time period in response to a trigger of a driving alarm
  • the result control unit is configured to generate a driving control instruction of the vehicle according to the default driving state corresponding to the detection result in response to that the driving state of the vehicle does not match the default driving state corresponding to the detection result after the expiration of the preset time period.
  • This embodiment provides assisted driving control.
  • the vehicle is mainly controlled by the driver. After the driving alert is issued, a period of time can be reserved for the driver to take measures; if the driver has not adjusted the driving state after a reasonable period of time, This indicates that the danger level has increased significantly, and you can choose to switch from the assisted driving mode to the automatic driving mode, take over the control of the vehicle, and automatically control the vehicle to take safety measures.
  • the apparatus in this embodiment further includes:
  • a result change unit configured to obtain a change trend of the detection result in a preset time period in response to the triggering of a driving alarm
  • the danger control unit is configured to indicate that the degree of danger continues or increases in response to a change in the detection result and the alarm time exceeds a set threshold, and generate a driving control instruction of the vehicle according to a default driving state corresponding to the detection result.
  • the driver After the driving alarm is issued, the driver is provided with a reasonable reflection time (preset time period) that can be judged by himself. During this time, the driver can choose to change the driving state or turn off the alarm (the alarm can be manually turned off after the problem is resolved ), But when the driver does not perform any operation, and the trend of the detection result indicates that the degree of danger continues to increase, that is, the degree of danger of the detection result increases with time, the vehicle needs to be automatically controlled to ensure the safety of the vehicle drive.
  • a reasonable reflection time preset time period
  • the environment detection unit 21 is configured to collect a video stream including a driving road based on an image acquisition device provided on the vehicle; at least one of the video streams The lane image is detected in the frame image; the lane line offset detection result is obtained according to the lane line detection result and the relative position information of the vehicle.
  • a deep neural network can be used to detect lane lines in the image, for example, the image recognition network
  • identify the lane line of the vehicle obtain the position of the lane line in the image, and determine the relative position information between the vehicle and the lane line by combining the positions of the lane lines in multiple frames of continuous images.
  • the relative position information may include, but is not limited to, pressure lines, Offset to the left, offset to the right, centered, etc.
  • the embodiment of the present application can reduce the occurrence of illegal operations, such as pressing the vehicle, by obtaining the lane line offset detection result.
  • the vehicle speed judging unit 23 is configured to determine whether a driving speed of the vehicle exceeds a first vehicle speed threshold in response to a lane line deviation detection result satisfying a driving alarm preset condition.
  • the driving alert preset condition includes that the distance between the vehicle and the lane line is within a set range.
  • the value range of the first vehicle speed threshold is greater than 35 kilometers per hour.
  • the first vehicle speed threshold is 60-80 kilometers per hour.
  • the result changing unit is configured to obtain a change trend of the lane line deviation of the vehicle relative to the lane line within a preset time in response to the triggering of the driving alarm;
  • the danger control unit is configured to respond to the change trend of the lane line deviation detection result to indicate that the lane line deviation degree increases and the alarm time exceeds a set threshold, and issue a prompt message to turn on the turn signal according to a default driving state corresponding to the lane line deviation detection result and / Or control the vehicle to turn on the corresponding turn signal.
  • a danger control unit is configured to indicate that the degree of lane line deviation increases and the alarm time exceeds a set threshold in response to a change trend of the lane line deviation detection result; combined with a traffic sign detection result, a traffic signal state detection result, and an obstacle distance detection At least one of the detection results determines whether to send a prompt message to turn on the turn signal and / or control the vehicle to turn on the corresponding turn signal.
  • a result change unit is configured to obtain a fluctuation range of the distance between the vehicle and the lane line in response to the triggering of a driving alarm;
  • the danger control unit is configured to control the vehicle so that the distance between the vehicle and the lane line is within the safe distance range in response to the fluctuation range exceeding the safe distance range within the set threshold of the alarm time.
  • a driving state acquiring unit is configured to acquire the state information of the vehicle's turn signals in response to the triggering of a driving alarm
  • a result control unit for not responding to the preset driving period in response to the turn signal state information matching the default driving state corresponding to the detection result after the expiration of the preset period; and / or in response to the preset period After the expiration, the state information of the turn signal does not match the default driving state corresponding to the detection result, and a prompt message and / or the control information is issued.
  • the default driving state corresponding to the detection result is determined based on the relative position information and the type of the lane line, and the type of the lane line includes, but is not limited to, at least one of the following: white dotted line, white solid line, yellow dotted line, yellow solid line, double White dashed line, double yellow solid line, yellow dashed solid line, and double white solid line.
  • the environment detection unit 21 is configured to obtain a video stream including other objects based on the image acquisition device provided on the vehicle; A frame of image is used to detect other objects; according to the detection results of other objects and the relative position information of the vehicle, the distance detection results of other objects are obtained.
  • the embodiment recognizes other objects through the image acquisition device, determines the distance information between the vehicle and other objects, and intelligently controls the vehicle based on the distance information, which can effectively reduce the occurrence of collisions and rear-end collisions and improve the safety of road traffic.
  • object for example: pedestrians, motor vehicles, non-motor vehicles, animals, dangerous objects, fixed obstacles, etc.
  • the embodiment also recognizes other objects through the image acquisition device, determines the distance information between the vehicle and other objects, and intelligently controls the vehicle based on the distance information, which can effectively reduce the occurrence of collisions and rear-end collisions and improve the safety of road traffic.
  • the vehicle speed judging unit 23 is configured to determine whether a driving speed of the vehicle exceeds a second vehicle speed threshold in response to a distance detection result of other objects satisfying a driving alarm preset condition.
  • the second vehicle speed threshold has different or the same value range corresponding to different other objects.
  • the value of the second vehicle speed threshold ranges from 20 km / h to 200 km / h.
  • the value of the second vehicle speed threshold ranges from 20 km / h to 40 km / h.
  • the default state of the detection results of other objects is determined based on the collision time between the vehicle and other objects; the collision time is determined based on the distance information and the relative speed information between the vehicle and the other objects.
  • the result changing unit is configured to, in response to the triggering of the driving alarm, obtain whether the collision time in the preset time period meets at least one of the following conditions: the collision time is less than the first preset time, the collision time is less than the second preset time, The collision time is shorter than the third preset time;
  • the danger control unit is configured to respond to a change in the detection result of other objects to indicate that the collision time is reduced and the alarm time exceeds a set threshold, and issue a collision preset instruction according to a default driving state corresponding to the detection result;
  • the collision preset instruction includes but It is not limited to at least one of the following: an instruction to prompt the driver to decelerate, an instruction to control the vehicle to decelerate, or an instruction to control some or all of the vehicle's braking and / or steering functions.
  • the danger control unit is configured to, in response to the collision time being less than the first preset time and the warning time exceeding a set threshold, issuing a warning message prompting the driver to slow down and / or turn; and / or,
  • an alert message is issued to prompt the driver to slow down and / or turn, and control part of the vehicle's braking and / or turning functions; and / or,
  • the vehicle In response to the collision time being less than the third preset time and the warning time exceeding a set threshold, the vehicle is controlled to brake and / or turn.
  • the value ranges of the first preset time, the second preset time, and the third preset time have an intersection or no intersection.
  • the value range of the first preset time is 1.5 seconds to 5 seconds, and / or, the value range of the second preset time is 1 second to 2 seconds, and / or, the value of the third preset time is The value range is less than or equal to 1 second.
  • the environment detection unit 21 is configured to collect a video stream including a traffic sign based on an image acquisition device provided on the vehicle; One frame includes traffic sign images for traffic sign classification; traffic sign detection results are obtained based on the traffic sign classification results.
  • this embodiment uses an image acquisition device to obtain The video stream of traffic signs, and the images in the video stream are identified, the types of traffic signs are obtained, and the driving operations that the current vehicle can perform are determined based on the types of traffic signs, further improving the safety of intelligent driving.
  • the vehicle speed judging unit 23 is configured to determine whether the driving speed of the vehicle exceeds a third vehicle speed threshold in response to the detection result of the traffic sign meeting a preset condition of the driving alarm.
  • the value range of the third vehicle speed threshold is greater than 60 kilometers per hour.
  • the result control unit is configured to perform at least one of the following operations:
  • an instruction is issued to control the speed of the vehicle to increase or decrease to the speed corresponding to the traffic sign;
  • a vehicle In response to the category of the traffic sign being a road sign and / or a tourist area sign, and the driving state of the vehicle does not match the default driving state corresponding to the road sign and / or a tourist area sign, a vehicle is controlled in accordance with the destination of the vehicle Instructions to drive on the corresponding road;
  • a control vehicle In response to the type of traffic sign being a road construction safety sign, and the driving state of the vehicle does not match the default driving state corresponding to the road construction safety sign, a control vehicle is issued to perform deceleration, braking, detouring, and keeping driving status according to the instructions of the traffic sign , Decelerate, turn, turn on the turn signal, turn on the brake light one or more of the operation instructions.
  • the environment detection unit 21 is configured to obtain a video stream including the traffic signal based on an image acquisition device provided on the vehicle; at least one of the video streams is The frame image is used to detect the state of the traffic signal, and the result of detecting the state of the traffic signal is determined.
  • the state of the traffic signal may include, but is not limited to, distinguishing the traffic signal by color and / or shape, for example, distinguishing the traffic signal by color includes red, green, and yellow states, and distinguishing by shape may include going straight, Turn left, turn right, turn around and other shapes.
  • distinguishing the traffic signal by color includes red, green, and yellow states
  • distinguishing by shape may include going straight, Turn left, turn right, turn around and other shapes.
  • the vehicle speed judging unit is configured to determine whether a driving speed of the vehicle exceeds a fourth vehicle speed threshold in response to a detection result of a traffic signal state that satisfies a driving alarm preset condition.
  • the preset condition of the driving alarm includes that the current driving state of the vehicle does not match the detection result of the traffic signal state.
  • the value range of the fourth vehicle speed threshold is greater than 40 kilometers per hour.
  • the result control unit is configured to output control signals to turn on the turn signal, decelerate, brake, and turn on the vehicle in response to that the driving state of the vehicle does not match the default driving state corresponding to the detection result of the traffic signal state after the preset time period expires. / Or instructions to turn.
  • a vehicle including: the intelligent driving control device according to any one of the above.
  • an electronic device including a processor, where the processor includes the intelligent driving control device according to any one of the foregoing.
  • the electronic device may be a vehicle-mounted electronic device.
  • an electronic device including: a memory for storing executable instructions;
  • the electronic device may be a vehicle-mounted electronic device.
  • a computer-readable storage medium for storing computer-readable instructions that, when executed, perform the operations of the intelligent driving control method according to any one of the foregoing.
  • a computer program product including computer-readable code, and when the computer-readable code runs on a device, a processor in the device executes to implement any of the above.
  • An instruction of the intelligent driving control method is provided.
  • An embodiment of the present application further provides an electronic device, such as a mobile terminal, a personal computer (PC), a tablet computer, a server, and the like.
  • an electronic device such as a mobile terminal, a personal computer (PC), a tablet computer, a server, and the like.
  • FIG. 3 shows a schematic structural diagram of an electronic device 300 suitable for implementing a terminal device or a server in the embodiment of the present application.
  • the electronic device 300 includes one or more processors and a communication unit.
  • the one or more processors are, for example, one or more central processing units (CPUs) 301, and / or one or more special-purpose processors, and the special-purpose processors may serve as the acceleration unit 313, which may include but is not limited to images Processors (GPUs), FPGAs, DSPs, and other specialized processors such as ASIC chips, etc.
  • the processors can be loaded into random access memory (from the storage portion 308 according to executable instructions stored in read-only memory (ROM) 302 or RAM) 303 to execute various appropriate actions and processes.
  • the communication unit 312 may include, but is not limited to, a network card, and the network card may include, but is not limited to, an IB (Infiniband) network card.
  • the processor may communicate with the read-only memory 302 and / or the random access memory 303 to execute executable instructions, connect to the communication unit 312 through the bus 304, and communicate with other target devices through the communication unit 312, thereby completing the embodiments provided in this application.
  • Operations corresponding to any of the methods for example, obtaining detection results of at least one type of target object in the driving environment; determining whether the detection results meet the preset conditions of the driving alert; and determining the driving of the vehicle in response to the detection results meeting the preset conditions of the driving alert Whether the vehicle speed exceeds the vehicle speed threshold; in response to the driving vehicle speed exceeding the vehicle speed threshold, a driving alarm is triggered according to the detection result.
  • RAM 303 can also store various programs and data required for device operation.
  • the CPU 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304.
  • ROM302 is an optional module.
  • the RAM 303 stores executable instructions, or writes executable instructions to the ROM 302 at runtime, and the executable instructions cause the central processing unit 301 to perform operations corresponding to the foregoing communication method.
  • An input / output (I / O) interface 305 is also connected to the bus 304.
  • the communication unit 312 may be integratedly configured, or may be configured to have multiple sub-modules (for example, multiple IB network cards) and be on a bus link.
  • the following components are connected to the I / O interface 305: an input portion 306 including a keyboard, a mouse, and the like; an output portion 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), and the speaker; a storage portion 308 including a hard disk and the like And a communication section 309 including a network interface card such as a LAN card, a modem, and the like.
  • the communication section 309 performs communication processing via a network such as the Internet.
  • the driver 310 is also connected to the I / O interface 305 as needed.
  • FIG. 3 is only an optional implementation manner.
  • the number and types of components in FIG. 3 may be selected, deleted, added or replaced according to actual needs.
  • separate or integrated settings can also be used.
  • the acceleration unit 313 and the CPU301 can be separated or the acceleration unit 313 can be integrated on the CPU301.
  • the communication unit can be separated or integrated on the CPU301. Or on the acceleration unit 313, and so on.
  • embodiments of the present application include a computer program product including a computer program tangibly embodied on a machine-readable medium.
  • the computer program includes program code for performing a method shown in a flowchart, and the program code may include a corresponding Executing instructions corresponding to the method steps provided in the embodiments of the present application, for example, obtaining detection results of at least one type of target object in a driving environment; determining whether the detection results meet a driving alert preset condition; Determine whether the driving speed of the vehicle exceeds the vehicle speed threshold; in response to the driving vehicle speed exceeding the vehicle speed threshold, a driving alarm is triggered according to the detection result.
  • the computer program may be downloaded and installed from a network through the communication section 309, and / or installed from a removable medium 311.
  • a central processing unit (CPU) 301 When the computer program is executed by a central processing unit (CPU) 301, the operations of the above functions defined in the method of the present application are performed.
  • the method and apparatus of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware.
  • the above order of the steps of the method is for illustration only, and the steps of the method of the present invention are not limited to the order specifically described above, unless specifically stated otherwise.
  • the present invention can also be implemented as programs recorded in a recording medium, which programs include machine-readable instructions for implementing the method according to the present invention.
  • the present invention also covers a recording medium storing a program for executing the method according to the present invention.

Abstract

一种智能驾驶控制方法和装置、车辆、电子设备（300）、介质、产品，其中，方法包括：检测车辆的行驶环境，获得行驶环境中至少一类目标对象的检测结果；确定检测结果是否满足驾驶告警预设条件；响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值；响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警，提高了车辆行驶的安全性的同时，通过车速阈值限制危险程度低和/或紧急程度低的告警次数，不会因为频繁报警而干扰驾驶员的正常判断。

Description

智能驾驶控制方法和装置、车辆、电子设备、介质、产品
本申请要求在2018年7月28日提交中国专利局、申请号为CN201810850398.6、发明名称为“智能驾驶控制方法和装置、车辆、电子设备、介质、产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆控制技术，尤其是一种智能驾驶控制方法和装置、车辆、电子设备、介质、产品。
背景技术
随着汽车的不断普及，交通事故也随之增多，全球每年有2000多万人在交通事故中受伤或致残，死亡100多万人，经济损失高达5000亿美元。每年因道路交通事故导致道路安全已经极大地威胁着社会公众的生命和财产，成为全球关注的重点。对汽车交通事故的分析结果表明，在所发生的交通事故中，80％是由于驾驶员反应不及时，处置不当所造成。
发明内容
本申请实施例提供的一种智能驾驶控制技术。
根据本申请实施例的一个方面，提供了一种智能驾驶控制方法，包括：
检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果；
确定所述检测结果是否满足驾驶告警预设条件；
响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值；
响应于所述行驶车速超过车速阈值，根据所述检测结果触发驾驶告警。
根据本申请实施例的另一个方面，提供了一种智能驾驶控制装置，包括：
环境检测单元，用于检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果；
条件判断单元，用于确定所述检测结果是否满足驾驶告警预设条件；
车速判断单元，用于响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值；
告警单元，用于响应于所述行驶车速超过车速阈值，根据所述检测结果触发驾驶告警。
根据本申请实施例的另一个方面，提供了一种车辆，包括：如上任意一项所述的智能驾驶控制装置。
根据本申请实施例的另一个方面，提供了一种电子设备，包括处理器，所述处理器包括如上任意一项所述的智能驾驶控制装置。
可选地，该电子设备可以为一种车载电子设备。
根据本申请实施例的另一个方面，提供了一种电子设备，包括：存储器，用于存储可执行指令；
以及处理器，用于与所述存储器通信以执行所述可执行指令从而完成如上任意一项所述智能驾驶控制方法的操作。
可选地，该电子设备可以为一种车载电子设备。
根据本申请实施例的另一个方面，提供了一种计算机存储介质，用于存储计算机可读取的指令，所述指令被执行时执行如上任意一项所述智能驾驶控制方法的操作。
根据本申请实施例的另一个方面，提供了一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在设备上运行时，所述设备中的处理器执行用于实现如上任意一项所述智能驾驶控制方法的指令。
基于本申请上述实施例提供的一种智能驾驶控制方法和装置、车辆、电子设备、介质、产品，检测车辆的行驶环境，获得行驶环境中至少一类目标对象的检测结果；确定检测结果是否满足驾驶告警预设条件；响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值；响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警，提高了车辆行驶的安全性的同时，通过车速阈值限制危险程度底和/或紧急程度低的告警次数，不会因为频繁报警而干扰驾驶员的正常判断。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
构成说明书的一部分的附图描述了本发明的实施例，并且连同描述一起用于解释本发明的原理。
参照附图，根据下面的详细描述，可以更加清楚地理解本发明，其中：
图1为本申请实施例智能驾驶方法的一个流程示意图。
图2为本申请实施例智能驾驶装置的一个结构示意图。
图3为适于用来实现本申请实施例的终端设备或服务器的电子设备的结构示意图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本发明实施例可以应用于计算机系统/服务器，其可与众多其它通用或专用计算系统环境或配置一起操作。适于与计算机系统/服务器一起使用的众所周知的计算系统、环境和/或配置的例子包括但不限于：个人计算机系统、服务器计算机系统、瘦客户机、厚客户机、手持或膝上设备、基于微处理器的系统、机顶盒、可编程消费电子产品、网络个人电脑、小型计算机系统﹑大型计算机系统和包括上述任何系统的分布式云计算技术环境，等等。
计算机系统/服务器可以在由计算机系统执行的计算机系统可执行指令(诸如程序模块)的一般语境下描述。通常，程序模块可以包括例程、程序、目标程序、组件、逻辑、数据结构等等，它们执行特定的任务或者实现特定的抽象数据类型。计算机系统/服务器可以在分布式云计算环境中实施，分布式云计算环境中，任务是由通过通信网络链接的远程处理设备执行的。在分布式云计算环境中，程序模块可以位于包括存储设备的本地或远程计算系统存储介质上。
图1为本申请实施例智能驾驶控制方法的一个流程示意图。如图1所示，该实施例方法包括：
步骤110，检测车辆的行驶环境，获得行驶环境中至少一类目标对象的检测结果。
可选地，在车辆行驶过程中，通过设置在车辆周围的至少一个图像采集装置(如：摄像头等)通过采集车辆周围的图像来获得车辆的行驶环境，行驶环境可以包括车辆周围可以观察到的多种目标对象，为了保证环境检测的连续性，可以通过图像采集装置采集周围的连续多帧图像，例如，通过采集视频检测车辆的行驶环境，其中，连续多帧图像可指时间上的连续的视频中的每帧图像；也可以是通过目标对象识别后获得的具有目标对象的多帧图像，此时，连续两帧图像之间可以在时间上不连续。
在一个可选示例中，该步骤S110可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的环境检测单元21执行。
步骤120，确定检测结果是否满足驾驶告警预设条件。
驾驶告警预设条件是为了触发驾驶告警而设置的，在不同情况下和/或对应不同的行驶环境可设置不同的驾驶告警预设条件，例如：对于新手驾驶员和熟练驾驶员可以设置不同的驾驶告警预设条件，以适应不同的驾驶员的不同需求，在提高安全性的同时，为不同驾驶员提供个性化服务，提高用户体验。
在一个可选示例中，该步骤S120可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的条件判断单元22执行。
步骤130，响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值。
车辆行驶过程中，不同的车速可为驾驶员提供的反映时间也不同，当车速较低(不超过车速阈值)时，可认为驾驶员有足够的反映时间对出现的告警状况进行处理，此时可选择触发或不触发告警，本实施例不触发告警，降低频繁告警给驾驶员造成干扰，影响驾驶员的正常判断和处理。
在一个可选示例中，该步骤S130可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的车速判断单元23执行。
步骤140，响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警。
在一个可选示例中，该步骤S140可以由处理器调用存储器存储的相应指令执行，也可以由被处理器运行的告警单元24执行。
基于本申请上述实施例提供的一种智能驾驶控制方法，检测车辆的行驶环境，获得行驶环境中至少一类目标对象的检测结果；确定检测结果是否满足驾驶告警预设条件；响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值；响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警，提高了车辆行驶的安全性的同时，通过车速阈值限制危险程度底和/或紧急程度低的告警次数，不会因为频繁报警而干扰驾驶员的正常判断。
在一个或多个可选的实施例中，车速阈值为缺省设置的，或者，车速阈值为根据接收到的指令设置的。
可选地，用户可以根据自己的驾驶需求或行为习惯，设置为较大的阈值或较小的阈值，提高了本实施例的普适性，改善了用户体验。如果用户不希望结合车速进行告警触发判断，则可以将车速阈值设置为0，例如：对于如对行人、机动车等其他对象的前向碰撞预警应用场景，可将车速阈值设置为0，相当于只要满足驾驶告警预设条件，即触发驾驶告警，无需经过车速判断。
在一个或多个可选的实施例中，至少一类目标对象中：
不同类型的目标对象对应的车速阈值相同或不同；和/或，
不同类型的目标对象对应的驾驶告警预设条件相同或不同；和/或，
不同类型的目标对象对应的驾驶告警方式相同或不同。
本实施例中，车速阈值、驾驶告警预设条件和驾驶告警方式都可以根据实际情况进行设置，在设置过程中，由于具体驾驶员的需求不同，可以将不同类型的目标对象对应的车速阈值设置为相同或不同，例如：将车道线对应车速阈值设置为60公里每小时，而将机动车的车速阈值设置为200公里每小时，本申请对车速阈值的具体数值不作限定；同样的，不同类型的目标对象对应的驾驶告警预设条件和驾驶告警方式也可以相同或不同，本申请对具体的驾驶告警方式和驾驶告警预设条件不作限制。
可选地，驾驶告警方式包括但不限于以下至少一种方式：听觉告警方式、视觉告警方式、触觉告警方式、嗅觉告警方式。
驾驶告警是为了提醒驾驶员注意当前驾驶环境的，为了引起驾驶员的注意，可以选择一种或多种方式对驾驶员进行刺激，例如：通过听觉告警方式(如：发出告警声音)，此时告警音量可根据具体情况进行设定；而当环境比较嘈杂，声音难以辨识时，可通过其他告警方式或多种告警方式，例如：视觉告警方式(如：在车辆相应位置显示告警画面等)，和/或触觉告警方式结合(如：在方向盘或座椅上通过凸起等引起驾驶员的注意)，和/或嗅觉告警方式(如：通过释放刺激性气味的安全气体引起驾驶员的注意)；具体采用哪种驾驶告警方式本申请不作限定。
在一个或多个可选的实施例中，至少一类目标对象包括但不限于以下至少一种：车道线、交通标志、交通信号灯、行人、机动车、非机动车、动物、危险物、固定障碍物。这些目标对象可以单独出现或多种一起出现，检测时可以通过不同的检测技术分别检测，或基于视频图像等图像来源同时检测多种目标对象，同时检测到多种目标对象时，可同时对这些目标对象进行驾驶告警预设条件的判断。
在一个或多个可选的实施例中，行驶环境的检测结果包括以下一种或多种的结合：车道线偏移检测结果，交通标志检测结果，交通信号灯状态检测结果，其他对象的距离检测结果。
其中，其他对象包括但不限于以下至少一种：行人、机动车、非机动车、动物、危险物、固定障碍物。
车辆在路面行驶时，行驶环境可以包括车辆周围的多种可移动或不可移动的目标对象，并且安全驾驶需要遵守交通规则，因此，需要对交通标志、和/或交通信号灯、和/或车道线进行检测，以减少车辆出现违规驾驶的情况，而在车辆附近出现的其他对象需要减少发生碰撞而产生的危险。
可选地，行驶环境的检测结果包括多种目标对象的检测结果时，如果多种目标对象对应车速阈值为至少两种不同的车速阈值时，以较小的车速阈值作为当前行驶环境对应的车速阈值。
车辆的行驶速度较低时，带来的惯性和冲击力较小，并且为驾驶员提供的反映时间可以相应延长，因此，为了保证驾驶安全，在同时出现多种目标对象时，需保证较容易发生危险的目标对象(例如，最易发生危险的目标对象)的检测结果能够得到及时报警，因此，需要将车速阈值限制在较小的车速阈值。
在一个或多个可选的实施例中，本实施例方法还包括：
响应于驾驶告警的触发，获取预设时间段内车辆的行驶状态；
响应于预设时间段期满后车辆的行驶状态与检测结果对应的缺省行驶状态不匹配，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令。
本申请实施例提供的是辅助驾驶控制，车辆主要由驾驶员进行控制，在发出驾驶告警之后可为驾驶员预留一段时间来采取措施；如果告警一段合理的时间后驾驶员还没有调整驾驶状态，说明危险程度已经明显提高，可以选择从辅助驾驶模式切换为自动驾驶模式，接管车辆控制权，自动控制车辆采取安全措施。
在一个或多个可选的实施例中，本实施例提供的方法还包括：
响应于驾驶告警的触发，获取预设时间段内检测结果的变化趋势；
响应于检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令。
在发出驾驶告警之后，首先为驾驶员提供了可自行判断的合理反映时间(预设时间段)，在这段时间内驾驶员可以选择更改驾驶状态或关闭告警(已解决问题后可手动关闭告警)，但当驾驶员未进行任何操作，而检测结果的变化趋势表示危险程度持续增加时，即检测结果的危险程度随着时间的推移而增加，需要对车辆进行自动控制，以保证安全驾驶。
在一个或多个可选的实施例中，当目标对象为车道线，步骤110可以包括：
基于设置在车辆上的图像采集装置采集包括行驶道路的视频流；
对视频流中的至少一帧图像进行车道线检测；
根据车道线的检测结果和车辆的相对位置信息，获得车道线偏移检测结果。
由于车道线设置于路面，因此，采集视频流时，需要采集包括行驶道路的视频流，可选地，可通过深度神经网络实现对图像中的车道线检测，例如：通过图像识别网络对图像中的车道线进行识别，获得车道线在图像中的位置，结合多帧连续图像中车道线的位置确定车辆与车道线之间的相对位置信息，该相对位置信息可以包括但不限于：压线、向左偏移、向右偏移、居中等；本申请实施例通过获得车道线偏移检测结果可实现减少车辆发生压线等违规操作。
可选地，步骤130可以包括：
响应于车道线偏移检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第一车速阈值。
本实施例为车道线偏移检测结果设置了第一车速阈值，当车辆的行驶车速超过第一车速阈值时，即可发出驾驶告警，以提示驾驶员注意车道线的偏移情况，减少车辆发送违规操作。
可选地，驾驶告警预设条件包括车辆与车道线的距离在设定范围内。
可选地，车辆与车道线的距离可以根据交通规则的设定进行设定，或根据实际情况进行设定，车辆与车道线的相对位置信息不符合交通规则的设定时，识别为偏离车道线，此处的偏离车道线是指，车轮进入了车道线的一定距离范围内，例如：[-k，k]；可认为满足驾驶告警预设条件，通过告警的方式减少车辆违法交通规则。
可选地，第一车速阈值的取值范围为大于35公里每小时。
车道线的检测结果满足驾驶告警预设条件时，当车速较小时，驾驶员可自行处理变化情况，降低过于频繁的提醒干扰驾驶员的正确处理或引起驾驶员的反感，如果车速大于设定值(本实施例为35公里每小时)，说明如果驾驶员不及时进行调整会出现违规现象和/或危险，此时需要发出告警提示以降低违规现象和/或危险的发生，提高驾驶的安全性。
可选地，第一车速阈值为60-80公里每小时。
为了设置更适合的车速阈值，经过多次实验，将第一车速阈值设置为60-80公里每小时是比较符合大多数人的操作习惯和反映时间的，可减少频繁提醒的同时降低违规现象和/或危险发生的概率。
可选地，响应于驾驶告警的触发，获取预设时间段内检测结果的变化趋势，包括：
响应于驾驶告警的触发，获取车辆相对车道线在预设时间内的车道线偏离情况的变化趋势；
响应于检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括：
响应于车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制车辆开启对应的转向灯。
本申请实施例中，车道线偏离检测结果的变化趋势表示车道线偏离程度增加的同时告警时间超出设 定阈值时，需要对车辆进行自动控制，以减少发生危险情况，而驾驶员来不及处理，例如：车辆一直向车道线左侧偏移，并且告警设定时间后，驾驶员没有调整方向，说明车辆要进行左转，此时可控制车辆开启左转向灯以减少后车发生碰撞。
可选地，告警信号若没有得到及时响应，分两种安全处理情况。可选地，一种情况可以包括：响应于车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制车辆开启对应的转向灯，包括：
响应于车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值；
结合交通标志检测结果、交通信号灯状态检测结果和障碍物距离检测结果中的至少一个检测结果，确定发出开启转向灯的提示信息和/或控制车辆开启对应的转向灯。
此时说明车辆一直向同一方向进行偏移，应当属于转向，可发出开启转向灯提示或自动控制开启转向灯，以保证其他车辆可以识别到该车辆的驾驶轨迹，减少危险发生的可能性。
另一种情况可以包括：响应于驾驶告警的触发，获取预设时间段内检测结果的变化趋势，包括：响应于驾驶告警的触发，获取车辆与车道线的距离的波动范围；
响应于检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括：
响应于在告警时间的设定阈值的时长内波动范围超出安全距离范围，控制车辆以使车辆与车道线的距离保持在安全距离范围内。
此时，说明该驾驶处于不稳定状态，驾驶员调整的过程中不断向左或向右偏移，容易发生危险，通过自动控制将车辆与车道线的距离控制在稳定的安全距离范围内，以保证安全驾驶。
可选地，响应于驾驶告警的触发，获取预设时间段内车辆的行驶状态，包括：
响应于驾驶告警的触发，获取车辆的转向灯状态信息；
响应于预设时间段期满后车辆的行驶状态与检测结果对应的缺省行驶状态不匹配，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括：
响应于预设时间段期满后转向灯状态信息与检测结果对应的缺省行驶状态匹配，不发出提示信息和/或控制信息；和/或，
响应于预设时间段期满后转向灯状态信息与检测结果对应的缺省行驶状态不匹配，发出提示信息和/或控制信息。
当识别到车辆与车道线的相对位置信息判断到车辆需要转向时，获取车辆的转向灯状态信息，如车道线的检测结果说明该车辆处于转向过程中或开始转向，此时如果车辆未开启或错误开启转向灯，则发出提示信息和/或控制信息，使车辆开启检测结果对应的转向灯，以降低后车发生碰撞的可能性。
可选地，在车辆需要转向时，除了车道线的信息还需要观察当前交通信号灯的状态和/或交通标志的类别，如当前所需转向与交通信号灯的状态和/或交通标志的类别想悖，将禁止进行转向，并将车辆调整回正常路线，只有在交通信号灯的状态和交通标志的类别都符合的情况下，才执行开启转向灯的提示信息和/或控制车辆开启对应的转向灯。
可选地，检测结果对应的缺省行驶状态基于相对位置信息和车道线的类型确定，车道线类型包括以下至少一项：白色虚线、白色实线、黄色虚线、黄色实线、双白虚线、双黄实线、黄色虚实线和双白实线。
可选地，车道线的类型可以包括但不限于：白色虚线、白色实线、黄色虚线、黄色实线、双白虚线、双黄实线、黄色虚实线和双白实线等；不同的车道线类型对应不同的引导方式：其中，白色虚线：画于 路段中时，用以分隔同向行驶的交通流或作为行车安全距离识别线；画于路口时，用以引导车辆行进。白色实线：画于路段中时，用以分隔同向行驶的机动车和非机动车，或指示车行道的边缘；画于路口时，可用作导向车道线或停止线。黄色虚线：画于路段中时，用以分隔对向行驶的交通流；画于路侧或缘石上时，用以禁止车辆长时在路边停放。黄色实线：画于路段中时，用以分隔对向行驶的交通流；画于路侧或缘石上时，用以禁止车辆长时或临时在路边停放。双白虚线：画于路口时，作为减速让行线；画于路段中时，作为行车方向随时间改变之可变车道线。双黄实线：画于路段中时，用以分隔对向行驶的交通流。黄色虚实线：画于路段中时，用以分隔对向行驶的交通流；黄色实线一侧禁止车辆超车、跨越或回转，黄色虚线一侧在保证安全的情况下准许车辆超车、跨越或回转。双白实线：画于路口时，作为停车让行线。
在一个或多个可选的实施例中，当目标对象为其他对象，步骤110可以包括：
基于设置在车辆上的图像采集装置获取包括有其他对象的视频流；
对视频流中的至少一帧图像进行其他对象检测；
根据其他对象的检测结果和车辆的相对位置信息，获得其他对象的距离检测结果。
车辆在路面行驶过程中，会遇到至少一种其他对象(例如：行人、机动车、非机动车、动物、危险物、固定障碍物等)，为了实现安全驾驶，减少追尾等事故发生，本实施例还通过图像采集装置对其他对象进行识别，确定车辆与其他对象的距离信息，根据距离信息对车辆进行智能驾驶控制可有效减少碰撞和追尾事故的发生，提高道路交通的安全性。
可选地，步骤130可以包括：
响应于其他对象的距离检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第二车速阈值。
本申请实施例为其他对象的距离检测结果设置了第二车速阈值，当车辆的行驶车速超过第二车速阈值时，即可发出驾驶告警，以提示驾驶员注意与其他对象之间的距离情况，减少碰撞和追尾事故的发生。
可选地，第二车速阈值对应不同的其他对象具有不同的或相同的取值范围。
由于不同的其他对象对应的行驶速度不同，例如：行人的行驶速度较慢，其他机动车的行驶速度较快，而固定障碍物是不动的，因此，不同其他对象与车辆的相对速度不同，同样距离发生碰撞的时间也不同，故而对不同其他对象设置不同的第二车速阈值以是对不同其他对象都能降低碰撞的可能性。
可选地，其他对象为机动车时，第二车速阈值的取值范围在20公里每小时到200公里每小时之间。
由于机动车的速度较快，此时，如果本车辆的车速过快将无法及时反映控制车辆，因此对机动车将车速限制在20公里每小时到200公里每小时之间，以保证在反映时间内可以处理突发状况，减少意外的发生，提高安全性。
可选地，其他对象为行人时，第二车速阈值的取值范围在20公里每小时到40公里每小时之间。
行人的行驶速度通常较慢，为了降低行人的危险，在发现行人时，通常要求降低车速，因此，本实施例在其他对象是行人时，将车速限制在较低的范围内，以保证行人的安全。
可选地，其他对象的检测结果的缺省状态基于车辆与其他对象之间的碰撞时间确定；碰撞时间基于距离信息和车辆与其他对象之间的相对速度信息确定。
由于车辆处于行驶状态，仅确定车辆与障碍物之间的距离无法确定是否会发生碰撞，本实施例通过确定车辆与障碍物之间的相对速度来确定碰撞时间，当碰撞时间小于预设的时间时，可能会出现碰撞危险，可发出告警和/或自动控制车辆，本实施例可通过视频流中的连续多帧图像中障碍物与车辆之间的距离变化以及当前车辆的车速，计算确定车辆与障碍物之间的相对速度；将当前车辆与障碍物之间的距 离除以相对速度，即可获得碰撞时间。
可选地，响应于驾驶告警的触发，获取预设时间段内检测结果的变化趋势，包括：
响应于驾驶告警的触发，获取预设时间段内碰撞时间是否满足以下至少一个条件：碰撞时间小于第一预设时间、碰撞时间小于第二预设时间、碰撞时间小于第三预设时间；
响应于检测结果的变化趋势表示危险程度增加且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括：
响应于其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态发出碰撞预设指令；碰撞预设指令包括以下至少一种：提示驾驶员减速行驶的指令、控制车辆减速行驶的指令、控制车辆的部分或全部刹车和/或转向功能的指令。
第一预设时间、第二预设时间和第三预设时间的值可根据具体反应时间和情况进行设定，在可选的实施例中，还可以适当增加或减少预设时间的个数，例如只设置第一预设时间，或设置第一预设时间和第二预设时间，还可以设置第四预设时间等，同样可以实现智能驾驶控制，本实施例不限制具体预设时间的时间值和预设时间的个数，以能实现安全智能控制为准。
可选地，响应于其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态发出碰撞预设指令，包括：
响应于碰撞时间小于第一预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向的指令；和/或，
响应于碰撞时间小于第二预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向，并控制车辆的部分刹车和/或转向功能；和/或，
响应于碰撞时间小于第三预设时间且告警时间超出设定阈值，控制车辆进行刹车和/或转向。
不同的预设时间内可以采取的操作不同，例如，当时间较长时(小于第一预设时间)时，发出告警提示驾驶员自行控制车辆即可；当随着时间的推移，当时间缩短到小于第二预设时间时，可以在告警的同时控制车辆的部分功能；当时间缩短到通过手动无法实现控制时(小于第三预设时间)，通过自动控制车辆刹车和/或转向。
可选地，第一预设时间、第二预设时间和第三预设时间的取值范围存在交集或不存在交集。
为了保证控制的灵活性，第一预设时间、第二预设时间和第三预设时间的取值范围可以存在交集或者不存在交集，当存在交集时，例如：2秒处于第一预设时间和第二预设时间的交集，当处于2秒时，即可采用第一预设时间对应的操作也可以采用第二预设时间的操作；使控制更方便。
可选地，第一预设时间的取值范围为1.5秒到5秒，和/或，第二预设时间的取值范围为1秒到2秒，和/或，第三预设时间的取值范围为小于或等于1秒。
当其他对象为车辆时，正常行驶过程中，实时检测前方车辆。结合车载信息，在车速小于200公里/小时的情况下，启动前向碰撞预警功能；检测到目标车辆之后，输出目标车辆与自车的相对距离，并计算自车与前车相对碰撞时间，例如：最早可提前2.7s(第一预设时间)发出告警碰撞危险，提醒驾驶员减速；告警信号若没有得到及时的处理，且车辆一直在靠近前方车辆，若相对碰撞减少至1.5s(第二预设时间)以内，此时辅助驾驶将会发出升级警告，并开始执行刹车控制功能(点刹)；更进一步，若依然没有得到驾驶员的及时响应，且相对碰撞时间减至1s(第三预设时间)以内，此时辅助驾驶系统将会自动接管车辆控制系统，将车辆及时刹停(急刹)。
当其他对象为行人时，正常行驶过程中，实时检测前方行人。结合车载信息，在车速小于40公里/小时的情况下，启动行人碰撞预警功能；检测到目标行人之后，输出目标行人与自车的相对距离，并计 算自车与行人相对碰撞时间，最早可提前2.7s(第一预设时间)发出告警碰撞危险，提醒驾驶员减速；告警信号若没有得到及时的处理，且车辆一直在靠近前方行人，若相对碰撞减少至1.5s(第二预设时间)以内，此时辅助驾驶将会发出升级警告，并开始执行刹车控制功能(点刹)；更进一步，若依然没有得到驾驶员的及时响应，且相对碰撞时间减至1s(第三预设时间)以内，此时辅助驾驶系统将会自动接管车辆控制系统，将车辆及时刹停(急刹)。
在一个或多个可选的实施例中，当目标对象为交通标志，步骤110可以包括：
基于设置在车辆上的图像采集装置采集包括有交通标志的视频流；对视频流中的至少一帧包括交通标志的图像进行交通标志分类；
根据交通标志的分类结果获得交通标志检测结果。
车辆在行驶过程中，会遇到各种各样的交通标志，而不同交通标志具有不同的含义，驾驶车辆的过程中必须遵守交通标志的要求，因此，本实施例通过图像采集装置获取包括由交通标志的视频流，并对视频流中的图像进行识别，获得交通标志的类别，基于交通标志的类别确定当前车辆可以执行的驾驶操作，进一步提高了智能驾驶的安全性。
可选地，步骤130可以包括：
响应于交通标志检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第三车速阈值。
本申请实施例为交通标志检测结果设置了第三车速阈值，当车辆的行驶车速超过第三车速阈值时，即可发出驾驶告警，以提示驾驶员注意交通标志的类别，减少车辆发送违规操作。
车辆行驶需要遵守交通规则，作为交通规则的一部分的交通标志是设置在固定位置上，在车辆可以观察到该交通标志时，需及时调整状态以符合该交通标志的规定，本申请实施例通过智能驾驶辅助提醒驾驶员和/或进行自动控制，减少由于驾驶员未观察到交通标志而造成错误操作，提高了驾驶的安全性。如：车辆与禁止标志不符，则提醒驾驶已严重违规，需要做进一步的安全处理。
可选地，第三车速阈值的取值范围为大于60公里每小时。
通常交通标志在距离较远时就可以被采集到，如果第三车速阈值设置过小就会出现频繁报警干扰驾驶员的情况，会引起驾驶员的反感，影响正常驾驶，因此，本申请实施例设置为大于60公里每小时，在减少车辆发送违规操作的同时不会频繁报警。
由于交通标志通常设置的相对提前，并且图像采集装置可比人眼更快的发现交通标志，因此，发现交通标志后首先可以提醒驾驶员，之后可以存在一个反应时间(预设时间)，如在预设时间未接收到反馈操作，即可进行自动控制，以保证车辆的安全驾驶。如：车辆超出限速规定数值，则会发出相应告警信息，提示驾驶员处于超速行驶状态；持续一段时间t秒(t的取值可根据情况进行设置)后，驾驶员仍没有调整相应的行驶速度，该系统启用限速控制功能。
可选地，响应于预设时间段期满后车辆的行驶状态与检测结果对应的缺省行驶状态不匹配，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括以下至少一个操作：
响应于交通标志的类别为限速标志，且车辆的行驶状态与限速标志对应的缺省行驶状态不匹配，发出控制车辆的速度增加或减少到交通标志对应的速度的指令；
响应于交通标志的类别为禁令标志，且车辆的行驶状态与禁令标志对应的缺省行驶状态不匹配，发出控制车辆不执行交通标志禁令的操作的指令；
响应于交通标志的类别为警告标志，且车辆的行驶状态与警告标志对应的缺省行驶状态不匹配，发出控制车辆改变驾驶状态的指令；
响应于交通标志的类别为指示标志，且车辆的行驶状态与指示标志对应的缺省行驶状态不匹配，发 出控制车辆按照所述交通标志的指示进行驾驶控制的指令；
响应于交通标志的类别为指路标志和/或旅游区标志，且车辆的行驶状态与指路标志和/或旅游区标志对应的缺省行驶状态不匹配，发出结合车辆对应的目的地控制车辆向对应道路行驶的指令；
响应于交通标志的类别为道路施工安全标志，且车辆的行驶状态与道路施工安全标志对应的缺省行驶状态不匹配，发出控制车辆按照交通标志的指示执行减速、刹车、绕行、保持行驶状态、减速、转向、开启转向灯、开启刹车灯中的一种或多种操作的指令。
对于不同类型的交通标志，可进行不同的车辆控制，例如：正常行驶过程中，实时检测道路交通标志，包括各种常见限速如5、15、20、30、40、50、60、70、80等，此时将控制车辆的车速减小到交通标志限制的速度以下，分别对应限制车速在5公里每小时以下，15公里每小时以下，20公里每小时以下，30公里每小时以下，40公里每小时以下，50公里每小时以下，60公里每小时以下，70公里每小时以下和80公里每小时以下，以及禁止标志，如：禁止左转、禁止右转、禁止转向、禁止转弯以及禁止停车等，此时控制车辆不执行交通标志禁止的操作，如驾驶员执行这些禁止的操作，可发出报警信息和/或自动控制禁止该操作。
在一个或多个可选的实施例中，当目标对象为交通信号灯，步骤110可以包括：
基于设置在车辆上的图像采集装置获取包括有交通信号灯的视频流；
对视频流中至少一帧图像进行交通信号灯状态检测，确定交通信号灯状态检测结果。
可选地，交通信号灯的状态可以包括但不限于：按照颜色和/或形状对交通信号灯进行区分，例如：按颜色区分交通信号灯包括红灯、绿灯和黄灯状态，按形状区分可以包括直行、左转、右转、掉头等形状。为了更全面的对车辆进行智能控制，除了车道线与车辆之间的相对位置信息还可以获得交通信号灯的状态，结合交通信号灯的状态对车辆进行智能控制，可进一步提高车辆的安全性能。
可选地，步骤130可以包括：
响应于交通信号灯状态检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第四车速阈值。
本申请实施例为交通信号灯状态检测结果设置了第四车速阈值，当车辆的行驶车速超过第四车速阈值时，即可发出驾驶告警，以提示驾驶员交通信号灯的状态，减少车辆发送违规操作。
可选地，驾驶告警预设条件包括车辆当前驾驶状态与交通信号灯状态检测结果不符合。
根据现行交通法规可知，交通信号灯的颜色包括红色、绿色和黄色，不同颜色对应不同的通行状态，红色表示禁止车辆和/或行人通行，绿色表示允许车辆和/或行人通行、黄色表示车辆和/或行人通需要暂停等待；而辅助颜色的还可以包括交通信号等的形状，例如：加号形状(一种可选的第一预设形状)表示允许通行，叉形状(一种可选的第二预设形状)表示禁止通行，减号形状(一种可选的第三预设形状)表示等待状态等。针对不同交通信号灯的状态提供不同的应对策略，实现自动、半自动的智能驾驶，提高了驾驶的安全性。
可选地，第四车速阈值的取值范围为大于40公里每小时。
通常交通信号灯在距离较远时就可以被采集到，如果第四车速阈值设置过小就会出现频繁报警干扰驾驶员的情况，会引起驾驶员的反感，影响正常驾驶，因此，本实施例设置第四车速阈值的取值范围为大于40公里每小时，在减少车辆发送违规操作的同时不会频繁报警。
可选地，响应于预设时间段期满后车辆的行驶状态与检测结果对应的缺省行驶状态不匹配，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令，包括：
响应于预设时间段期满后车辆的行驶状态与交通信号灯状态检测结果对应的缺省行驶状态不匹配， 输出控制车辆的开启转向灯、减速、刹车和/或转向的指令。
当告警时间超出预设时间后，驾驶员仍然没有采取相应操作时，可根据交通信号灯当前状态对应的缺省行驶状态控制车辆，例如：当交通信号灯的颜色为绿色且形状为向左指向的箭头时，可控制车辆自动转向(向左)和/或自动开启转向灯(左转向灯)；当交通信号灯的颜色为绿色且形状为向前指向的箭头时，可控制车辆减速行驶通过路口；当然，具体控制车辆如何行驶是根据当前车辆设定的目的地与当前交通信号灯的状态综合的结果；通过自动控制车辆执行对应交通信号灯的状态的操作，可实现安全性更高的智能驾驶，减少由于人为操作失误导致的安全隐患。
可选地，交通信号灯的颜色包括红、黄、绿三种颜色，形状包括箭头形、圆形或其他形状等，对于不同形状的交通信号灯，如果仅识别其位置，可能无法准确的将信号识别出来，因此，本实施例通过识别位置区域、颜色和形状中的至少两种，例如：当确定交通信号灯的位置区域和颜色，即可确定当前交通信号灯在图像中哪个位置(对应车辆的哪个方向)，通过颜色即可确定交通信号灯显示的状态(红色、绿色或黄色分别对应不同状态)，通过识别到交通信号灯的不同状态可实现辅助驾驶或自动驾驶；当确定交通信号灯的位置区域和形状，即可确定当前交通信号灯在图像中哪个位置(对应车辆的哪个方向)，通过形状即可确定交通信号灯显示的状态(例如：朝向不同方向的箭头表示不同状态，或不同形状的人体图形表示不同状态)；当确定交通信号灯的颜色和形状，可基于颜色和形状相结合确定当前交通信号灯的状态(例如：指向左侧的绿色箭头表示左转通行，指向前方的红色箭头表示前方禁行)；而当确定交通信号灯的位置区域、颜色和形状时，在获得交通信号灯在图像中哪个位置的基础上，还可以基于颜色和形状相结合确定当前交通信号灯的状态，本实施例通过这三种属性中的两种或两种以上组合，可更突出交通信号灯的属性特征，有利于提高检测、识别等处理效果。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
图2为本申请实施例智能驾驶控制装置一个实施例的结构示意图。该实施例的装置可用于实现本申请上述各方法实施例。如图2所示，该实施例的装置包括：
环境检测单元21，用于检测车辆的行驶环境，获得行驶环境中至少一类目标对象的检测结果。
条件判断单元22，用于确定检测结果是否满足驾驶告警预设条件。
车速判断单元23，用于响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值。
告警单元24，用于响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警。
基于本申请上述实施例提供的一种智能驾驶控制装置，提高了车辆行驶的安全性的同时，通过车速阈值限制危险程度底和/或紧急程度低的告警次数，不会因为频繁报警而干扰驾驶员的正常判断。
在一个或多个可选的实施例中，车速阈值为缺省设置的，或者，车速阈值为根据接收到的指令设置的。
可选地，用户可以根据自己的驾驶需求或行为习惯，设置为较大的阈值或较小的阈值，提高了本实施例的普适性，改善了用户体验。如果用户不希望结合车速进行告警触发判断，则可以将车速阈值设置为0，例如：对于如对行人、机动车等其他对象的前向碰撞预警应用场景，可将车速阈值设置为0，相当于只要满足驾驶告警预设条件，即触发驾驶告警，无需经过车速判断。
在一个或多个可选的实施例中，至少一类目标对象中：
不同类型的目标对象对应的车速阈值相同或不同；和/或，
不同类型的目标对象对应的驾驶告警预设条件相同或不同；和/或，
不同类型的目标对象对应的驾驶告警方式相同或不同。
本实施例中，车速阈值、驾驶告警预设条件和驾驶告警方式都可以根据实际情况进行设置，在设置过程中，由于不同驾驶员的需求不同，可以将不同类型的目标对象对应的车速阈值设置为相同或不同，例如：将车道线对应车速阈值设置为60公里每小时，而将机动车的车速阈值设置为200公里每小时，本申请对车速阈值的具体数值不作限定；同样的，不同类型的目标对象对应的驾驶告警预设条件和驾驶告警方式也可以相同或不同，本申请对具体的驾驶告警方式和驾驶告警预设条件不作限制。
在一个或多个可选的实施例中，至少一类目标对象包括以下至少一种：车道线、交通标志、交通信号灯、行人、机动车、非机动车、动物、危险物、固定障碍物。
这些目标对象可以单独出现或多种一起出现，检测时可以通过不同的检测技术分别检测，或基于视频图像等图像来源同时检测多种目标对象，同时检测到多种目标对象时，可同时对这些目标对象进行驾驶告警预设条件的判断。
可选地，驾驶告警方式包括但不限于以下至少一种方式：听觉告警方式、视觉告警方式、触觉告警方式、嗅觉告警方式。
在一个或多个可选的实施例中，行驶环境的检测结果包括以下一种或多种的结合：车道线偏移检测结果，交通标志检测结果，交通信号灯状态检测结果，其他对象的距离检测结果，其他对象包括但不限于以下至少一种：行人、机动车、非机动车、动物、危险物、固定障碍物。
可选地，行驶环境的检测结果包括多种目标对象的检测结果时，如果多种目标对象对应车速阈值为至少两种不同的车速阈值时，以较小的车速阈值作为当前行驶环境对应的车速阈值。
车辆的行驶速度较低时，带来的惯性和冲击力较小，并且为驾驶员提供的反映时间可以相应延长，因此，为了保证驾驶安全，在同时出现多种目标对象时，需保证较容易发生危险的目标对象(例如，最易发生危险的目标对象)的检测结果能够得到及时报警，因此，需要将车速阈值限制在较小的车速阈值。
在一个或多个可选的实施例中，本实施例装置还包括：
行驶状态获取单元，用于响应于驾驶告警的触发，获取预设时间段内车辆的行驶状态；
结果控制单元，用于响应于预设时间段期满后车辆的行驶状态与检测结果对应的缺省行驶状态不匹配，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令。
本实施例提供的是辅助驾驶控制，车辆主要由驾驶员进行控制，在发出驾驶告警之后可为驾驶员预留一段时间来采取措施；如果告警一段合理的时间后驾驶员还没有调整驾驶状态，说明危险程度已经明显提高，可以选择从辅助驾驶模式切换为自动驾驶模式，接管车辆控制权，自动控制车辆采取安全措施。
在一个或多个可选的实施例中，本实施例装置还包括：
结果变化单元，用于响应于驾驶告警的触发，获取预设时间段内检测结果的变化趋势；
危险控制单元，用于响应于检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态生成车辆的驾驶控制指令。
在发出驾驶告警之后，首先为驾驶员提供了可自行判断的合理反映时间(预设时间段)，在这段时间内驾驶员可以选择更改驾驶状态或关闭告警(已解决问题后可手动关闭告警)，但当驾驶员未进行任何操作，而检测结果的变化趋势表示危险程度持续增加时，即检测结果的危险程度随着时间的推移而增加，需要对车辆进行自动控制，以保证车辆的安全驾驶。
在一个或多个可选的实施例中，当目标对象为车道线，环境检测单元21，用于基于设置在车辆上的图像采集装置采集包括行驶道路的视频流；对视频流中的至少一帧图像进行车道线检测；根据车道线 的检测结果和车辆的相对位置信息，获得车道线偏移检测结果。
由于车道线设置于路面，因此，采集视频流时，需要采集包括行驶道路的视频流，可选地，可通过深度神经网络实现对图像中的车道线检测，例如：通过图像识别网络对图像中的车道线进行识别，获得车道线在图像中的位置，结合多帧连续图像中车道线的位置确定车辆与车道线之间的相对位置信息，该相对位置信息可以包括但不限于：压线、向左偏移、向右偏移、居中等；本申请实施例通过获得车道线偏移检测结果可实现减少车辆发生压线等违规操作。
可选地，车速判断单元23，用于响应于车道线偏移检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第一车速阈值。
可选地，驾驶告警预设条件包括车辆与车道线的距离在设定范围内。
可选地，第一车速阈值的取值范围为大于35公里每小时。
可选地，第一车速阈值为60-80公里每小时。
可选地，结果变化单元，用于响应于驾驶告警的触发，获取车辆相对车道线在预设时间内的车道线偏离情况的变化趋势；
危险控制单元，用于响应于车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制车辆开启对应的转向灯。
可选地，危险控制单元，用于响应于车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值；结合交通标志检测结果、交通信号灯状态检测结果和障碍物距离检测结果中的至少一个检测结果，确定发出开启转向灯的提示信息和/或控制车辆开启对应的转向灯。
可选地，结果变化单元，用于响应于驾驶告警的触发，获取车辆与车道线的距离的波动范围；
危险控制单元，用于响应于在告警时间的设定阈值的时长内波动范围超出安全距离范围，控制车辆以使车辆与车道线的距离保持在安全距离范围内。
可选地，行驶状态获取单元，用于响应于驾驶告警的触发，获取车辆的转向灯状态信息；
结果控制单元，用于响应于预设时间段期满后转向灯状态信息与检测结果对应的缺省行驶状态匹配，不发出提示信息和/或控制信息；和/或，响应于预设时间段期满后转向灯状态信息与检测结果对应的缺省行驶状态不匹配，发出提示信息和/或所述控制信息。
可选地，检测结果对应的缺省行驶状态基于相对位置信息和车道线的类型确定，车道线类型包括但不限于以下至少一项：白色虚线、白色实线、黄色虚线、黄色实线、双白虚线、双黄实线、黄色虚实线和双白实线。
在一个或多个可选的实施例中，当目标对象为其他对象，环境检测单元21，用于基于设置在车辆上的图像采集装置获取包括有其他对象的视频流；对视频流中的至少一帧图像进行其他对象检测；根据其他对象的检测结果和车辆的相对位置信息，获得其他对象的距离检测结果。
车辆在路面行驶过程中，会遇到至少一种其他对象(例如：行人、机动车、非机动车、动物、危险物、固定障碍物等)，为了实现安全驾驶，减少追尾等事故发生，本实施例还通过图像采集装置对其他对象进行识别，确定车辆与其他对象的距离信息，根据距离信息对车辆进行智能驾驶控制可有效减少碰撞和追尾事故的发生，提高道路交通的安全性。
可选地，车速判断单元23，用于响应于其他对象的距离检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第二车速阈值。
可选地，第二车速阈值对应不同的其他对象具有不同的或相同的取值范围。
可选地，其他对象为机动车时，第二车速阈值的取值范围在20公里每小时到200公里每小时之间。
可选地，其他对象为行人时，第二车速阈值的取值范围在20公里每小时到40公里每小时之间。
可选地，其他对象的检测结果的缺省状态基于车辆与其他对象之间的碰撞时间确定；碰撞时间基于距离信息和车辆与其他对象之间的相对速度信息确定。
可选地，结果变化单元，用于响应于驾驶告警的触发，获取预设时间段内碰撞时间是否满足以下至少一个条件：碰撞时间小于第一预设时间、碰撞时间小于第二预设时间、碰撞时间小于第三预设时间；
危险控制单元，用于响应于其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据检测结果对应的缺省行驶状态发出碰撞预设指令；碰撞预设指令包括但不限于以下至少一种：提示驾驶员减速行驶的指令、控制车辆减速行驶的指令、控制车辆的部分或全部刹车和/或转向功能的指令。
可选地，危险控制单元，用于响应于碰撞时间小于第一预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向的指令；和/或，
响应于碰撞时间小于第二预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向，并控制车辆的部分刹车和/或转向功能；和/或，
响应于碰撞时间小于第三预设时间且告警时间超出设定阈值，控制车辆进行刹车和/或转向。
可选地，第一预设时间、第二预设时间和第三预设时间的取值范围存在交集或不存在交集。
可选地，第一预设时间的取值范围为1.5秒到5秒，和/或，第二预设时间的取值范围为1秒到2秒，和/或，第三预设时间的取值范围为小于或等于1秒。
在一个或多个可选的实施例中，当目标对象为交通标志，环境检测单元21，用于基于设置在车辆上的图像采集装置采集包括有交通标志的视频流；对视频流中的至少一帧包括交通标志的图像进行交通标志分类；根据交通标志的分类结果获得交通标志检测结果。
车辆在行驶过程中，会遇到各种各样的交通标志，而不同交通标志具有不同的含义，驾驶车辆的过程中必须遵守交通标志的要求，因此，本实施例通过图像采集装置获取包括由交通标志的视频流，并对视频流中的图像进行识别，获得交通标志的类别，基于交通标志的类别确定当前车辆可以执行的驾驶操作，进一步提高了智能驾驶的安全性。
可选地，车速判断单元23，用于响应于交通标志检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第三车速阈值。
可选地，第三车速阈值的取值范围为大于60公里每小时。
可选地，结果控制单元，用于执行以下至少一个操作：
响应于交通标志的类别为限速标志，且车辆的行驶状态与限速标志对应的缺省行驶状态不匹配，发出控制车辆的速度增加或减少到交通标志对应的速度的指令；
响应于交通标志的类别为禁令标志，且车辆的行驶状态与禁令标志对应的缺省行驶状态不匹配，发出控制车辆不执行交通标志禁令的操作的指令；
响应于交通标志的类别为警告标志，且车辆的行驶状态与警告标志对应的缺省行驶状态不匹配，发出控制车辆改变驾驶状态的指令；
响应于交通标志的类别为指示标志，且车辆的行驶状态与指示标志对应的缺省行驶状态不匹配，发出控制车辆按照交通标志的指示进行驾驶控制的指令；
响应于交通标志的类别为指路标志和/或旅游区标志，且车辆的行驶状态与指路标志和/或旅游区标志对应的缺省行驶状态不匹配，发出结合车辆对应的目的地控制车辆向对应道路行驶的指令；
响应于交通标志的类别为道路施工安全标志，且车辆的行驶状态与道路施工安全标志对应的缺省行驶状态不匹配，发出控制车辆按照交通标志的指示执行减速、刹车、绕行、保持行驶状态、减速、转向、开启转向灯、开启刹车灯中的一种或多种操作的指令。
在一个或多个可选的实施例中，当目标对象为交通信号灯，环境检测单元21，用于基于设置在车辆上的图像采集装置获取包括有交通信号灯的视频流；对视频流中至少一帧图像进行交通信号灯状态检测，确定交通信号灯状态检测结果。
可选地，交通信号灯的状态可以包括但不限于：按照颜色和/或形状对交通信号灯进行区分，例如：按颜色区分交通信号灯包括红灯、绿灯和黄灯状态，按形状区分可以包括直行、左转、右转、掉头等形状。为了更全面的对车辆进行智能控制，除了车道线与车辆之间的相对位置信息还可以获得交通信号灯的状态，结合交通信号灯的状态对车辆进行智能控制，可进一步提高车辆的安全性能。
可选地，车速判断单元，用于响应于交通信号灯状态检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过第四车速阈值。
可选地，驾驶告警预设条件包括车辆当前驾驶状态与交通信号灯状态检测结果不符合。
可选地，第四车速阈值的取值范围为大于40公里每小时。
可选地，结果控制单元，用于响应于预设时间段期满后车辆的行驶状态与交通信号灯状态检测结果对应的缺省行驶状态不匹配，输出控制车辆的开启转向灯、减速、刹车和/或转向的指令。
本申请实施例提供的智能驾驶控制装置任一实施例的工作过程以及设置方式均可以参照本申请上述相应方法实施例的具体描述，限于篇幅，在此不再赘述。
根据本申请实施例的另一个方面，提供的一种车辆，包括：如上任意一项所述的智能驾驶控制装置。
根据本申请实施例的另一个方面，提供的一种电子设备，包括处理器，所述处理器包括如上任意一项所述的智能驾驶控制装置。可选地，该电子设备可以为车载电子设备。
根据本申请实施例的另一个方面，提供的一种电子设备，包括：存储器，用于存储可执行指令；
以及处理器，用于与所述存储器通信以执行所述可执行指令从而完成如上任意一项所述智能驾驶控制方法的操作。可选地，该电子设备可以为车载电子设备。
根据本申请实施例的另一个方面，提供的一种计算机可读存储介质，用于存储计算机可读取的指令，所述指令被执行时执行如上任意一项所述智能驾驶控制方法的操作。
根据本申请实施例的另一个方面，提供的一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在设备上运行时，所述设备中的处理器执行用于实现如上任意一项所述智能驾驶控制方法的指令。
本申请实施例还提供了一种电子设备，例如可以是移动终端、个人计算机(PC)、平板电脑、服务器等。下面参考图3，其示出了适于用来实现本申请实施例的终端设备或服务器的电子设备300的结构示意图：如图3所示，电子设备300包括一个或多个处理器、通信部等，所述一个或多个处理器例如：一个或多个中央处理单元(CPU)301，和/或一个或多个专用处理器，专用处理器可作为加速单元313，可包括但不限于图像处理器(GPU)、FPGA、DSP以及其它的ASIC芯片之类专用处理器等，处理器可以根据存储在只读存储器(ROM)302中的可执行指令或者从存储部分308加载到随机访问存储器(RAM)303中的可执行指令而执行各种适当的动作和处理。通信部312可包括但不限于网卡，所述网卡可包括但不限于IB(Infiniband)网卡。
处理器可与只读存储器302和/或随机访问存储器303中通信以执行可执行指令，通过总线304与通信部312相连、并经通信部312与其他目标设备通信，从而完成本申请实施例提供的任一项方法对应 的操作，例如，获得行驶环境中至少一类目标对象的检测结果；确定检测结果是否满足驾驶告警预设条件；响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值；响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警。
此外，在RAM 303中，还可存储有装置操作所需的各种程序和数据。CPU301、ROM302以及RAM303通过总线304彼此相连。在有RAM303的情况下，ROM302为可选模块。RAM303存储可执行指令，或在运行时向ROM302中写入可执行指令，可执行指令使中央处理单元301执行上述通信方法对应的操作。输入/输出(I/O)接口305也连接至总线304。通信部312可以集成设置，也可以设置为具有多个子模块(例如多个IB网卡)，并在总线链接上。
以下部件连接至I/O接口305：包括键盘、鼠标等的输入部分306；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分307；包括硬盘等的存储部分308；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分309。通信部分309经由诸如因特网的网络执行通信处理。驱动器310也根据需要连接至I/O接口305。可拆卸介质311，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器310上，以便于从其上读出的计算机程序根据需要被安装入存储部分308。
需要说明的，如图3所示的架构仅为一种可选实现方式，在具体实践过程中，可根据实际需要对上述图3的部件数量和类型进行选择、删减、增加或替换；在不同功能部件设置上，也可采用分离设置或集成设置等实现方式，例如加速单元313和CPU301可分离设置或者可将加速单元313集成在CPU301上，通信部可分离设置，也可集成设置在CPU301或加速单元313上，等等。这些可替换的实施方式均落入本申请公开的保护范围。
特别地，根据本申请的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本申请的实施例包括一种计算机程序产品，其包括有形地包含在机器可读介质上的计算机程序，计算机程序包含用于执行流程图所示的方法的程序代码，程序代码可包括对应执行本申请实施例提供的方法步骤对应的指令，例如，获得行驶环境中至少一类目标对象的检测结果；确定检测结果是否满足驾驶告警预设条件；响应于检测结果满足驾驶告警预设条件，确定车辆的行驶车速是否超过车速阈值；响应于行驶车速超过车速阈值，根据检测结果触发驾驶告警。在这样的实施例中，该计算机程序可以通过通信部分309从网络上被下载和安装，和/或从可拆卸介质311被安装。在该计算机程序被中央处理单元(CPU)301执行时，执行本申请的方法中限定的上述功能的操作。
本说明书中各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似的部分相互参见即可。对于系统实施例而言，由于其与方法实施例基本对应，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
可能以许多方式来实现本发明的方法和装置。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本发明的方法和装置。用于所述方法的步骤的上述顺序仅是为了进行说明，本发明的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本发明实施为记录在记录介质中的程序，这些程序包括用于实现根据本发明的方法的机器可读指令。因而，本发明还覆盖存储用于执行根据本发明的方法的程序的记录介质。
本发明的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本发明限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本发明的原理和实际应用，并且使本领域的普通技术人员能够理解本发明从而设计适于特定用途的带有各种修改的各种实施例。

Claims (81)

  1. 一种智能驾驶控制方法，其特征在于，包括：
    检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果；
    确定所述检测结果是否满足驾驶告警预设条件；
    响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值；
    响应于所述行驶车速超过车速阈值，根据所述检测结果触发驾驶告警。
  2. 根据权利要求1所述的方法，其特征在于，所述车速阈值为缺省设置的，或者，所述车速阈值为根据接收到的指令设置的。
  3. 根据权利要求1或2所述的方法，其特征在于，所述至少一类目标对象中：
    不同类型的所述目标对象对应的车速阈值相同或不同；和/或，
    不同类型的所述目标对象对应的驾驶告警预设条件相同或不同；和/或，
    不同类型的所述目标对象对应的驾驶告警方式相同或不同。
  4. 根据权利要求3所述的方法，其特征在于，所述行驶环境的检测结果包括多种目标对象的检测结果时，如果所述多种目标对象对应车速阈值为至少两种不同的车速阈值时，以较小的车速阈值作为当前行驶环境对应的车速阈值。
  5. 根据权利要求1-4任一所述的方法，其特征在于，所述至少一类目标对象包括以下至少一种：车道线、交通标志、交通信号灯、行人、机动车、非机动车、动物、危险物、固定障碍物。
  6. 根据权利要求1-5任一所述的方法，其特征在于，所述驾驶告警方式包括以下至少一种方式：听觉告警方式、视觉告警方式、触觉告警方式、嗅觉告警方式。
  7. 根据权利要求1-6任一所述的方法，其特征在于，所述行驶环境的检测结果包括以下一种或多种的结合：车道线偏移检测结果，交通标志检测结果，交通信号灯状态检测结果，其他对象的距离检测结果，所述其他对象包括以下至少一种：行人、机动车、非机动车、动物、危险物、固定障碍物。
  8. 根据权利要求1-7任一所述的方法，其特征在于，所述方法还包括：
    响应于所述驾驶告警的触发，获取预设时间段内所述车辆的行驶状态；
    响应于所述预设时间段期满后所述车辆的行驶状态与所述检测结果对应的缺省行驶状态不匹配，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令。
  9. 根据权利要求1-7任一所述的方法，其特征在于，所述方法还包括：
    响应于所述驾驶告警的触发，获取所述预设时间段内所述检测结果的变化趋势；
    响应于所述检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令。
  10. 根据权利要求8或9所述的方法，其特征在于，当所述目标对象为车道线，所述检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果，包括：
    基于设置在所述车辆上的图像采集装置采集包括行驶道路的视频流；
    对所述视频流中的至少一帧图像进行车道线检测；
    根据所述车道线的检测结果和所述车辆的相对位置信息，获得所述车道线偏移检测结果。
  11. 根据权利要求10所述的方法，其特征在于，所述响应于所述行驶环境的检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值，包括：
    响应于车道线偏移检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第一车速阈值。
  12. 根据权利要求11所述的方法，其特征在于，所述驾驶告警预设条件包括所述车辆与所述车道线的距离在设定范围内。
  13. 根据权利要求11或12所述的方法，其特征在于，所述第一车速阈值的取值范围为大于35公里每小时。
  14. 根据权利要求11-13任一所述的方法，其特征在于，所述第一车速阈值为60-80公里每小时。
  15. 根据权利要求10-14任一所述的方法，其特征在于，所述响应于所述驾驶告警的触发，获取所述预设时间段内所述检测结果的变化趋势，包括：
    响应于所述驾驶告警的触发，获取所述车辆相对所述车道线在预设时间内的车道线偏离情况的变化趋势；
    所述响应于所述检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括：
    响应于所述车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据所述车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制所述车辆开启对应的转向灯。
  16. 根据权利要求15所述的方法，其特征在于，所述响应于所述车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据所述车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制所述车辆开启对应的转向灯，包括：
    响应于所述车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值；
    结合所述交通标志检测结果、所述交通信号灯状态检测结果和所述障碍物距离检测结果中的至少一个检测结果，确定发出开启转向灯的提示信息和/或控制所述车辆开启对应的转向灯。
  17. 根据权利要求10-14任一所述的方法，其特征在于，所述响应于所述驾驶告警的触发，获取所述预设时间段内所述检测结果的变化趋势，包括：
    响应于所述驾驶告警的触发，获取所述车辆与所述车道线的距离的波动范围；
    所述响应于所述检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括：
    响应于在告警时间的设定阈值的时长内所述波动范围超出安全距离范围，控制所述车辆以使所述车辆与所述车道线的距离保持在安全距离范围内。
  18. 根据权利要求10-17任一所述的方法，其特征在于，所述响应于所述驾驶告警的触发，获取预设时间段内所述车辆的行驶状态，包括：
    响应于所述驾驶告警的触发，获取所述车辆的转向灯状态信息；
    所述响应于所述预设时间段期满后所述车辆的行驶状态与所述检测结果对应的缺省行驶状态不匹配，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括：
    响应于所述预设时间段期满后所述转向灯状态信息与所述检测结果对应的缺省行驶状态匹配，不发出所述提示信息和/或所述控制信息；和/或，
    响应于所述预设时间段期满后所述转向灯状态信息与所述检测结果对应的缺省行驶状态不匹配，发出所述提示信息和/或所述控制信息。
  19. 根据权利要求10-18任一所述的方法，其特征在于，所述检测结果对应的缺省行驶状态基于所 述相对位置信息和车道线的类型确定，所述车道线类型包括以下至少一项：白色虚线、白色实线、黄色虚线、黄色实线、双白虚线、双黄实线、黄色虚实线和双白实线。
  20. 根据权利要求8-19任一所述的方法，其特征在于，当所述目标对象为其他对象，所述检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果，包括：
    基于设置在车辆上的图像采集装置获取包括有其他对象的视频流；
    对所述视频流中的至少一帧图像进行其他对象检测；
    根据所述其他对象的检测结果和所述车辆的相对位置信息，获得所述其他对象的距离检测结果。
  21. 根据权利要求20所述的方法，其特征在于，所述响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值，包括：
    响应于所述其他对象的距离检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第二车速阈值。
  22. 根据权利要求21所述的方法，其特征在于，所述第二车速阈值对应不同的其他对象具有不同的或相同的取值范围。
  23. 根据权利要求20-22任一所述的方法，其特征在于，所述其他对象为机动车时，所述第二车速阈值的取值范围在20公里每小时到200公里每小时之间。
  24. 根据权利要求20-23任一所述的方法，其特征在于，所述其他对象为行人时，所述第二车速阈值的取值范围在20公里每小时到40公里每小时之间。
  25. 根据权利要求20-24任一所述的方法，其特征在于，所述其他对象的检测结果的缺省状态基于所述车辆与所述其他对象之间的碰撞时间确定；所述碰撞时间基于所述距离信息和所述车辆与所述其他对象之间的相对速度信息确定。
  26. 根据权利要求25所述的方法，其特征在于，所述响应于所述驾驶告警的触发，获取所述预设时间段内所述检测结果的变化趋势，包括：
    响应于所述驾驶告警的触发，获取所述预设时间段内所述碰撞时间是否满足以下至少一个条件：所述碰撞时间小于第一预设时间、所述碰撞时间小于第二预设时间、所述碰撞时间小于第三预设时间；
    所述响应于所述检测结果的变化趋势表示危险程度增加且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括：
    响应于所述其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态发出碰撞预设指令；所述碰撞预设指令包括以下至少一种：提示驾驶员减速行驶的指令、控制所述车辆减速行驶的指令、控制所述车辆的部分或全部刹车和/或转向功能的指令。
  27. 根据权利要求26所述的方法，其特征在于，所述响应于所述其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态发出碰撞预设指令，包括：
    响应于所述碰撞时间小于第一预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向的指令；和/或，
    响应于所述碰撞时间小于第二预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向，并控制所述车辆的部分刹车和/或转向功能；和/或，
    响应于所述碰撞时间小于第三预设时间且告警时间超出设定阈值，控制所述车辆进行刹车和/或转向。
  28. 根据权利要求27所述的方法，其特征在于，所述第一预设时间、第二预设时间和第三预设时 间的取值范围存在交集或不存在交集。
  29. 根据权利要求27或28所述的方法，其特征在于，所述第一预设时间的取值范围为1.5秒到5秒，和/或，所述第二预设时间的取值范围为1秒到2秒，和/或，所述第三预设时间的取值范围为小于或等于1秒。
  30. 根据权利要求1-29任一所述的方法，其特征在于，当所述目标对象为交通标志，所述检测车辆中至少一类目标对象的行驶环境，获得所述行驶环境的检测结果，包括：
    基于设置在所述车辆上的图像采集装置采集包括有交通标志的视频流；对所述视频流中的至少一帧包括交通标志的图像进行交通标志分类；
    根据所述交通标志的分类结果获得所述交通标志检测结果。
  31. 根据权利要求30所述的方法，其特征在于，所述响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值，包括：
    响应于所述交通标志检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第三车速阈值。
  32. 根据权利要求31所述的方法，其特征在于，所述第三车速阈值的取值范围为大于60公里每小时。
  33. 根据权利要求31或32所述的方法，其特征在于，所述响应于所述预设时间段期满后所述车辆的行驶状态与所述检测结果对应的缺省行驶状态不匹配，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括以下至少一个操作：
    响应于所述交通标志的类别为限速标志，且所述车辆的行驶状态与所述限速标志对应的缺省行驶状态不匹配，发出控制所述车辆的速度增加或减少到所述交通标志对应的速度的指令；
    响应于所述交通标志的类别为禁令标志，且所述车辆的行驶状态与所述禁令标志对应的缺省行驶状态不匹配，发出控制所述车辆不执行所述交通标志禁令的操作的指令；
    响应于所述交通标志的类别为警告标志，且所述车辆的行驶状态与所述警告标志对应的缺省行驶状态不匹配，发出控制所述车辆改变驾驶状态的指令；
    响应于所述交通标志的类别为指示标志，且所述车辆的行驶状态与所述指示标志对应的缺省行驶状态不匹配，发出控制所述车辆按照所述交通标志的指示进行驾驶控制的指令；
    响应于所述交通标志的类别为指路标志和/或旅游区标志，且所述车辆的行驶状态与所述指路标志和/或所述旅游区标志对应的缺省行驶状态不匹配，发出结合所述车辆对应的目的地控制所述车辆向对应道路行驶的指令；
    响应于所述交通标志的类别为道路施工安全标志，且所述车辆的行驶状态与所述道路施工安全标志对应的缺省行驶状态不匹配，发出控制所述车辆按照所述交通标志的指示执行减速、刹车、绕行、保持行驶状态、减速、转向、开启转向灯、开启刹车灯中的一种或多种操作的指令。
  34. 根据权利要求1-33所述的方法，其特征在于，当所述目标对象为交通信号灯，所述检测车辆中至少一类目标对象的行驶环境，获得所述行驶环境的检测结果，包括：
    基于设置在所述车辆上的图像采集装置获取包括有交通信号灯的视频流；
    对所述视频流中至少一帧图像进行交通信号灯状态检测，确定所述交通信号灯状态检测结果。
  35. 根据权利要求34所述的方法，其特征在于，所述响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值，包括：
    响应于所述交通信号灯状态检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第 四车速阈值。
  36. 根据权利要求35所述的方法，其特征在于，所述驾驶告警预设条件包括所述车辆当前驾驶状态与所述交通信号灯状态检测结果不符合。
  37. 根据权利要求36所述的方法，其特征在于，所述第四车速阈值的取值范围为大于40公里每小时。
  38. 根据权利要求34-37任一所述的方法，其特征在于，所述响应于所述预设时间段期满后所述车辆的行驶状态与所述检测结果对应的缺省行驶状态不匹配，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令，包括：
    响应于所述预设时间段期满后所述车辆的行驶状态与所述交通信号灯状态检测结果对应的缺省行驶状态不匹配，输出控制所述车辆的开启转向灯、减速、刹车和/或转向的指令。
  39. 一种智能驾驶控制装置，其特征在于，包括：
    环境检测单元，用于检测车辆的行驶环境，获得所述行驶环境中至少一类目标对象的检测结果；
    条件判断单元，用于确定所述检测结果是否满足驾驶告警预设条件；
    车速判断单元，用于响应于所述检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过车速阈值；
    告警单元，用于响应于所述行驶车速超过车速阈值，根据所述检测结果触发驾驶告警。
  40. 根据权利要求39所述的装置，其特征在于，所述车速阈值为缺省设置的，或者，所述车速阈值为根据接收到的指令设置的。
  41. 根据权利要求39或40所述的装置，其特征在于，所述至少一类目标对象中：
    不同类型的所述目标对象对应的车速阈值相同或不同；和/或，
    不同类型的所述目标对象对应的驾驶告警预设条件相同或不同；和/或，
    不同类型的所述目标对象对应的驾驶告警方式相同或不同。
  42. 根据权利要求41所述的装置，其特征在于，所述行驶环境的检测结果包括多种目标对象的检测结果时，如果所述多种目标对象对应车速阈值为至少两种不同的车速阈值时，以较小的车速阈值作为当前行驶环境对应的车速阈值。
  43. 根据权利要求39-42任一所述的装置，其特征在于，所述至少一类目标对象包括以下至少一种：车道线、交通标志、交通信号灯、行人、机动车、非机动车、动物、危险物、固定障碍物。
  44. 根据权利要求39-43任一所述的装置，其特征在于，所述驾驶告警方式包括以下至少一种方式：听觉告警方式、视觉告警方式、触觉告警方式、嗅觉告警方式。
  45. 根据权利要求39-44任一所述的装置，其特征在于，所述行驶环境的检测结果包括以下一种或多种的结合：车道线偏移检测结果，交通标志检测结果，交通信号灯状态检测结果，其他对象的距离检测结果，所述其他对象包括以下至少一种：行人、机动车、非机动车、动物、危险物、固定障碍物。
  46. 根据权利要求39-45任一所述的装置，其特征在于，所述装置还包括：
    行驶状态获取单元，用于响应于所述驾驶告警的触发，获取预设时间段内所述车辆的行驶状态；
    结果控制单元，用于响应于所述预设时间段期满后所述车辆的行驶状态与所述检测结果对应的缺省行驶状态不匹配，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令。
  47. 根据权利要求39-45任一所述的装置，其特征在于，所述装置还包括：
    结果变化单元，用于响应于所述驾驶告警的触发，获取所述预设时间段内所述检测结果的变化趋势；
    危险控制单元，用于响应于所述检测结果的变化趋势表示危险程度持续或增加且告警时间超出设定 阈值，根据所述检测结果对应的缺省行驶状态生成所述车辆的驾驶控制指令。
  48. 根据权利要求46或47所述的装置，其特征在于，当所述目标对象为车道线，所述环境检测单元，用于基于设置在所述车辆上的图像采集装置采集包括行驶道路的视频流；对所述视频流中的至少一帧图像进行车道线检测；根据所述车道线的检测结果和所述车辆的相对位置信息，获得所述车道线偏移检测结果。
  49. 根据权利要求48所述的装置，其特征在于，所述车速判断单元，用于响应于车道线偏移检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第一车速阈值。
  50. 根据权利要求49所述的装置，其特征在于，所述驾驶告警预设条件包括所述车辆与所述车道线的距离在设定范围内。
  51. 根据权利要求49或50所述的装置，其特征在于，所述第一车速阈值的取值范围为大于35公里每小时。
  52. 根据权利要求49-51任一所述的装置，其特征在于，所述第一车速阈值为60-80公里每小时。
  53. 根据权利要求48-52任一所述的装置，其特征在于，所述结果变化单元，用于响应于所述驾驶告警的触发，获取所述车辆相对所述车道线在预设时间内的车道线偏离情况的变化趋势；
    所述危险控制单元，用于响应于所述车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值，根据所述车道线偏离检测结果对应的缺省行驶状态发出开启转向灯的提示信息和/或控制所述车辆开启对应的转向灯。
  54. 根据权利要求53所述的装置，其特征在于，所述危险控制单元，用于响应于所述车道线偏离检测结果的变化趋势表示车道线偏离程度增加且告警时间超出设定阈值；结合所述交通标志检测结果、所述交通信号灯状态检测结果和所述障碍物距离检测结果中的至少一个检测结果，确定发出开启转向灯的提示信息和/或控制所述车辆开启对应的转向灯。
  55. 根据权利要求48-54任一所述的装置，其特征在于，所述结果变化单元，用于响应于所述驾驶告警的触发，获取所述车辆与所述车道线的距离的波动范围；
    所述危险控制单元，用于响应于在告警时间的设定阈值的时长内所述波动范围超出安全距离范围，控制所述车辆以使所述车辆与所述车道线的距离保持在安全距离范围内。
  56. 根据权利要求48-55任一所述的装置，其特征在于，所述行驶状态获取单元，用于响应于所述驾驶告警的触发，获取所述车辆的转向灯状态信息；
    所述结果控制单元，用于响应于所述预设时间段期满后所述转向灯状态信息与所述检测结果对应的缺省行驶状态匹配，不发出所述提示信息和/或所述控制信息；和/或，响应于所述预设时间段期满后所述转向灯状态信息与所述检测结果对应的缺省行驶状态不匹配，发出所述提示信息和/或所述控制信息。
  57. 根据权利要求48-56任一所述的装置，其特征在于，所述检测结果对应的缺省行驶状态基于所述相对位置信息和车道线的类型确定，所述车道线类型包括以下至少一项：白色虚线、白色实线、黄色虚线、黄色实线、双白虚线、双黄实线、黄色虚实线和双白实线。
  58. 根据权利要求46-57任一所述的装置，其特征在于，当所述目标对象为其他对象，所述环境检测单元，用于基于设置在车辆上的图像采集装置获取包括有其他对象的视频流；对所述视频流中的至少一帧图像进行其他对象检测；根据所述其他对象的检测结果和所述车辆的相对位置信息，获得所述其他对象的距离检测结果。
  59. 根据权利要求58所述的装置，其特征在于，所述车速判断单元，用于响应于所述其他对象的距离检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第二车速阈值。
  60. 根据权利要求59所述的装置，其特征在于，所述第二车速阈值对应不同的其他对象具有不同的或相同的取值范围。
  61. 根据权利要求58-60任一所述的装置，其特征在于，所述其他对象为机动车时，所述第二车速阈值的取值范围在20公里每小时到200公里每小时之间。
  62. 根据权利要求58-61任一所述的装置，其特征在于，所述其他对象为行人时，所述第二车速阈值的取值范围在20公里每小时到40公里每小时之间。
  63. 根据权利要求58-62任一所述的装置，其特征在于，所述其他对象的检测结果的缺省状态基于所述车辆与所述其他对象之间的碰撞时间确定；所述碰撞时间基于所述距离信息和所述车辆与所述其他对象之间的相对速度信息确定。
  64. 根据权利要求63所述的装置，其特征在于，所述结果变化单元，用于响应于所述驾驶告警的触发，获取所述预设时间段内所述碰撞时间是否满足以下至少一个条件：所述碰撞时间小于第一预设时间、所述碰撞时间小于第二预设时间、所述碰撞时间小于第三预设时间；
    所述危险控制单元，用于响应于所述其他对象的检测结果的变化趋势表示碰撞时间减小且告警时间超出设定阈值，根据所述检测结果对应的缺省行驶状态发出碰撞预设指令；所述碰撞预设指令包括以下至少一种：提示驾驶员减速行驶的指令、控制所述车辆减速行驶的指令、控制所述车辆的部分或全部刹车和/或转向功能的指令。
  65. 根据权利要求64所述的装置，其特征在于，所述危险控制单元，用于响应于所述碰撞时间小于第一预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向的指令；和/或，
    响应于所述碰撞时间小于第二预设时间且告警时间超出设定阈值，发出告警信息提示驾驶员减速行驶和/或转向，并控制所述车辆的部分刹车和/或转向功能；和/或，
    响应于所述碰撞时间小于第三预设时间且告警时间超出设定阈值，控制所述车辆进行刹车和/或转向。
  66. 根据权利要求65所述的装置，其特征在于，所述第一预设时间、第二预设时间和第三预设时间的取值范围存在交集或不存在交集。
  67. 根据权利要求65或66所述的装置，其特征在于，所述第一预设时间的取值范围为1.5秒到5秒，和/或，所述第二预设时间的取值范围为1秒到2秒，和/或，所述第三预设时间的取值范围为小于或等于1秒。
  68. 根据权利要求39-67任一所述的装置，其特征在于，当所述目标对象为交通标志，所述环境检测单元，用于基于设置在所述车辆上的图像采集装置采集包括有交通标志的视频流；对所述视频流中的至少一帧包括交通标志的图像进行交通标志分类；根据所述交通标志的分类结果获得所述交通标志检测结果。
  69. 根据权利要求68所述的装置，其特征在于，所述车速判断单元，用于响应于所述交通标志检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第三车速阈值。
  70. 根据权利要求69所述的装置，其特征在于，所述第三车速阈值的取值范围为大于60公里每小时。
  71. 根据权利要求69或70所述的装置，其特征在于，所述结果控制单元，用于执行以下至少一个操作：
    响应于所述交通标志的类别为限速标志，且所述车辆的行驶状态与所述限速标志对应的缺省行驶状态不匹配，发出控制所述车辆的速度增加或减少到所述交通标志对应的速度的指令；
    响应于所述交通标志的类别为禁令标志，且所述车辆的行驶状态与所述禁令标志对应的缺省行驶状态不匹配，发出控制所述车辆不执行所述交通标志禁令的操作的指令；
    响应于所述交通标志的类别为警告标志，且所述车辆的行驶状态与所述警告标志对应的缺省行驶状态不匹配，发出控制所述车辆改变驾驶状态的指令；
    响应于所述交通标志的类别为指示标志，且所述车辆的行驶状态与所述指示标志对应的缺省行驶状态不匹配，发出控制所述车辆按照所述交通标志的指示进行驾驶控制的指令；
    响应于所述交通标志的类别为指路标志和/或旅游区标志，且所述车辆的行驶状态与所述指路标志和/或所述旅游区标志对应的缺省行驶状态不匹配，发出结合所述车辆对应的目的地控制所述车辆向对应道路行驶的指令；
    响应于所述交通标志的类别为道路施工安全标志，且所述车辆的行驶状态与所述道路施工安全标志对应的缺省行驶状态不匹配，发出控制所述车辆按照所述交通标志的指示执行减速、刹车、绕行、保持行驶状态、减速、转向、开启转向灯、开启刹车灯中的一种或多种操作的指令。
  72. 根据权利要求39-71所述的装置，其特征在于，当所述目标对象为交通信号灯，所述环境检测单元，用于基于设置在所述车辆上的图像采集装置获取包括有交通信号灯的视频流；对所述视频流中至少一帧图像进行交通信号灯状态检测，确定所述交通信号灯状态检测结果。
  73. 根据权利要求72所述的装置，其特征在于，所述车速判断单元，用于响应于所述交通信号灯状态检测结果满足驾驶告警预设条件，确定所述车辆的行驶车速是否超过第四车速阈值。
  74. 根据权利要求73所述的装置，其特征在于，所述驾驶告警预设条件包括所述车辆当前驾驶状态与所述交通信号灯状态检测结果不符合。
  75. 根据权利要求74所述的装置，其特征在于，所述第四车速阈值的取值范围为大于40公里每小时。
  76. 根据权利要求72-75任一所述的装置，其特征在于，所述结果控制单元，用于响应于所述预设时间段期满后所述车辆的行驶状态与所述交通信号灯状态检测结果对应的缺省行驶状态不匹配，输出控制所述车辆的开启转向灯、减速、刹车和/或转向的指令。
  77. 一种车辆，其特征在于，包括：如权利要求39至76任意一项所述的智能驾驶控制装置。
  78. 一种电子设备，其特征在于，包括处理器，所述处理器包括权利要求39至76任意一项所述的智能驾驶控制装置。
  79. 一种电子设备，其特征在于，包括：存储器，用于存储可执行指令；
    以及处理器，用于与所述存储器通信以执行所述可执行指令从而完成权利要求1至38任意一项所述智能驾驶控制方法的操作。
  80. 一种计算机存储介质，用于存储计算机可读取的指令，其特征在于，所述指令被执行时执行权利要求1至38任意一项所述智能驾驶控制方法的操作。
  81. 一种计算机程序产品，包括计算机可读代码，其特征在于，当所述计算机可读代码在设备上运行时，所述设备中的处理器执行用于实现权利要求1至38任意一项所述智能驾驶控制方法的指令。
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