WO2023065998A1 - 车辆控制方法、装置、车辆和存储介质 - Google Patents

车辆控制方法、装置、车辆和存储介质 Download PDF

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Publication number
WO2023065998A1
WO2023065998A1 PCT/CN2022/122105 CN2022122105W WO2023065998A1 WO 2023065998 A1 WO2023065998 A1 WO 2023065998A1 CN 2022122105 W CN2022122105 W CN 2022122105W WO 2023065998 A1 WO2023065998 A1 WO 2023065998A1
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WIPO (PCT)
Prior art keywords
vehicle
reminder
information
reminder information
control device
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PCT/CN2022/122105
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English (en)
French (fr)
Inventor
王统帅
王喆
田云龙
Original Assignee
青岛海尔智能技术研发有限公司
青岛海尔科技有限公司
海尔智家股份有限公司
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Publication of WO2023065998A1 publication Critical patent/WO2023065998A1/zh

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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
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • 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

Definitions

  • the present application relates to the technical field of intelligent driving, in particular to a vehicle control method, device, vehicle and storage medium.
  • the vehicle when the vehicle responds to the relevant operations performed by the user on the vehicle or when the vehicle detects that the vehicle may be about to have a safety accident (for example: an obstacle appears) according to the surrounding environment, it usually displays an indicator light or a sound To remind the user, so that the user can control the driving state of the vehicle in time to avoid accidents.
  • a safety accident for example: an obstacle appears
  • a vehicle control method comprising:
  • the reminder information For the reminder information output at the current moment, detect whether there is a response operation corresponding to the reminder information in the current vehicle; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • an emergency operation request is sent to the background control device;
  • the emergency operation request carries the current running status of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to remotely take over the vehicle through the background control device ;
  • the reminder information is voice reminder information
  • the voice reminder information includes the vehicle safety event that occurs at the current moment of the vehicle and the safety level of the vehicle safety event, and the safety level is used to represent the vehicle safety event being processed emergency level.
  • an emergency operation request is sent to the background control device, including:
  • the emergency operation request is sent to the background control device.
  • the method also includes:
  • the security level of the vehicle security event determine the reminder time interval corresponding to the security level and the number of reminders to output reminder information
  • the reminder information is output.
  • the reminder time interval is negatively correlated with the security level.
  • output reminder information including:
  • the reminder information is sent to the command center and the user terminal; the reminder information also includes the location information of the vehicle.
  • the vehicle safety event includes a safety event triggered by a user and a safety event determined by the vehicle based on the surrounding environment information and the current running state of the vehicle.
  • a vehicle control device comprising:
  • the detection module is used to detect whether there is a response operation corresponding to the reminder information in the current vehicle for the reminder information output at the current moment; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • the sending module is used to send an emergency operation request to the background control device when the response operation is not detected;
  • the emergency operation request carries the current running state of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to pass the background control
  • the device remotely takes over the vehicle;
  • the receiving module is used to receive the control instruction sent by the background control device, and control the operation of the vehicle according to the control instruction.
  • a vehicle including a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:
  • the reminder information For the reminder information output at the current moment, detect whether there is a response operation corresponding to the reminder information in the current vehicle; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • an emergency operation request is sent to the background control device;
  • the emergency operation request carries the current running status of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to remotely take over the vehicle through the background control device ;
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
  • the reminder information For the reminder information output at the current moment, detect whether there is a response operation corresponding to the reminder information in the current vehicle; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • an emergency operation request is sent to the background control device;
  • the emergency operation request carries the current running status of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to remotely take over the vehicle through the background control device ;
  • the above-mentioned vehicle control method, device, vehicle and storage medium detect whether there is a response operation corresponding to the reminder information in the current vehicle for the reminder information generated according to the detected vehicle safety event output at the current moment; and when the reminder information is not detected In response to the operation, send an emergency operation request carrying the current running state of the vehicle and surrounding environment information to the background control device; then, receive the control instruction sent by the background control device, and control the operation of the vehicle according to the control instruction; that is to say , in the embodiment of this application, in the case that the user does not respond to the reminder message sent by the vehicle, the control authority of the vehicle can be temporarily transferred to the background management personnel, so that the background management personnel can remotely take over through the background control equipment
  • the vehicle realizes the remote control and remote driving of the vehicle, avoids vehicle safety accidents, can greatly improve the intelligence and safety of vehicle control, reduce the incidence of accidents, and improve the life safety of drivers and passengers.
  • Fig. 1 is an application environment diagram of a vehicle control method in an embodiment
  • Fig. 2 is a schematic flow chart of a vehicle control method in an embodiment
  • Fig. 3 is a schematic flow chart of a vehicle control method in another embodiment
  • Fig. 4 is a schematic flow chart of a vehicle control method in another embodiment
  • Fig. 5 is a structural block diagram of a vehicle control device in an embodiment
  • Fig. 6 is an internal structure diagram of a vehicle in one embodiment.
  • the vehicle control method provided in this application can be applied to the application environment shown in FIG. 1 .
  • the vehicle 101 communicates with the background control device 102 through the network.
  • the vehicle 101 can be but not limited to various types of smart vehicles, such as: smart cars, smart trucks, smart cars, smart buses, smart motorcycles, etc.;
  • the background control device 102 can be but not limited to various personal computers, notebooks Computers, smartphones, tablets, etc.
  • a vehicle control method is provided, which is described by taking the method applied to the vehicle in FIG. 1 as an example, including the following steps:
  • Step 201 for the reminder information output at the current time, detect whether there is a response operation corresponding to the reminder information in the current vehicle.
  • the reminder information may be information generated according to the vehicle safety event detected at the current moment; optionally, the vehicle safety event may include a user-triggered safety event and a vehicle judgment based on the surrounding environment information and the current running state of the vehicle.
  • the obtained safety events for example: user-triggered safety events may include user-triggered safety events such as adaptive cruise, cruise control, or automatic driving, and safety events obtained by the vehicle based on surrounding environment information and the current operating state of the vehicle may include There are vehicles, pedestrians or other obstacles ahead, tire pressure is too high, battery temperature is too high and other safety events.
  • the vehicle when it detects that a preset vehicle safety event occurs in the vehicle at the current moment, it may output reminder information corresponding to the vehicle safety event, wherein the way of outputting the reminder information may be that the indicator light flashes, or a beep
  • the buzzer alarm can also be a voice reminder, or even a combination of multiple different output methods.
  • the specific implementation methods can also be different; for example: in the case that the output mode is the blinking of the indicator light, the color or shape of the indicator light corresponding to different vehicle safety events can be different.
  • the types and volumes of the alarm sounds corresponding to different vehicle safety events may also be different.
  • the content of the voice reminders corresponding to different vehicle safety events may be different.
  • the user can perform different response operations based on the reminder information to control the operation of the vehicle and eliminate potential safety hazards; In the event of a situation where relevant operations cannot be performed, the user cannot respond in a timely manner to control the vehicle, resulting in safety accidents.
  • the currently output reminder information it can be detected whether the vehicle currently has a response operation for the reminder information.
  • the response operation corresponding to the reminder information can provide users with more reaction time.
  • Step 202 if the response operation is not detected, send an emergency operation request to the background control device.
  • the emergency operation request carries the current running state of the vehicle and surrounding environment information, and is used to instruct the background manager to remotely take over the vehicle through the background control device.
  • the vehicle can send an emergency operation request to the background control device, and the control authority of the vehicle can be switched to the specified background management
  • the control authority of the personnel so that the background management personnel can remotely control the vehicle according to the current running status of the vehicle and the real-time surrounding environment information during the operation of the vehicle sent by the vehicle, so as to realize the remote driving of the vehicle; optionally, the control of the background management personnel Under the authority, if the user's control operation on the vehicle is detected, the user's control operation on the vehicle can be executed first; optionally, if the background management personnel judge that the vehicle is not driving in accordance with the safety traffic regulations under the user's operation, It is also possible to forcibly control the operation of the vehicle; wherein, the acquired management personnel may be traffic control personnel.
  • the control authority of the background management personnel can be automatically canceled to restore the normal driving of
  • Step 203 receiving the control instruction sent by the background control device, and controlling the operation of the vehicle according to the control instruction.
  • the reminder information generated according to the detected vehicle safety event output at the current moment it is detected whether there is a response operation corresponding to the reminder information in the current vehicle; and if the response operation is not detected, Send an emergency operation request carrying the current running state of the vehicle and surrounding environment information to the background control device; then, receive the control instruction sent by the background control device, and control the operation of the vehicle according to the control instruction; that is, in the embodiment of the present application , in the case that the user does not respond to the reminder message sent by the vehicle, the control authority of the vehicle can be temporarily transferred to the background management personnel, so that the background management personnel can remotely take over the vehicle through the background control device, that is, the vehicle Remote control and remote driving on behalf of the vehicle can avoid vehicle safety accidents, can greatly improve the intelligence and safety of vehicle control, reduce the incidence of accidents, and improve the safety of drivers and passengers.
  • the above-mentioned reminder information may be voice reminder information
  • the voice reminder information may include vehicle safety events occurring at the current moment of the vehicle, the safety level of the vehicle safety events, and information related to the vehicle safety events.
  • the safety level can be used to represent the urgency of the vehicle safety event being handled; optionally, the safety level can include a first-level warning, a second-level warning, a third-level warning, etc., a first-level warning It can be the highest level early warning, wherein the vehicle safety events of the first level early warning can include the battery temperature exceeding the first preset temperature, the tire pressure exceeding the preset tire pressure value, etc., and the second level early warning can include the first preset distance ahead or behind.
  • Vehicles or pedestrians battery temperature exceeds the second preset temperature, adaptive cruise, cruise control or automatic driving mode is activated, the vehicle accelerates instantaneously or accelerates to a preset speed, etc.
  • the three-level warning can include the second preset distance ahead or behind There are vehicles or pedestrians, the battery temperature exceeds the third preset temperature, the co-pilot and/or rear passengers are not wearing seat belts, etc. It should be noted that for each vehicle safety event, different trigger conditions can be set correspondingly Security Level.
  • the trigger conditions corresponding to each vehicle safety event and the reminder information corresponding to each vehicle safety event can be preset;
  • the voice reminder message can be "Level I warning, the battery temperature is too high, please get off immediately”;
  • the voice reminder information can be "Level II warning, adaptive cruise has been activated, please pay attention to the road conditions ahead”;
  • the voice reminder message can be "Level II warning, there are vehicles or pedestrians ahead, please slow down”; in the case of detecting that the co-pilot or rear passengers get on the car, the voice reminder message can be "Level III warning”. Warning, co-pilot and rear passengers, please fasten your seat belts.”
  • the reminder information is voice reminder information
  • the voice reminder information includes the vehicle safety event that occurs at the current moment of the vehicle and the safety level of the vehicle safety event, and the safety level is used to represent the urgency of the vehicle safety event being processed ; That is, through the way of voice reminder, the driver can be given a clear voice reminder at the first time when the vehicle safety incident is detected, so that the driver can know where the vehicle is malfunctioning or safety hazards in the first time , and make an accurate judgment in the first time, and then enable the driver to deal with the fault in time, greatly reducing the probability of safety accidents.
  • the security level of the vehicle security event can also be , in the case that the response operation is not detected after outputting the reminder information preset times, the emergency operation request is sent to the background control device; optionally, for vehicle security events with higher security levels (such as the first security level and The second security level) can send the emergency operation request to the background control device when the response operation has not been detected after outputting the reminder message preset times; and for vehicle security events with lower security levels (such as the third safety level), if the response operation is not detected after outputting the reminder information for a preset number of times, the emergency operation request may not be sent to the background control device; or, for each vehicle safety event, the reminder may be output If the response operation is still not detected after information preset times, the emergency operation request is sent to the background control device.
  • the preset times of outputting reminder information may be different.
  • the emergency operation request is sent to the background control device, which can provide driving Provide more thinking time and reaction time for the staff, avoid invalid operation of the background management staff, and improve the control efficiency of emergency operations.
  • Fig. 3 is a schematic flowchart of a vehicle control method in another embodiment. What this embodiment involves is one of the optional implementation processes of outputting reminder information; on the basis of the above-mentioned embodiment, as shown in Figure 3, the above-mentioned method also includes:
  • Step 301 according to the security level of the vehicle security event, determine the reminder time interval corresponding to the security level and the number of reminders for outputting reminder information.
  • the security levels corresponding to different vehicle security events can be preset and stored, as well as the corresponding relationship between the reminder time interval corresponding to the security level and the number of reminders to output reminder information.
  • the reminder time interval and the security The level is negatively correlated, that is, the higher the security level, the shorter the corresponding reminder time interval; optionally, for the vehicle safety event with the highest security level, the corresponding reminder time interval can also be zero, that is, continuous reminders without intervals .
  • the number of reminders may be positively correlated with the security level, that is, the higher the security level, the more corresponding reminders.
  • multiple reminders can be continuously and uninterruptedly (for example: continuously output the voice reminder that the battery temperature is too high, please get off the car immediately, until all the passengers in the car get off the car according to the prompt); for
  • the next reminder can be set at an interval of 1-3 minutes; for the third security level, the next reminder can be set at an interval of 5-10 minutes.
  • the security level of the vehicle security event detected at the current moment can be determined, and the reminder time interval corresponding to the security level and the number of reminders for outputting reminder information can be determined.
  • Step 302 output reminder information according to the reminder time interval and the number of reminders.
  • the reminder information is output again within the number of reminder times.
  • the security level of the vehicle safety event determine the reminder time interval corresponding to the security level and the number of reminders to output reminder information, and output reminder information according to the reminder time interval and reminder times, which can be given according to the priority
  • the driver provides safety risk warning to ensure that the driver can predict and take remedial measures in the first time, avoid safety accidents, improve the efficiency and flexibility of vehicle safety event reminders, and then improve the intelligence of vehicle control.
  • Fig. 4 is a schematic flowchart of a vehicle control method in another embodiment. What this embodiment involves is another optional implementation process of outputting reminder information; on the basis of the above embodiment, as shown in FIG. 4, the above step 302 includes:
  • Step 401 if the vehicle security event is at the highest security level, detect whether there is a user in the vehicle.
  • a vehicle safety event with the highest security level occurs at the current moment of the vehicle
  • the information collected by the sensor installed in the vehicle for detecting the user can be used to determine whether the vehicle is safe or not.
  • Whether there is a user in the vehicle for example: infrared sensor, pressure sensor, temperature sensor, ultrasonic sensor, etc., this embodiment of the present application does not limit this, as long as it can determine whether there is a user in the vehicle.
  • Step 402 if there is no user in the vehicle, send the reminder information to the command center and the user terminal.
  • the reminder information can also include the location information of the vehicle and the information of the owner.
  • the user terminal can be the user's mobile phone, which can be sent by text message, can also be dialed directly by phone, and the reminder information can also be sent to the user terminal through APP notification, etc. This embodiment of the present application does not limit it.
  • different command centers may be corresponding, for example: for the above-mentioned first safety level, the battery temperature exceeds the first preset temperature, that is, if the battery temperature is too high, a fire may occur Or in the case of an explosion, the reminder information can be sent to the 119 command center; for the tire pressure in the above-mentioned first safety level exceeding the preset tire pressure value, that is, in the case of a possible tire blowout, the reminder information can be sent to Public security command center, etc.; this embodiment of the application does not limit it.
  • the owner when charging a new energy vehicle, the owner is usually required to get out of the car and wait or the owner is not in the car for charging at night, once the highest level of vehicle safety incidents such as battery short circuit or temperature rise occurs In this situation, it is necessary to inform the owner of the vehicle by short message or APP to unplug the plug to stop charging, and have the professionals cool down to avoid more serious safety accidents such as burning, fire and explosion; at the same time, even if the owner knows that the vehicle battery temperature is too high If there is no way to deal with it or consider the personal safety of the car owner, it is not recommended to take fire-fighting measures.
  • a level I safety warning message including the phone number of the car owner and the location information of the car
  • the vehicle security event when the vehicle security event is at the highest security level, it is detected whether there is a user in the vehicle; if there is no user in the vehicle, the reminder information including the location information of the vehicle can be sent to command center and user terminal; so that the professionals in the command center can rush to the scene to deal with it in the first time, reduce the occurrence of accidents, and notify the car owner in the first time, so that the car owner can also take corresponding measures in the first time, and can further Improve the efficiency of vehicle safety event reminders and improve the intelligence of vehicle control.
  • a vehicle control device including: a detection module 501, a sending module 502 and a receiving module 503, wherein:
  • the detection module 501 is used to detect whether there is a response operation corresponding to the reminder information in the current vehicle for the reminder information output at the current moment; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • the sending module 502 is configured to send an emergency operation request to the background control device when the response operation is not detected;
  • the emergency operation request carries the current running state of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to pass the background information.
  • the control device remotely takes over the vehicle;
  • the receiving module 503 is used to receive the control instruction sent by the background control device, and control the operation of the vehicle according to the control instruction.
  • the reminder information is voice reminder information
  • the voice reminder information includes the vehicle safety event that occurs at the current moment of the vehicle and the safety level of the vehicle safety event, and the safety level is used to represent the vehicle safety event being processed emergency level.
  • the above-mentioned sending module 502 is specifically configured to send the emergency event to the background control device if the response operation is not detected after outputting the reminder message for a preset number of times according to the safety level of the vehicle safety event. Action request.
  • the device further includes a determination module and an output module; wherein, the determination module is used to determine the reminder time interval corresponding to the safety level and the number of reminders to output reminder information according to the safety level of the vehicle safety event ; An output module, configured to output reminder information according to the reminder time interval and the number of reminders.
  • the reminder time interval is negatively correlated with the security level.
  • the output module is specifically used to detect whether there is a user in the vehicle when the vehicle safety event is the highest security level; if there is no user in the vehicle, send the reminder information to command center and user terminal; the reminder information also includes the location information of the vehicle.
  • the vehicle safety event includes a safety event triggered by a user and a safety event determined by the vehicle based on the surrounding environment information and the current running state of the vehicle.
  • Each module in the above-mentioned vehicle control device can be fully or partially realized by software, hardware and a combination thereof.
  • the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.
  • a vehicle in one embodiment, is provided, the internal structure diagram of which may be as shown in FIG. 6 .
  • the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and computer programs.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, operator network, NFC (near field communication) or other technologies.
  • the display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the casing of the computer device , and can also be an external keyboard, touchpad, or mouse.
  • FIG. 6 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation on the computer equipment to which the solution of this application is applied.
  • the specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.
  • a vehicle including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:
  • the reminder information For the reminder information output at the current moment, detect whether there is a response operation corresponding to the reminder information in the current vehicle; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • an emergency operation request is sent to the background control device;
  • the emergency operation request carries the current running status of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to remotely take over the vehicle through the background control device ;
  • the reminder information is voice reminder information
  • the voice reminder information includes vehicle safety events that occur at the current moment of the vehicle and the safety level of the vehicle safety events, the safety The level is used to represent the urgency with which the vehicle safety incident is handled.
  • the processor executes the computer program, the following steps are also implemented: according to the safety level of the vehicle safety event, if the response operation is not detected after outputting the reminder message for a preset number of times, send a message to the background control device The emergency operation request.
  • the processor when the processor executes the computer program, the following steps are also implemented: according to the safety level of the vehicle safety event, determine the reminder time interval corresponding to the safety level and the number of reminders to output reminder information; according to the reminder time interval and Number of reminders, output reminder information.
  • the reminder time interval is negatively correlated with the security level.
  • the processor executes the computer program, the following steps are also implemented: when the vehicle safety event is the highest security level, detect whether there is a user in the vehicle; The reminder information is sent to the command center and the user terminal; the reminder information also includes the location information of the vehicle.
  • the vehicle safety event includes a user-triggered safety event and a safety event judged by the vehicle based on the surrounding environment information and the current running state of the vehicle.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
  • the reminder information For the reminder information output at the current moment, detect whether there is a response operation corresponding to the reminder information in the current vehicle; the reminder information is information generated according to the vehicle safety event detected at the current moment;
  • an emergency operation request is sent to the background control device;
  • the emergency operation request carries the current running status of the vehicle and the surrounding environment information, and is used to instruct the background management personnel to remotely take over the vehicle through the background control device ;
  • the reminder information is voice reminder information
  • the voice reminder information includes a vehicle safety event occurring at the current moment of the vehicle and a safety level of the vehicle safety event, the The security level is used to represent the urgency with which vehicle security incidents are handled.
  • the following steps are further implemented: according to the safety level of the vehicle safety event, if the response operation is not detected after outputting the reminder information for a preset number of times, sending the notification to the background control device Send this emergency action request.
  • the following steps are also implemented: according to the safety level of the vehicle safety event, determine the reminder time interval corresponding to the safety level and the number of reminders to output reminder information; and reminder times, and output reminder information.
  • the reminder time interval is negatively correlated with the security level.
  • the following steps are also implemented: when the vehicle safety event is the highest security level, detect whether there is a user in the vehicle; The reminder information is sent to the command center and the user terminal; the reminder information also includes the location information of the vehicle.
  • the vehicle safety event includes a user-triggered safety event and a safety event judged by the vehicle based on the surrounding environment information and the current running state of the vehicle.
  • Nonvolatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, among others.
  • Volatile memory can include Random Access Memory (RAM) or external cache memory.
  • RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
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  • Alarm Systems (AREA)

Abstract

提供一种车辆控制方法，包括：针对当前时刻输出的根据检测到的车辆安全事件所生成的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作（201）；在未检测到响应操作的情况下，向后台控制设备发送携带车辆的当前运行状态以及周围环境信息的紧急操作请求（202）；接收后台控制设备发送的控制指令，并根据控制指令控制车辆的运行（203）。在用户并未出现针对车辆所发出的提醒信息的响应操作的情况下，可以将车辆的控制权限临时转交给后台管理人员，以便后台管理人员可以通过后台控制设备远程接管车辆，从而实现车辆的远程控制和远程代驾，避免车辆发生安全事故，提高车辆控制的智能性和安全性。

Description

车辆控制方法、装置、车辆和存储介质
本申请基于申请号为202111231628.9、申请日为2021年10月22日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及智能驾驶技术领域，特别是涉及一种车辆控制方法、装置、车辆和存储介质。
背景技术
随着汽车电动化、网联化、智能化和共享化的加速融合发展，在为消费者带来极致驾驶体验和智能化交互体验的同时，也带来了一些新的安全风险；尤其是新能源汽车，相对于传统燃油汽车来说，安全隐患较多导致事故频发，例如：新能源汽车起火爆炸事故、在主动巡航模式下突然加速引起的事故等。
传统技术中，车辆在响应用户对该车辆执行的相关操作或者车辆在根据周围环境检测到车辆可能即将发生安全事故(例如：出现障碍物)的情况下，通常会以指示灯或者提示音的方式来提醒用户，以便用户能够及时地控制车辆的行驶状态，避免事故的发生。
然而，现有的车辆控制方法，存在用户无法及时响应车辆提醒而造成安全事故的情况，导致车辆控制的智能性较差。
发明内容
基于此，有必要针对上述技术问题，提供一种能够提高车辆控制的智能性、提高车辆运行安全性的车辆控制方法、装置、车辆和存储介质。
第一方面，提供了一种车辆控制方法，该方法包括：
针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
在其中一个实施例中，该提醒信息为语音提醒信息，该语音提醒信息中包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，该安全等级用于表征车辆安全事件被处理的紧急程度。
在其中一个实施例中，在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求，包括：
根据该车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求。
在其中一个实施例中，该方法还包括：
根据该车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数；
根据该提醒时间间隔和提醒次数，输出提醒信息。
在其中一个实施例中，该提醒时间间隔与该安全等级的高低负相关。
在其中一个实施例中，输出提醒信息，包括：
在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户；
在该车辆内不存在用户的情况下，将该提醒信息发送至指挥中心和用户终端；该提醒信息还包括车辆的位置信息。
在其中一个实施例中，该车辆安全事件包括用户触发的安全事件以及车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全事件。
第二方面，提供了一种车辆控制装置，所述装置包括：
检测模块，用于针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
发送模块，用于在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收模块，用于接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
第三方面，提供了一种车辆，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请 求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
上述车辆控制方法、装置、车辆和存储介质，针对当前时刻输出的根据检测到的车辆安全事件所生成的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；并在未检测到该响应操作的情况下，向后台控制设备发送携带车辆的当前运行状态以及周围环境信息的紧急操作请求；接着，接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行；也就是说，本申请实施例中，在用户并未出现针对车辆所发出的提醒信息的响应操作的情况下，可以将车辆的控制权限临时转交给后台管理人员，以便后台管理人员可以通过后台控制设备远程接管该车辆，即实现车辆的远程控制和远程代驾，避免车辆发生安全事故，能够大大提高车辆控制的智能性和安全性，减少事故的发生率，提高驾驶员及乘客的生命安全。
附图说明
图1为一个实施例中车辆控制方法的应用环境图；
图2为一个实施例中车辆控制方法的流程示意图；
图3为另一个实施例中车辆控制方法的流程示意图；
图4为另一个实施例中车辆控制方法的流程示意图；
图5为一个实施例中车辆控制装置的结构框图；
图6为一个实施例中车辆的内部结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本 申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的车辆控制方法，可以应用于如图1所示的应用环境中。其中，车辆101通过网络与后台控制设备102进行通信。其中，车辆101可以但不限于是各种类型的智能车辆，例如：智能轿车、智能货车、智能汽车、智能客车、智能摩托车等；后台控制设备102可以但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑等。
在一个实施例中，如图2所示，提供了一种车辆控制方法，以该方法应用于图1中的车辆为例进行说明，包括以下步骤：
步骤201，针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作。
其中，该提醒信息可以为根据当前时刻检测到的车辆安全事件所生成的信息；可选地，该车辆安全事件可以包括用户触发的安全事件以及车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全事件，例如：用户触发的安全事件可以包括用户触发的自适应巡航、定速巡航或者自动驾驶等安全事件，车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全事件可以包括前方有车辆、行人或者其他障碍物、胎压过高、电池温度过高等安全事件。
可选地，车辆在检测到当前时刻车辆发生预设的车辆安全事件的情况下，可以输出该车辆安全事件对应的提醒信息，其中，输出提醒信息的方式可以是指示灯闪烁，也可以是蜂鸣器报警，还可以是语音提醒，甚至是多种不同输出方式的结合等，本申请对此并不做限定；另外，针对不同的车辆安全事件，其输出提醒信息的方式可以不同，或者，在同种输出方式下，具体的实现方式也可以不同；例如：在输出方式为指示灯闪烁的情况下，不同的车辆安全事件对应的指示灯的颜色或者指示灯的形状可以不同，在输出方式为蜂鸣器报警的情况下，不同的车辆安全事件对应的报警音的类型、音量也可以不同，在输出方式为语音提醒的情况下，不同的车辆安全事件对应的语音提醒内容可以不同等。
在输出提醒信息后，用户可以基于该提醒信息执行不同的响应操作，以控制车辆的运行，解除安全隐患；然而，在用户出现打盹、犯困、处于睡眠状态等无意识的情况下、或者身体出现突发状况而无法进行相关操作的情况下，用户则无法及时的做出响应操作来控制车辆，造成安全事故的发生。
在这种情况下，针对当前输出的提醒信息，可以检测车辆当前是否存在针对该提醒信息的响应操作，可选地，可以检测在输出提醒信息后的预设时间段内，车辆是否存在与该提醒信息对应的响应操作，可以为用户提供更多的反应时间。
步骤202，在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求。
其中，该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆。
可选地，在输出提醒信息后的预设时间段内，如果仍未检测到该响应操作，那么车辆可以向后台控制设备发送紧急操作请求，并可以将车辆的控制权限切换为指定的后台管理人员的控制权限，以便后台管理人员可以根据车辆发送的车辆的当前运行状态和车辆运行过程中实时的周围环境信息，远程控制该车辆，实现远程驾驶车辆；可选地，在后台管理人员的控制权限下，如果检测到用户对该车辆的控制操作，那么可以优先执行用户对该车辆的控制操作；可选地，如果后台管理人员判断在用户的操作下，车辆并未按照安全交规进行行驶，也可以强行控制车辆的运行；其中，该后天管理人员可以为交管人员。另外，在后台管理人员远程协助车辆驾驶以消除车辆安全事件后，可以自动取消后台管理人员的控制权限，以恢复车辆的正常驾驶。
步骤203，接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
上述车辆控制方法中，针对当前时刻输出的根据检测到的车辆安全事件所生成的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；并在未检测到该响应操作的情况下，向后台控制设备发送携带车辆的当前运行状态以及周围环境信息的紧急操作请求；接着，接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行；也就是说，本申请实施例中，在用户并未出现针对车辆所发出的提醒信息的响应操作的情况下，可以将车辆的控制权限临时转交给后台管理人员，以便后台管理人员可以通过后台控制设备远程接管该车辆，即实现车辆的远程控制和远程代驾，避免车辆发生安全事故，能够大大提高车辆控制的智能性和安全性，减少事故的发生率，提高驾驶员及乘客的生命安全。
在本申请的一个可选的实施例中，上述提醒信息可以为语音提醒信息，该语音提醒信息中可以包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，以及与该车辆安全事件对应的注意事项或提醒建议，该安全等级可以用于表征车辆安全事件被处理的紧急程度；可选地，该安全等级可以包括一级预警、二级预警、三级预警等，一级预警可以为最高级别预警，其中，一级预警的车辆安全事件可以包括电池温度超过第一预设温度、胎压超过预设胎压值等，二级预警可以包括前方或后方第一预设距离有车辆或行人、电池温度超过第二预设温度、启动自适应巡航、定速巡航或者自动驾驶模式、车辆瞬间加速或加速至预设速度等，三级预警可以包括前方或后方第二预设距离有车辆或行人、电池温度超过第三预设温度、副驾驶和/或后排乘客未系安全带等；需要说明的是，针对每一个车辆安全事件，在触发条件不同时可以对应设置不同的安全等级。
可选地，针对不同的车辆安全事件，可以预先设置每一个车辆安全事件对应的触发条件、以及每一个车辆安全事件对应的提醒信息；例如：在检测到汽车电池快充发生内部短路导致电池温度超过第一预设温度的情况下，该语音提醒信息可以为“I级预警，电池温度过高，请立即下车”；在激活自适应巡航模式(驾驶员误触发或主动开启)的情况下，该语音提醒信息可以为“II级预警，已启动自适应巡航，请注意前方路况”；在检测到车辆距前车或行人达到第一预设距离范围内(根据车速和距离方位判断)的情况下，该语音提醒信息可以为“II级预警，前方有车辆或者行人，请减速慢行”；在检测到副驾驶或后排乘客上车的情况下，该语音提醒信息可以为“III级预警，副驾驶及后排乘客，请系好安全带”。
本实施例中，该提醒信息为语音提醒信息，该语音提醒信息中包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，该安全等级用于表征车辆安全事件被处理的紧急程度；即通过语音提醒的方式，可以在检测到车辆发生车辆安全事件的第一时间，给予驾驶员一个明确的语音提醒，以便驾驶员能够在第一时间获知车辆是哪个地方出现了故障或者安全隐患，并在第一时间做出准确的判断，进而可以使得驾驶员能够及时地对故障进行处理，大大降低了安全事故发生的概率。
在本申请的一个可选的实施例中，上述步骤202“在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求”的过程中，还可以根据该车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求；可选地，对于安全等级较高的车辆安全事件(如第一安全等级和第二安全等级)，可以在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求；而对于安全等级较低的车辆安全事件(如第三安全等级)，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，也可以不向后台控制设备发送该紧急操作请求；或者，针对每一个车辆安全事件，都可以在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求。另外，针对不同安全等级的车辆安全事件，其输出提醒信息的预设次数可以不同，可选地，安全等级越高对应的输出提醒信息的预设次数可以越少。
本实施例中，根据车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到与该提醒信息对应的响应操作的情况下，向后台控制设备发送该紧急操作请求，能够为驾驶员提供更多的思考时间和反应时间，避免造成后台管理人员的无效操作，提高紧急操作的控制效率。
图3为另一个实施例中车辆控制方法的流程示意图。本实施例中涉及的是输出提醒信 息的其中一种可选的实现过程；在上述实施例的基础上，如图3所示，上述方法还包括：
步骤301，根据该车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数。
其中，可以预先设置并存储不同车辆安全事件对应的安全等级、以及与该安全等级对应的提醒时间间隔和输出提醒信息的提醒次数之间的对应关系，可选地，该提醒时间间隔与该安全等级的高低负相关，即安全等级越高，对应的提醒时间间隔越短；可选地，对于安全等级最高的车辆安全事件，其对应的提醒时间间隔也可以为零，即无间隔的连续提醒。可选地，提醒次数可以与该安全等级的高低正相关，即安全等级越高，对应的提醒次数越多。基于上述举例，对于第一安全等级，可以连续不间断的进行多次提醒(例如：持续输出电池温度过高，请立即下车的语音提醒，直至车内乘客按照提示全部下车为止)；对于第二安全等级，可以设置间隔1-3分钟进行下一次提醒；对于第三安全等级，可以设置间隔5-10分钟进行下一次提醒。
可选地，可以根据上述对应关系，确定出当前时刻检测到的车辆安全事件的安全等级，以及确定出与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数。
步骤302，根据该提醒时间间隔和提醒次数，输出提醒信息。
可选地，在前一次输出提醒信息后，如果在提醒时间间隔内未检测到与该提醒信息对应的响应操作，则在提醒次数内，再次输出该提醒信息。
本实施例中，根据车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数，并根据该提醒时间间隔和提醒次数，输出提醒信息，能够按照优先级给驾驶员提供安全风险预警，确保驾驶员能够在第一时间进行预判和采取补救措施，避免安全事故的发生，提高车辆安全事件提醒的高效性和灵活性，进而提高车辆控制的智能性。
图4为另一个实施例中车辆控制方法的流程示意图。本实施例中涉及的是输出提醒信息的另一种可选的实现过程；在上述实施例的基础上，如图4所示，上述步骤302包括：
步骤401，在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户。
可选地，可以在检测到车辆当前时刻发生最高安全等级的车辆安全事件的情况下，检测车辆内是否有用户，可以通过车辆内安装的用于检测用户的传感器采集到的信息，来判断车辆内是否有用户，例如：红外传感器、压力传感器、温度传感器、超声波传感器等，本申请实施例对此并不做限定，只要能够判断车辆内部是否存在用户即可。
步骤402，在该车辆内不存在用户的情况下，将该提醒信息发送至指挥中心和用户终端。
其中，该提醒信息还可以包括车辆的位置信息以及车主的信息，用户终端可以是用户手机，可以通过短信发送，也可以通过电话直拨，还可以通过APP通知等方式将提醒信息发送至用户终端，本申请实施例对此并不做限定。
可选地，针对不同类型的最高安全等级的车辆安全事件，可以对应不同的指挥中心，例如：对于上述第一安全等级中的电池温度超过第一预设温度，即电池温度过高可能发生着火或者爆炸的情况下，可以将该提醒信息发送至119指挥中心；对于上述第一安全等级中的胎压超过预设胎压值，即可能发生爆胎的情况下，可以将该提醒信息发送至公安指挥中心等；本申请实施例对此并不做限定。
可选地，针对新能源汽车在充电时，通常会要求车主下车等候或车主利用晚上时间充电等车主不在车内的情况，一旦出现电池短路或温度瞬间升高等最高等级的车辆安全事件的情况下，需要第一时间短信或APP通知车主拔掉插头停止充电，并由专业人士进行降温处理，避免造成燃烧起火爆炸等更严重安全事故发生；同时考虑到即使车主得知车辆电池温度过高也没办法处置或考虑车主个人安全不建议采取消防措施，可以同步推送一个I级安全预警信息(可以包含车主电话和车辆的位置信息)给119指挥中心，以便通知消防人员第一时间赶到现场进行处置，避免造成周边其他车辆和人员等次生安全事故的发生，给车主和其他相关人员造成不必要的安全隐患和财产经济损失等。
本实施例中，在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户；在该车辆内不存在用户的情况下，可以将包括车辆的位置信息在内的提醒信息发送至指挥中心和用户终端；以便指挥中心的专业人员能够在第一时间赶至现场进行处理，减少事故的发生，以及第一时间通知车主，使车主也能在第一时间采取相应地措施，能够进一步提高车辆安全事件提醒的高效性，以及提高车辆控制的智能性。
应该理解的是，虽然图2-4的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2-4中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图5所示，提供了一种车辆控制装置，包括：检测模块501、发送模块502和接收模块503，其中：
检测模块501，用于针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒 信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
发送模块502，用于在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收模块503，用于接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
在其中一个实施例中，该提醒信息为语音提醒信息，该语音提醒信息中包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，该安全等级用于表征车辆安全事件被处理的紧急程度。
在其中一个实施例中，上述发送模块502，具体用于根据该车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求。
在其中一个实施例中，该装置还包括确定模块和输出模块；其中，确定模块，用于根据该车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数；输出模块，用于根据该提醒时间间隔和提醒次数，输出提醒信息。
在其中一个实施例中，该提醒时间间隔与该安全等级的高低负相关。
在其中一个实施例中，输出模块，具体用于在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户；在该车辆内不存在用户的情况下，将该提醒信息发送至指挥中心和用户终端；该提醒信息还包括车辆的位置信息。
在其中一个实施例中，该车辆安全事件包括用户触发的安全事件以及车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全事件。
关于车辆控制装置的具体限定可以参见上文中对于车辆控制方法的限定，在此不再赘述。上述车辆控制装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种车辆，其内部结构图可以如图6所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、NFC(近场通信) 或其他技术实现。该计算机程序被处理器执行时以实现一种车辆控制方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图6中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种车辆，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：该提醒信息为语音提醒信息，该语音提醒信息中包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，该安全等级用于表征车辆安全事件被处理的紧急程度。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：根据该车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：根据该车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数；根据该提醒时间间隔和提醒次数，输出提醒信息。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：该提醒时间间隔与该安全等级的高低负相关。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户；在该车辆内不存在用户的情况下，将该提醒信息发送至指挥中心和用户终端；该提醒信息还包括车辆的位置信息。
在一个实施例中，处理器执行计算机程序时还实现以下步骤：该车辆安全事件包括用户触发的安全事件以及车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全 事件。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
针对当前时刻输出的提醒信息，检测当前车辆是否存在与该提醒信息对应的响应操作；该提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
在未检测到该响应操作的情况下，向后台控制设备发送紧急操作请求；该紧急操作请求中携带车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过后台控制设备远程接管该车辆；
接收后台控制设备发送的控制指令，并根据该控制指令控制车辆的运行。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：该提醒信息为语音提醒信息，该语音提醒信息中包括车辆当前时刻出现的车辆安全事件和该车辆安全事件的安全等级，该安全等级用于表征车辆安全事件被处理的紧急程度。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：根据该车辆安全事件的安全等级，在输出提醒信息预设次数后仍未检测到该响应操作的情况下，向后台控制设备发送该紧急操作请求。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：根据该车辆安全事件的安全等级，确定与该安全等级对应的提醒时间间隔以及输出提醒信息的提醒次数；根据该提醒时间间隔和提醒次数，输出提醒信息。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：该提醒时间间隔与该安全等级的高低负相关。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：在该车辆安全事件为最高安全等级的情况下，检测车辆内是否存在用户；在该车辆内不存在用户的情况下，将该提醒信息发送至指挥中心和用户终端；该提醒信息还包括车辆的位置信息。
在一个实施例中，计算机程序被处理器执行时还实现以下步骤：该车辆安全事件包括用户触发的安全事件以及车辆根据周围环境信息和车辆的当前运行状态判断后得到的安全事件。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器 (Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种车辆控制方法，其特征在于，所述方法包括：
    针对当前时刻输出的提醒信息，检测当前车辆是否存在与所述提醒信息对应的响应操作；所述提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
    若未检测到所述响应操作，则向后台控制设备发送紧急操作请求；所述紧急操作请求中携带所述车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过所述后台控制设备远程接管所述车辆；
    接收所述后台控制设备发送的控制指令，并根据所述控制指令控制所述车辆的运行。
  2. 根据权利要求1所述的方法，其特征在于，所述提醒信息为语音提醒信息，所述语音提醒信息中包括所述车辆当前时刻出现的所述车辆安全事件和所述车辆安全事件的安全等级，所述安全等级用于表征所述车辆安全事件被处理的紧急程度。
  3. 根据权利要求2所述的方法，其特征在于，所述若未检测到所述响应操作，则向后台控制设备发送紧急操作请求，包括：
    根据所述车辆安全事件的安全等级，若输出提醒信息预设次数后仍未检测到所述响应操作，则向所述后台控制设备发送所述紧急操作请求。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    根据所述车辆安全事件的安全等级，确定与所述安全等级对应的提醒时间间隔以及输出所述提醒信息的提醒次数；
    根据所述提醒时间间隔和所述提醒次数，输出所述提醒信息。
  5. 根据权利要求4所述的方法，其特征在于，所述提醒时间间隔与所述安全等级的高低负相关。
  6. 根据权利要求4所述的方法，其特征在于，所述输出所述提醒信息，包括：
    若所述车辆安全事件为最高安全等级，则检测所述车辆内是否存在用户；
    若所述车辆内不存在用户，则将所述提醒信息发送至指挥中心和用户终端；所述提醒信息还包括所述车辆的位置信息。
  7. 根据权利要求1至6任意一项所述的方法，其特征在于，所述车辆安全事件包括用户触发的安全事件以及所述车辆根据周围环境信息和所述车辆的当前运行状态判断后得到的安全事件。
  8. 一种车辆控制装置，其特征在于，所述装置包括：
    检测模块，用于针对当前时刻输出的提醒信息，检测当前车辆是否存在与所述提 醒信息对应的响应操作；所述提醒信息为根据当前时刻检测到的车辆安全事件所生成的信息；
    发送模块，用于在未检测到所述响应操作的情况下，向后台控制设备发送紧急操作请求；所述紧急操作请求中携带所述车辆的当前运行状态以及周围环境信息，用于指示后台管理人员通过所述后台控制设备远程接管所述车辆；
    接收模块，用于接收所述后台控制设备发送的控制指令，并根据所述控制指令控制所述车辆的运行。
  9. 一种车辆，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至7中任一项所述的方法的步骤。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至7中任一项所述的方法的步骤。
PCT/CN2022/122105 2021-10-22 2022-09-28 车辆控制方法、装置、车辆和存储介质 WO2023065998A1 (zh)

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