CN114475564A - Vehicle emergency response control method, system, vehicle and storage medium - Google Patents
Vehicle emergency response control method, system, vehicle and storage medium Download PDFInfo
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- CN114475564A CN114475564A CN202210193776.4A CN202210193776A CN114475564A CN 114475564 A CN114475564 A CN 114475564A CN 202210193776 A CN202210193776 A CN 202210193776A CN 114475564 A CN114475564 A CN 114475564A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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Abstract
The invention discloses a vehicle emergency response control method, a vehicle emergency response control system, a vehicle and a storage medium. The method comprises the steps that vehicle environment data are obtained in real time in the driving process of a vehicle, wherein the vehicle environment data comprise vehicle internal environment data and vehicle external environment data, and the vehicle internal environment data comprise vehicle internal audio data collected through a vehicle internal microphone and image data collected through a camera facing a driver; the method comprises the steps that the vehicle activates an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises the step that the driver is determined to be in an abnormal driving state according to environmental data in the vehicle; and under the condition that the vehicle is in an activated state in the emergency coping mode, automatically controlling the vehicle by using an in-vehicle linear control system according to vehicle environment data and/or vehicle running data. The technical scheme of the embodiment of the invention solves the problem of vehicle runaway caused by the fact that personnel in the vehicle encounter an emergency situation, and reduces the probability of vehicle accidents.
Description
Technical Field
The embodiment of the invention relates to the technical field of emergency control, in particular to a vehicle emergency response control method, a vehicle emergency response control system, a vehicle and a storage medium.
Background
With the continuous development of technology, more and more vehicles are driven on roads, the occurrence of traffic accidents becomes more and more common, and the factors causing the accidents are many, including: road, weather, vehicle malfunction, driver distraction, and operator error, among others.
At present, a conventional automatic emergency braking system for a vehicle refers to a technology for improving driving safety by actively braking when the vehicle normally runs under a non-adaptive cruise condition, for example, when the vehicle encounters an emergency dangerous condition or the distance between the vehicle and a front vehicle or a pedestrian is less than a safe distance, so as to avoid or reduce collision accidents such as rear-end collision and the like. An automatic emergency braking system for a vehicle is an emergency assistance device that is established as the subject of responsibility of a driver, and performs an emergency braking assistance operation mainly for an obstacle that suddenly appears other than the vehicle.
However, when the passengers compete with the driver, are charged or the driver encounters gangster hijacking, the vehicle is out of control due to the fact that the normal driving behavior of the driver is seriously interfered, and the automatic emergency braking system of the vehicle cannot control the vehicle caused by the emergency situation of the personnel in the vehicle, but cannot do so.
Disclosure of Invention
The invention provides a vehicle emergency response control method, a vehicle emergency response control system, a vehicle and a storage medium, which are used for solving the problem of vehicle runaway caused by personnel emergency inside the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle emergency response control method, including:
the method comprises the steps that vehicle environment data are obtained in real time in the driving process of a vehicle, wherein the vehicle environment data comprise in-vehicle environment data and out-vehicle environment data, and the in-vehicle environment data comprise in-vehicle audio data collected through an in-vehicle microphone and image data collected through a camera facing a driver;
the method comprises the steps that the vehicle activates an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises the step that the driver is determined to be in an abnormal driving state according to environmental data in the vehicle;
and under the condition that the vehicle is in an activated state in the emergency coping mode, automatically controlling the vehicle by using an in-vehicle linear control system according to vehicle environment data and/or vehicle running data.
In a second aspect, an embodiment of the present invention provides a vehicle emergency response control system, including:
an environmental data acquisition module, an emergency response mode activation module, and an automatic control module integrated in a vehicle, wherein:
the environment data acquisition module is used for acquiring vehicle environment data in real time in the driving process, wherein the vehicle environment data comprises vehicle interior environment data and vehicle exterior environment data, and the vehicle interior environment data comprises vehicle interior audio data acquired by a vehicle interior microphone and image data acquired by a camera facing a driver;
the emergency response mode activation module is used for activating an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises that the driver is determined to be in an abnormal driving state according to the environmental data in the vehicle;
and the automatic control module is used for automatically controlling the vehicle by using an in-vehicle linear control system according to the vehicle environment data and/or the vehicle running data under the condition that the emergency coping mode is in an activated state.
In a third aspect, an embodiment of the present invention provides a vehicle including:
a memory, a processor and a computer program stored on the memory and operable on the processor to enable at least one processor to perform the steps performed by the vehicle in the vehicle emergency countermeasure control method of the first aspect described above.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the steps executed by the server in the vehicle emergency response control method according to the first aspect.
According to the vehicle emergency response control scheme provided by the embodiment of the invention, vehicle environment data are acquired in real time in the driving process of a vehicle, wherein the vehicle environment data comprise in-vehicle environment data and out-vehicle environment data, and the in-vehicle environment data comprise in-vehicle audio data acquired through an in-vehicle microphone and image data acquired through a camera facing a driver; the method comprises the steps that the vehicle activates an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises the step that the driver is determined to be in an abnormal driving state according to environmental data in the vehicle; and under the condition that the vehicle is in an activated state in the emergency coping mode, automatically controlling the vehicle by using an in-vehicle linear control system according to vehicle environment data and/or vehicle running data. By adopting the technical scheme, when the acquired environment data in the vehicle meets the emergency response mode of activating the vehicle, the vehicle can be automatically controlled by using the in-vehicle linear control system according to the acquired data in and out of the vehicle, so that the problem of out-of-control of the vehicle caused by emergency situations of personnel in the vehicle is solved, the emergency automatic braking of the vehicle under the emergency situations is realized, the probability of vehicle accidents is reduced, and the safety of the vehicle and the property of the person is ensured to the maximum extent.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle emergency response control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle emergency response control method according to a second embodiment of the invention;
fig. 3 is a schematic structural diagram of a vehicle emergency response control system according to a third embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic control structure diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. In the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle emergency response control method according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling a vehicle, and the method may be implemented by a vehicle, and may specifically be implemented in a form of hardware and/or software.
As shown in fig. 1, a vehicle emergency response control method provided by an embodiment of the present invention specifically includes the following steps:
s101, acquiring vehicle environment data in real time during the running process of the vehicle.
The vehicle environment data includes in-vehicle environment data and out-vehicle environment data, and the in-vehicle environment data includes in-vehicle audio data collected by an in-vehicle microphone and image data collected by a camera facing a driver.
In this embodiment, the environmental data in the vehicle can be acquired by providing various sensors in the vehicle, wherein the sensors that can be provided in the vehicle include a microphone sensor, a face camera, and the like. Simultaneously, can set up multiple sensor outside the car and acquire outer environmental data, wherein the sensor that can set up outside the car includes that the preceding millimeter wave of lane identification camera and vehicle surveys radar etc.. The vehicle can also be provided with devices or equipment such as a vehicle-mounted communication terminal and the like.
Specifically, a microphone sensor is arranged in the vehicle, and can be used for collecting sound in the vehicle and forming audio data, wherein the audio data can comprise personnel voiceprint information and environmental sound information. A human face camera facing a driver is arranged in the vehicle and can be used for collecting driving feature image information of the driver. The lane recognition camera is arranged outside the vehicle and can be used for collecting image information of a lane line in front of the vehicle. The millimeter wave detection radar in the front direction of the vehicle is arranged outside the vehicle and can be used for collecting the target information of the radar in the front of the vehicle, such as the distance between the radar and a front obstacle. The vehicle-mounted communication terminal is arranged in the vehicle and can be used for sending environment data of the vehicle acquired in real time to a server of the control platform, forwarding a remote control instruction issued by the server to the running vehicle in real time, sending danger alarm information to a remote alarm system and the like.
And S102, activating an emergency response mode under the condition that the vehicle meets the preset activation condition.
Wherein the preset activation condition includes determining that the driver is in an abnormal driving state according to the in-vehicle environment data. The abnormal driving state may include a state of losing driving ability, such as long-time eye closure, a prone steering wheel, a physical conflict with other people, interference with the driver due to actions of other people to grab the steering wheel, and the like, and may also include subjective intentional dangerous driving or involuntary driving under the stress of other people, and the like.
In this embodiment, the preset activation condition may include a preset voice content and/or a preset image content that matches the abnormal driving state. Optionally, determining that the driver is in the abnormal driving state according to the in-vehicle environment data may include determining whether the driver is in the abnormal driving state according to whether preset voice content is included in audio data acquired by a microphone sensor, determining whether the driver is in the abnormal driving state according to whether preset image content is included in image data acquired by a face camera facing the driver, and the like.
Specifically, the emergency response mode may be a vehicle emergency response mode for protecting a vehicle and internal personnel, which is triggered to avoid the vehicle from being out of control when an emergency situation occurs in the vehicle. When the emergency condition affecting the safe driving of the vehicle occurs in the vehicle, the abnormal condition in the vehicle can be identified according to the sensing device in the vehicle, and the emergency coping mode of the vehicle can be activated at the first time, so that the safety of the vehicle and the personnel in the vehicle can be ensured. In the embodiment of the invention, the emergency coping mode is activated when the driver is determined to be in the abnormal driving state.
And S103, under the condition that the vehicle is in an activated state in the emergency handling mode, automatically controlling the vehicle by using an in-vehicle system according to vehicle environment data and/or vehicle running data.
In the present embodiment, the vehicle travel data may include speed, acceleration, direction of motion or orientation, and the like. The in-vehicle linear control system may include a brake-by-wire system, a steer-by-wire system, and an acceleration-by-wire system. The automatic control of the vehicle can be deceleration, braking, steering, tightening of safety belts, opening of hazard warning lights, etc. of the vehicle.
Specifically, after the emergency response mode of the vehicle is activated, a suitable vehicle control mode can be comprehensively determined according to the real-time collected vehicle internal and external environment data and the vehicle running specific data, measures can be immediately taken for the vehicle, and the vehicle which is about to be out of control or is out of control can be automatically controlled without the participation of a driver.
For example, an in-vehicle powertrain may function to receive and execute a deceleration command. An in-vehicle steer-by-wire system may function to receive and execute steering commands. The in-vehicle linear acceleration control system can receive and execute an accelerator control instruction. The communication and control of the in-vehicle linear control system can be remotely realized through a vehicle-mounted communication terminal mounted on a vehicle.
In the embodiment of the invention, the vehicle obtains vehicle environment data in real time in the driving process, wherein the vehicle environment data comprises vehicle internal environment data and vehicle external environment data, the vehicle internal environment data comprises vehicle internal audio data collected by a vehicle internal microphone and image data collected by a camera facing a driver, and the vehicle activates an emergency response mode under the condition that a preset activation condition is met, wherein the preset activation condition comprises the condition that the driver is in an abnormal driving state according to the vehicle internal environment data, and the vehicle automatically controls the vehicle by using an in-vehicle linear control system according to the vehicle environment data and/or the vehicle driving data under the condition that the vehicle is in the activation state in the emergency response mode. In the technical scheme of the embodiment of the invention, when the acquired environment data in the vehicle meets the requirement of activating the emergency response mode of the vehicle, the vehicle can be automatically controlled by using an in-vehicle system according to the acquired data in and out of the vehicle, so that the problem of out-of-control of the vehicle caused by emergency situations of personnel in the vehicle is solved, the emergency automatic braking of the vehicle under the emergency situations is realized, the probability of vehicle accidents is reduced, and the safety of the vehicle and the property of the human body is ensured to the maximum extent.
Example two
Fig. 2 is a flowchart of a vehicle emergency response control method according to a second embodiment of the present invention, and the technical solution of the second embodiment of the present invention is further optimized based on the above optional technical solutions, and a specific manner for determining a vehicle emergency response mode is given. Specifically, the method for automatically controlling the vehicle by using the in-vehicle system according to the vehicle environment data and/or the vehicle driving data comprises at least one of the following steps: determining that the vehicle deviates from the original lane line according to the external environment data, and controlling the vehicle to drive back to the original lane line by using a steer-by-wire system; determining that the vehicle has a collision risk of a first preset level at present according to the vehicle environment data and/or the vehicle running data, and braking by using a brake-by-wire system; determining that the vehicle has a collision risk of a second preset level at present according to the vehicle environment data and/or the vehicle running data, starting a safety belt pre-tightening system, steering by using a steer-by-wire system and braking by using a steer-by-wire system, wherein the collision risk corresponding to the second preset level is higher than the collision risk corresponding to the first preset level; and if the vehicle is determined to be in an acceleration state according to the vehicle running data, stopping the acceleration action of the vehicle by using the acceleration-by-wire system. The advantage of this arrangement is that the vehicle can be controlled in multiple angles according to the collected vehicle environment or running data, so that the vehicle can safely continue to run or stop running automatically in the shortest time.
As shown in fig. 2, a flowchart of a vehicle emergency response control method according to a second embodiment of the present invention specifically includes the following steps:
s201, acquiring vehicle environment data in real time in the driving process of the vehicle.
The vehicle environment data includes in-vehicle environment data and out-vehicle environment data, and the in-vehicle environment data includes in-vehicle audio data collected by an in-vehicle microphone and image data collected by a camera facing a driver.
S202, under the condition that the vehicle is determined to meet the preset activation condition, the emergency response mode is activated.
Wherein the preset activation condition includes determining that the driver is in an abnormal driving state according to the in-vehicle environment data.
Optionally, the preset activation condition further includes: a first emergency button in the vehicle for use by the driver is activated and a second emergency button in the vehicle for use by the passenger is activated. Specifically, the first emergency button for the driver may be an emergency button with a false touch prevention function, and may be used to start the emergency response mode in an emergency, and cancel the first emergency button when the passenger or the driver touches the emergency button by a false touch, that is, cancel the emergency response mode, and resume the control of the driver on the vehicle. The second emergency button for passengers in the vehicle may be an emergency button, may be used to start the emergency response mode in an emergency, and may not have the functions of canceling the button and canceling the emergency response mode, which is to prevent the driver from pressing the button when being controlled by a lawbreaker, but from canceling the emergency response mode by the lawbreaker through the second emergency button for passengers in the vehicle.
Optionally, the preset activation condition further includes: and recognizing that the audio data in the vehicle contains preset keywords. The voice triggering the emergency response mode can be preset, and the emergency response mode can also be cancelled through the voice, namely, the voice control safe starting of the emergency response mode is realized by setting a specific voiceprint password, the emergency response mode can be started when a driver or other passengers have voice production capacity, and the emergency response mode can also be started through voice cancellation, wherein the specific voiceprint password can be continuous cough, keywords, specific singing voice and the like.
Optionally, the preset activation condition further includes: the vehicle receives the remote control instruction sent by the server. Specifically, the vehicle may receive the remote control instruction transmitted by the server, and the server may transmit the remote control instruction to a vehicle-mounted communication terminal mounted on the vehicle. The server can activate the emergency response mode by sending a remote control command through the vehicle-mounted communication terminal under the condition that personnel in the vehicle do not activate the emergency response mode. Optionally, the triggering the server to issue the remote control instruction to activate the emergency coping mode may include: the method comprises the following steps of triggering personnel inside and outside a vehicle by telephone, triggering personnel inside and outside the vehicle by short message and triggering other preset conditions.
Optionally, the preset activation condition further includes: and determining that the vehicle currently has collision risk and the like according to the environment data outside the vehicle and/or the vehicle running data. Specifically, the off-board environmental data may be derived from: lane recognition cameras, vehicle forward millimeter wave detection radars and the like. The lane line identification camera can be used for identifying the current driving lane line of the vehicle; the lane recognition camera and the vehicle forward millimeter wave radar can be used for identifying dangerous obstacles in front of the vehicle. According to the external environment data and/or the vehicle running data, the activation condition for activating the emergency coping mode can be preset, for example, the vehicle can synthesize data collected by a lane recognition camera, a vehicle forward millimeter wave detection radar and the like, whether the vehicle has collision risks or not is judged according to the preset condition, if so, the emergency coping mode of the vehicle can be activated, the safety of the vehicle and personnel is ensured, and if not, the emergency coping mode of the vehicle is not activated.
Further, the emergency response mode of the vehicle may be activated as long as any one of the above preset activation conditions is satisfied, that is: the method has the advantages that the driver is determined to be in an abnormal driving state according to the environment data in the vehicle, the first emergency button used by the driver in the vehicle is triggered, the second emergency button used by passengers in the vehicle is triggered, the fact that the preset keywords are contained in the audio data in the vehicle is recognized, the vehicle receives the remote control command sent by the server, and the fact that the collision risk exists in the vehicle currently is determined according to the environment data outside the vehicle and/or the vehicle running data.
S203, under the condition that the vehicle is in the activated state in the emergency coping mode, determining that the vehicle deviates from the original lane line according to the vehicle exterior environment data, and controlling the vehicle to drive back to the original lane line by using the steer-by-wire system.
Optionally, when the emergency response mode is in an activated state, whether the vehicle deviates from the lane line or not may be determined according to a lane recognition camera arranged outside the vehicle, and if the vehicle deviates, the vehicle takes over the steer-by-wire system from the driver's hand, and the vehicle is corrected to run into the lane line; if the vehicle is within the lane line, the vehicle will take over the steer-by-wire system from the driver's hand, continuing to keep driving within the lane line. For example, in the case that the driver is in an abnormal driving state due to actions such as robbing a steering wheel by passengers, after the emergency handling mode is activated, the vehicle can be kept running along the original lane line, and the danger caused by large-angle steering of the vehicle is avoided.
S204, under the condition that the vehicle is in an activated state in the emergency coping mode, determining that the vehicle currently has a collision risk of a first preset level according to vehicle environment data and/or vehicle running data, and braking by using a brake-by-wire system.
Optionally, when the emergency response mode is in an activated state, the dangerous obstacle in front of the vehicle can be identified according to data collected by sensors such as a lane identification camera arranged outside the vehicle and a vehicle forward millimeter wave radar, whether the vehicle has a collision risk of a first preset level or not is judged, if yes, the vehicle takes over the brake-by-wire system from a driver hand, the vehicle is braked, and if not, the vehicle takes over the brake-by-wire system from the driver hand, and the vehicle continues to keep running.
Optionally, when the emergency response mode is in an activated state, the internal condition of the vehicle may be identified according to data collected by sensors such as a camera and a microphone which are arranged in the vehicle and face a driver, and whether the vehicle has a collision risk of a first preset level at present is determined, if yes, the vehicle takes over the brake-by-wire system from a driver hand, and performs brake braking on the vehicle, and if not, the vehicle takes over the brake-by-wire system from the driver hand, and continues to keep the vehicle running.
Optionally, whether the collision risk of the first preset level exists or not can be comprehensively judged according to the environment data inside the vehicle, the environment data outside the vehicle and the vehicle running data.
Furthermore, the first predetermined level judgment criterion may be set according to the vehicle weight, the vehicle speed, the acceleration, the distance from the vehicle to the obstacle, and the specific conditions inside the vehicle, and the specific judgment criterion is not set. For example, the first preset level determination criterion may be: when the weight of the vehicle is less than 4.5 tons, the distance between the front part and the obstacle is less than 30 meters and more than 25 meters, and meanwhile, the speed of the vehicle is less than 50 kilometers per hour or the in-vehicle microphone recognizes the scream of people in the vehicle.
S205, under the condition that the vehicle is in an activated state in the emergency coping mode, determining that the vehicle currently has a collision risk of a second preset level according to vehicle environment data and/or vehicle running data, starting a safety belt pre-tightening system, steering by using a steer-by-wire system, and braking by using a brake-by-wire system.
And the collision risk corresponding to the second preset grade is higher than the collision risk corresponding to the first preset grade.
Optionally, when the emergency response mode is in an activated state, the dangerous obstacle in front of the vehicle can be identified according to data acquired by sensors such as a lane identification camera arranged outside the vehicle and a vehicle forward millimeter wave radar, whether the vehicle has a collision risk of a second preset level currently is judged, if yes, the vehicle takes over the brake-by-wire system and the steer-by-wire system from a driver hand, a safety belt pre-tightening system is started, the vehicle is steered while applying full-force braking with maximum braking force, and if not, the vehicle takes over the brake-by-wire system and the steer-by-wire system from the driver hand, and the driving of the vehicle is continuously maintained.
Optionally, when the emergency response mode is in an activated state, the internal condition of the vehicle may be identified according to data acquired by sensors such as a camera and a microphone which are arranged in the vehicle and face a driver, and whether the vehicle has a collision risk of a second preset level currently is determined, if yes, the vehicle takes over the brake-by-wire system and the steer-by-wire system from a driver hand, the safety belt pre-tightening system is started, the vehicle is steered while applying full-force braking with maximum braking force, and if not, the vehicle takes over the brake-by-wire system and the steer-by-wire system from the driver hand, and the driving of the vehicle is continuously maintained.
Optionally, whether the collision risk of the second preset level exists or not can be comprehensively judged according to the environment data inside the vehicle, the environment data outside the vehicle and the vehicle running data.
Further, the second preset level judgment standard can be set according to the vehicle weight, the vehicle speed, the distance between the vehicle and the obstacle and the specific conditions in the vehicle, and the specific judgment standard is not set again. And the collision risk corresponding to the second preset grade is higher than the collision risk corresponding to the first preset grade. For example, the second preset level criterion may be: when the weight of the vehicle is more than 4.5 tons, the distance between the vehicle and a front obstacle is less than 15 meters, the speed of the vehicle is more than 50 kilometers per hour, or a camera in the vehicle recognizes that the driver has lost consciousness in a prone steering wheel.
S206, under the condition that the vehicle is in the activated state in the emergency handling mode, determining that the vehicle is in the acceleration state according to the vehicle running data, and stopping the acceleration action of the vehicle by using the acceleration-by-wire system.
Optionally, when the emergency response mode is in an activated state, whether the vehicle has an acceleration action at present may be determined according to an acceleration sensing device configured in the vehicle, if so, the vehicle takes over the line-control acceleration system from a driver's hand, and stops the acceleration action of the vehicle, and if not, the vehicle takes over the line-control acceleration system from the driver's hand, and continues to keep the vehicle running.
Further, the steps S203 to S206 are control systems and control methods that the vehicle can take over from the driver' S hand when the vehicle is in the emergency handling mode activated state, and the vehicle may implement at least one of the steps S203 to S206.
According to the method for controlling the emergency response of the vehicle, the environmental data inside and outside the vehicle in the driving process of the vehicle are firstly acquired, then the emergency response mode is activated under the condition that the vehicle is determined to meet the preset activation condition, and finally the vehicle is automatically controlled comprehensively according to the environmental data and/or the driving data of the vehicle, so that the problem of out-of-control of the vehicle caused by emergency situations of personnel inside the vehicle is solved, the current vehicle environment and the driver state information of the vehicle are acquired in real time through the multi-sensor module, the control precision is improved, and the system can be automatically and emergently controlled under the emergency and emergency situations to avoid accidents.
On the basis of the above embodiment, the method may further include: after the vehicle activates the emergency coping mode, the vehicle further transmits the vehicle environment data and the vehicle running data to a server and transmits an emergency processing request to the server, and the server executes emergency processing operation according to the vehicle environment data, the vehicle running data and the emergency processing request, wherein the emergency processing operation comprises an alarm operation and/or an emergency call operation; or the vehicle sends the vehicle environment data and the vehicle driving data to a server, the server analyzes the vehicle environment data and the vehicle driving data, and executes emergency processing operation when the emergency processing condition is determined to be met according to the analysis result, wherein the emergency processing operation comprises an alarm operation and/or an emergency call operation.
Specifically, after the vehicle activates the emergency response mode, the vehicle may perform information interaction with the server through a vehicle-mounted communication terminal provided on the vehicle, and determine whether an emergency processing operation needs to be performed, where the information may include: according to environmental data collected by sensors arranged inside and outside the vehicle, driving data of the vehicle, an emergency processing request and the like. Wherein the emergency processing request may include: alarm operations and/or emergency call operations, etc.
Further, if the server receives the emergency processing request information, corresponding operations can be directly taken, and if the server does not receive the emergency processing request, analysis can be performed according to the received vehicle environment data and the vehicle driving data, so that whether the emergency processing operation needs to be executed or not is comprehensively judged. Wherein, the judgment condition may be: screaming of people in the vehicle, loss of consciousness of the driver, collision of the vehicle, fire in the vehicle and the like.
Optionally, after the emergency response mode is activated, the vehicle further performs a hazard warning process through a warning device external to the vehicle. The trigger conditions of the hazard warning process may be while the vehicle takes a braking operation, while the vehicle takes a steering operation, while the vehicle takes an acceleration cancelling operation, and the like. The external warning device of the vehicle can be a tail lamp or a head lamp of the vehicle, and can also be a warning device arranged on the roof, the tail or the door of the vehicle, the warning device can be a display screen, the danger warning processing can be that warning information is displayed on the display screen, the warning information can be preset information matched with the sudden situation in the current vehicle, such as 'please notice that the current vehicle is out of control', and the like, and the external warning device helps drivers of other vehicles around or pedestrians to quickly know the state of the current vehicle so as to take measures such as avoiding or helping warning in time.
Optionally, after receiving a cancellation operation for activating the emergency response mode, the vehicle sends the vehicle environment data and the vehicle driving data to the server, where the cancellation operation includes pressing a cancellation button and/or inputting a voice cancellation instruction; the server transmits a cancel prohibition instruction to the vehicle when determining that a preset abnormal cancel condition is met according to the vehicle environment data and/or the vehicle running data; the vehicle keeps the emergency countermeasure mode in the activated state after receiving the cancel prohibition instruction.
Specifically, the emergency coping mode may be deactivated by triggering a first emergency button for a driver in the vehicle in a preset triggering manner (e.g., long pressing), or by acquiring a preset specific voice spoken by a person in the vehicle through a microphone in the vehicle. After the emergency response mode is cancelled, the server can judge whether a preset abnormal cancellation condition is met or not and whether a cancellation prohibition instruction needs to be issued to the vehicle or not according to the vehicle environment data and/or the vehicle running data. Once the server prohibits the cancel instruction to the vehicle, the emergency countermeasure mode of the vehicle can no longer be cancelled by the in-vehicle operation. The preset exception cancellation condition may be: the method comprises the following steps of at least one of car interior personnel screaming, driver unconsciousness, car interior personnel malicious cancellation (for example, recognizing that the input cancellation operation times exceed a preset time threshold value, such as 3 times, within a preset time length, such as 30 seconds), and fire in the car.
For example, the server may issue a cancel prohibition instruction to the vehicle when: after a first emergency button used by a driver in the vehicle is cancelled, the server judges that the driver lies prone on the steering wheel and loses consciousness according to the received video image, and then a trigger instruction corresponding to the emergency response mode can be issued again and cancellation through operation in the vehicle is forbidden, and the vehicle keeps the emergency response mode in an activated state.
Further, the preset exception cancellation condition further includes: the vehicle is currently at risk of a collision and the vehicle is in an accelerating state. After the vehicle receives the cancellation operation for activating the emergency response mode, the server receives data acquired by a lane recognition camera, a vehicle forward millimeter wave detection radar sensor and the like, determines that the vehicle has a collision risk and is in an acceleration state, determines that the vehicle meets a preset abnormal cancellation condition, and issues a cancellation prohibition instruction to the vehicle, wherein the emergency response mode of the vehicle cannot be cancelled by in-vehicle operation any more at the moment.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle emergency response control system according to a third embodiment of the present invention. As shown in fig. 3, the system includes: an environmental data acquisition module 301, an emergency response mode activation module 302, and an automatic control module 303 integrated in a vehicle, wherein:
the environment data acquiring module 301 is configured to acquire vehicle environment data in real time during a driving process, where the vehicle environment data includes vehicle interior environment data and vehicle exterior environment data, and the vehicle interior environment data includes vehicle interior audio data acquired by a vehicle interior microphone and image data acquired by a camera facing a driver.
An emergency response mode activation module 302, configured to activate the emergency response mode if it is determined that a preset activation condition is met, where the preset activation condition includes that the driver is determined to be in an abnormal driving state according to the in-vehicle environment data.
And the automatic control module 303 is configured to automatically control the vehicle by using an in-vehicle linear control system according to the vehicle environment data and/or the vehicle driving data when the emergency response mode is in an activated state.
According to the vehicle emergency response control system provided by the embodiment of the invention, when the acquired environment data in the vehicle meets the requirement of activating the emergency response mode of the vehicle, the vehicle can be automatically controlled by using the in-vehicle linear control system according to the acquired data in and out of the vehicle, so that the problem of out-of-control of the vehicle caused by emergency situations of personnel in the vehicle is solved, the emergency automatic braking of the vehicle under the emergency situations is realized, the probability of vehicle accidents is reduced, and the safety of the vehicle and the property of the human body is ensured to the maximum extent.
Optionally, the emergency handling mode activating module 302 includes:
an activation condition recognition unit: the system comprises a server, a first emergency button, a second emergency button, a first audio data processing unit and a second audio data processing unit, wherein the first emergency button is used for identifying whether a first emergency button used by a driver in the vehicle is triggered or not, identifying whether a second emergency button used by passengers in the vehicle is triggered or not, identifying whether audio data in the vehicle contains preset keywords or not and identifying whether the vehicle receives a remote control command sent by the server or not; and identifying whether the vehicle is currently determined to be at risk of collision based on the off-board environmental data and/or the vehicle travel data.
Optionally, the automatic control module 303 includes at least one of the following control units:
a first control unit: and the control system is used for controlling the vehicle to drive back to the original lane line by using the steer-by-wire system if the vehicle is determined to deviate from the original lane line according to the vehicle environment data.
A second control unit: and the system is used for determining that the vehicle has the collision risk of a first preset grade currently according to the environment data outside the vehicle and/or the vehicle running data, and then braking by using the brake-by-wire system.
A third control unit: and the safety belt pre-tightening system is started, steering is carried out by using the steer-by-wire system, and braking is carried out by using the brake-by-wire system, wherein the collision risk corresponding to the second preset level is higher than the collision risk corresponding to the first preset level.
A fourth control unit: and the control device is used for determining that the vehicle is in an acceleration state according to the vehicle running data, and stopping the acceleration action of the vehicle by using the acceleration-by-wire system.
Optionally, the system further comprises:
an abnormality cancellation control module integrated in a vehicle: the system comprises a server, a voice processing unit and a voice processing unit, wherein the voice processing unit is used for sending vehicle environment data and vehicle running data to the server after receiving a cancellation operation for activating the emergency handling mode after activating the emergency handling mode, and the cancellation operation comprises pressing a cancellation button and/or inputting a voice cancellation instruction;
the cancellation prohibition instruction issuing module is integrated in the server and used for issuing a cancellation prohibition instruction to the vehicle when the preset abnormal cancellation condition is determined to be met according to the vehicle environment data and/or the vehicle running data;
and the activation state maintaining module is integrated in the vehicle and used for maintaining the emergency coping mode in an activation state after receiving the cancellation prohibition instruction.
Further, the preset abnormality cancelling condition includes: the vehicle is currently at risk of a collision and the vehicle is in an accelerating state.
Optionally, the system further comprises:
an emergency processing execution module integrated in a vehicle: the emergency handling system is used for sending vehicle environment data and vehicle driving data to the server and sending an emergency processing request to the server after the emergency handling mode is activated;
an emergency processing operation execution module integrated in the server for executing an emergency processing operation according to the vehicle environment data, the vehicle driving data and the emergency processing request; or, the emergency processing device is used for analyzing the vehicle environment data and the vehicle running data, and executing the emergency processing operation when the emergency processing condition is determined to be met according to the analysis result. Wherein the emergency handling operation comprises an alarm operation and/or an emergency call operation.
Optionally, the system further comprises:
hazard warning module 307 integrated in a vehicle: the method is used for carrying out danger alarm processing through a warning device arranged outside the vehicle after the vehicle activates the emergency response mode.
The vehicle emergency response control system provided by the embodiment of the invention can execute the vehicle emergency response control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 shows a schematic structural diagram of a vehicle that can be used to implement a fourth embodiment of the invention. As shown in fig. 4, the vehicle 400 includes a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor 402, and when the processor 402 executes the computer program, the steps executed by the vehicle in the vehicle emergency response control method according to the embodiment of the present invention can be implemented, and the corresponding functions and advantages are provided.
Fig. 5 is a schematic control structure diagram of a vehicle according to the present invention, and as shown in the figure, the vehicle may further include: the system comprises a microphone, an emergency button for preventing false touch, a face recognition camera, a lane recognition camera, a vehicle forward millimeter wave radar and other sensors. The vehicle can also be provided with devices or equipment such as a vehicle-mounted communication terminal and the like, a safety belt pre-tightening system and the like. Specifically, the vehicle may further include a drive-by-wire system, including: a brake-by-wire system, a steer-by-wire system, and an acceleration-by-wire system.
The computer program running on the processor 402 for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
EXAMPLE five
In the context of the present invention, a computer-readable storage medium may be a tangible medium, computer-executable instructions, when executed by a computer processor, for performing a vehicle emergency response control method in an embodiment of the present invention, the method comprising:
the method comprises the steps that vehicle environment data are obtained in real time in the driving process of a vehicle, wherein the vehicle environment data comprise in-vehicle environment data and out-vehicle environment data, and the in-vehicle environment data comprise in-vehicle audio data collected through an in-vehicle microphone and image data collected through a camera facing a driver;
the method comprises the steps that the vehicle activates an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises the step that the driver is determined to be in an abnormal driving state according to environmental data in the vehicle;
and under the condition that the vehicle is in an activated state in the emergency coping mode, automatically controlling the vehicle by using an in-vehicle linear control system according to vehicle environment data and/or vehicle running data.
In the context of the present invention, a computer readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It should be noted that, in the embodiment of the vehicle emergency handling control system, the included units and modules are merely divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle emergency response control method is characterized by comprising the following steps:
the method comprises the steps that vehicle environment data are obtained in real time in the driving process of a vehicle, wherein the vehicle environment data comprise vehicle internal environment data and vehicle external environment data, and the vehicle internal environment data comprise vehicle internal audio data collected through a vehicle internal microphone and image data collected through a camera facing a driver;
the vehicle activates an emergency response mode under the condition that a preset activation condition is determined to be met, wherein the preset activation condition comprises that the driver is determined to be in an abnormal driving state according to the in-vehicle environment data;
and under the condition that the emergency coping mode is in an activated state, the vehicle is automatically controlled by using an in-vehicle system according to the vehicle environment data and/or the vehicle running data.
2. The method of claim 1, wherein the preset activation condition further comprises at least one of:
a first emergency button within the vehicle for use by a driver is triggered or a second emergency button within the vehicle for use by a passenger is triggered;
recognizing that the audio data in the vehicle contains preset keywords;
the vehicle receives a remote control instruction sent by the server;
determining that the vehicle currently has a collision risk according to the environment data outside the vehicle and/or the vehicle running data.
3. The method of claim 1, wherein the vehicle, after activating the emergency response mode, further comprises:
after receiving a cancellation operation of activating the emergency coping mode, the vehicle sends the vehicle environment data and the vehicle running data to a server, wherein the cancellation operation comprises pressing a cancellation button and/or inputting a voice cancellation instruction;
the server issues a cancel prohibition instruction to the vehicle when determining that a preset abnormal cancel condition is met according to the vehicle environment data and/or the vehicle running data;
the vehicle keeps the emergency coping mode in an activated state after receiving the cancel prohibition instruction.
4. The method according to claim 3, wherein the preset exception cancellation condition comprises:
the vehicle is currently at risk of a collision and the vehicle is in an accelerating state.
5. The method of claim 1, wherein automatically controlling the vehicle with an in-vehicle control system based on the vehicle environment data and/or vehicle travel data comprises at least one of:
determining that the vehicle deviates from an original lane line according to the vehicle exterior environment data, and controlling the vehicle to drive back to the original lane line by using a steer-by-wire system;
determining that the vehicle has a collision risk of a first preset level at present according to the vehicle environment data and/or the vehicle running data, and braking by using a brake-by-wire system;
determining that the vehicle has a collision risk of a second preset level at present according to the vehicle environment data and/or the vehicle running data, starting a safety belt pre-tightening system, steering by using a steer-by-wire system and braking by using a brake-by-wire system, wherein the collision risk corresponding to the second preset level is higher than the collision risk corresponding to the first preset level;
and if the vehicle is determined to be in an acceleration state according to the vehicle running data, stopping the acceleration action of the vehicle by using the acceleration-by-wire system.
6. The method of claim 1, wherein the vehicle, after activating the emergency response mode, further comprises:
the vehicle sends the vehicle environment data and the vehicle running data to a server and sends an emergency processing request to the server, and the server executes emergency processing operation according to the vehicle environment data, the vehicle running data and the emergency processing request, wherein the emergency processing operation comprises an alarm operation and/or an emergency call operation;
or the vehicle sends the vehicle environment data and the vehicle driving data to a server, the server analyzes the vehicle environment data and the vehicle driving data, and executes emergency processing operation when determining that an emergency processing condition is met according to an analysis result, wherein the emergency processing operation comprises an alarm operation and/or an emergency call operation.
7. The method of claim 1, wherein the vehicle, after activating the emergency response mode, further comprises:
and the vehicle carries out danger alarm processing through a warning device arranged outside the vehicle.
8. A vehicle emergency response control system comprising an environmental data acquisition module, an emergency response mode activation module, and an automatic control module integrated in a vehicle, wherein:
the environment data acquisition module is used for acquiring vehicle environment data in real time in the driving process, wherein the vehicle environment data comprises vehicle interior environment data and vehicle exterior environment data, and the vehicle interior environment data comprises vehicle interior audio data acquired by a vehicle interior microphone and image data acquired by a camera facing a driver;
the emergency response mode activating module is used for activating an emergency response mode under the condition that a preset activating condition is determined to be met, wherein the preset activating condition comprises that the driver is determined to be in an abnormal driving state according to the in-vehicle environment data;
and the automatic control module is used for automatically controlling the vehicle by using an in-vehicle linear control system according to the vehicle environment data and/or the vehicle running data under the condition that the emergency coping mode is in an activated state.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps performed by the vehicle in the vehicle emergency countermeasure control method according to any one of claims 1-7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, implements the steps performed by the vehicle in the vehicle emergency response control method according to any one of claims 1 to 7, or the steps performed by the server in the vehicle emergency response control method according to any one of claims 1 to 7.
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