CN115071722B

CN115071722B - Vehicle control method and apparatus

Info

Publication number: CN115071722B
Application number: CN202210603439.8A
Authority: CN
Inventors: 李丹; 吴黄伟
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2023-05-23
Anticipated expiration: 2042-05-30
Also published as: CN115071722A

Abstract

The application relates to a vehicle control method and device, which are used for solving the problem that a single vehicle control method can not adapt to different vehicle driving scenes when encountering a deceleration strip. The method is applied to a vehicle, and comprises the following steps: in the running process of the vehicle, if the environment sensing sensor detects that a deceleration strip is arranged on the road surface in front of the vehicle, the controller controls the camera to acquire an image in the vehicle; the controller analyzes the in-vehicle image to obtain a driver status of a driver in the vehicle. If the driver state is a normal driving state, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip; if the driver state is an abnormal driving state, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip. Wherein, abnormal driving state includes: the driver's fatigue driving state and/or distraction driving state during running of the vehicle.

Description

Vehicle control method and apparatus

Technical Field

The present disclosure relates to the field of assisted driving, and in particular, to a vehicle control method and apparatus.

Background

The deceleration strip is generally disposed at a road section where a vehicle is required to slow down and a road section where a traffic accident is easily caused, such as an intersection, an industrial and mining enterprise, a school, a residential community population, etc., for reducing the running speed of the vehicle. When the vehicle passes through the deceleration strip, vibration is brought to the vehicle, and passengers in the vehicle can feel the vibration.

In the related art, when a vehicle detects that a deceleration strip is arranged on a road surface in front of the vehicle, the vehicle is usually controlled to pass through the deceleration strip in a comfortable state, so that vibration felt by a driver is reduced as much as possible, and better driving experience is brought to the driver. However, various scenes exist in the running process of the vehicle, and when the vehicle encounters a deceleration strip, the vehicle control method is single and can not be suitable for other scenes in the running process of the vehicle.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and device, which are used for solving the problem that a single vehicle control method can not adapt to other scenes when encountering a deceleration strip.

In order to achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

in a first aspect, a vehicle control method is provided, applied to a vehicle, the vehicle including a controller, an environmental awareness sensor, a preset system, and a camera disposed inside the vehicle; the controller is connected with the environment sensing sensor, the camera and the preset system; the environment sensing sensor is used for detecting objects around the vehicle; the preset system comprises a suspension system of the vehicle and/or a seat adjusting system of the vehicle; the method comprises the following steps:

In the running process of the vehicle, if the environment sensing sensor detects that a deceleration strip is arranged on the road surface in front of the vehicle, the controller sends a control instruction to the camera to control the camera to collect an in-vehicle image of the vehicle. The controller analyzes the image in the vehicle to obtain the state of the driver in the vehicle. If the driver state is a normal driving state, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip. If the driver state is an abnormal driving state, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip. When the in-vehicle image is analyzed to determine that the driver has fatigue driving and/or distraction driving states in the running process of the vehicle, the driver is determined to be in an abnormal driving state.

Through the technical scheme that this application embodiment provided, whether the system is preset to confirm to reduce the vibrations of vehicle when passing through the deceleration strip in combination with the driver's state to under the prerequisite of weighing vehicle travelling comfort and vehicle driving security, the control mode when making the deceleration strip through is more diversified, can adapt to more vehicle driving scenes.

In a possible implementation manner of the first aspect, the controller analyzes the image in the vehicle to obtain the number of drivers and passengers; if the driver state is an abnormal driving state, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip, and the method specifically comprises the following steps: if the driver state is an abnormal driving state and the number of drivers and passengers is 1, namely, the driver is only the driver, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip. Therefore, the mode of controlling whether the preset system reduces the vibration of the vehicle when the vehicle passes through the speed reduction zone is selected when no passenger exists on the vehicle, and the passenger can be prevented from being subjected to larger vibration when the passenger passes through the speed reduction zone.

In another possible implementation manner of the first aspect, the method further includes: if the driver state is an abnormal driving state and the number of drivers and passengers is greater than 1, namely, the drivers and passengers in the same row are in addition on the vehicle, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip. In addition, the controller may issue a first alert for alerting the driver to concentrated mental retardation. The first alert may be at least one of the following alert: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt. Thus, when the passenger is present in the vehicle, the effect of both the comfort of the passenger riding the vehicle and the reminding of the driver can be achieved.

In another possible implementation of the first aspect, the preset system comprises a seat adjustment system. If the driver's state is an abnormal driving state and there is an occupant on the vehicle, the controller controls the seat adjusting system to reduce vibration of other seats than the driving seat when the vehicle passes through the speed bump. In this way, when the vehicle has an occupant, the seats of the driver's seat and other seats are controlled differently, so that the effect of reminding the driver by the vibration of the vehicle when passing through the deceleration strip is achieved while ensuring the comfort of the occupant.

In another possible implementation manner of the first aspect, the method further includes: the controller issues a first reminder for reminding the driver to concentrate on the mental safety driving. The first reminding mode can be at least one of the following reminding modes: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt. Therefore, when the vehicle passes through the deceleration strip, vibration of other seats except the driving position is reduced through the seat adjusting system, and the driver is reminded in other reminding modes, so that the safety of vehicle driving is better guaranteed.

In another possible implementation manner of the first aspect, in a case where the preset system includes a suspension system, the controller controls the preset system to enter the first state to reduce vibration of the vehicle when the vehicle passes through the deceleration strip, specifically may be: the controller controls the suspension system to reduce the stiffness of the suspension of the vehicle to reduce vibration of the vehicle as the vehicle passes over the deceleration strip. The controller controls the preset system to enter a second state so as to remind a driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip, and the method specifically can be as follows: the controller controls the suspension system to maintain the hardness of the suspension of the vehicle or to increase the hardness of the suspension of the vehicle so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip.

In another possible implementation manner of the first aspect, the method further includes: in the running process of the vehicle, if the environment sensing sensor detects that a deceleration strip is arranged on the road surface in front of the vehicle and the speed of a front road section where the vehicle runs is limited, the controller obtains the current speed of the vehicle and the limited speed corresponding to the front road section. If the current speed is greater than the limit speed, the controller sends out a second prompt for reminding the driver of reducing the speed; the second reminding can be at least one of the following reminding modes: voice alert, interface text or view alert.

In a second aspect, there is provided an in-vehicle apparatus including: the system comprises a memory, a controller, an environment sensing sensor, a preset system and a camera arranged in the vehicle; the controller is connected with the environment sensing sensor, the camera and the preset system; the environment sensing sensor is used for detecting objects around the vehicle; the preset system comprises a suspension system of the vehicle and/or a seat adjusting system of the vehicle; the memory is coupled to the controller, the memory being for storing computer program code comprising computer instructions that, when executed by the controller, cause the in-vehicle apparatus to perform the vehicle control method of any one of the first aspects described above.

In a third aspect, a computer-readable storage medium is provided, in which instructions are stored which, when executed on an in-vehicle apparatus, enable the in-vehicle apparatus to perform the vehicle control method of any one of the above-described first aspects.

In a fourth aspect, a computer program product is provided containing instructions that, when run on an in-vehicle device, enable the in-vehicle device to perform the vehicle control method of any one of the above-mentioned first aspects.

In a fifth aspect, a chip system is provided, which includes a processor for supporting the vehicle-mounted device to implement the functions involved in the first aspect, such as controlling the camera to capture an image in a vehicle, controlling a state of a preset system, and so on. In one possible design, the apparatus further includes a memory for holding program instructions and data necessary for the first device. When the device is a chip system, the device can be formed by a chip, and can also comprise the chip and other discrete devices.

The technical effects of any one of the design manners of the second aspect to the fifth aspect may be referred to the technical effects of the different design manners of the first aspect, and will not be repeated here.

Drawings

Fig. 1 is a schematic view of a scenario of a vehicle control method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a vehicle-mounted device according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 4 is a flow chart of another vehicle control method according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of another vehicle control method according to an embodiment of the present disclosure;

fig. 6A is a schematic display diagram of a vehicle display screen according to an embodiment of the present application;

FIG. 6B is a schematic illustration of another vehicle display provided in an embodiment of the present application;

FIG. 7A is a flow chart of another vehicle control method according to an embodiment of the present disclosure;

fig. 7B is a schematic display diagram of another vehicle display screen according to an embodiment of the present application;

FIG. 7C is a schematic illustration of another vehicle display provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a chip system according to an embodiment of the present application.

Detailed Description

The deceleration strip is also called a deceleration ridge, and is a traffic facility which is arranged on a road to decelerate passing vehicles. The yellow and black colors are generally used for attracting visual attention, so that the road surface is slightly arched to achieve the aim of reminding the vehicle to slow down.

When the vehicle passes through the deceleration strip, the vehicle will produce a vertical acceleration, while when passing through a plurality of deceleration strips in succession, the vehicle tires will vibrate, and the vibrations will be transmitted from the tires to the occupants via the body and the seat. If the vibration generated when passing through the deceleration strip is large, the driving experience is poor for the passengers in the vehicle. In the related art, if it is detected that a speed bump is provided on a road surface ahead during running of a vehicle, it is common to control the vehicle to pass the road surface on which the speed bump is provided in a comfortable state. However, there may be many different situations during the running of the vehicle, and the single control manner described above cannot be adapted to other different running situations when the deceleration strip is encountered.

For this reason, the present application proposes a vehicle control method applied to a vehicle. The vehicle comprises a controller, an environment sensing sensor, a preset system and a camera arranged in the vehicle. As shown in fig. 1, in the above method, when the environmental sensor detects that the deceleration strip 11 is provided on the road surface in front of the vehicle 10 during the running of the vehicle 10, the controller decides how the vehicle 10 passes the deceleration strip 11 based on the driver data in the vehicle. In this way, more different scenes in the running process of the vehicle can be adapted. The direction indicated by the arrow in fig. 1 indicates the traveling direction of the vehicle.

In some embodiments, the vehicle control method described above relates to a controller of a vehicle, an environment-aware sensor, a preset system, and a camera provided inside the vehicle may be integrated in an in-vehicle device of the vehicle.

Referring to fig. 2, a schematic structural diagram of an in-vehicle apparatus 200 according to an embodiment of the present application is provided. The vehicle-mounted device 200 may be provided in the vehicle 10 for implementing the vehicle control method described above. As shown in fig. 2, the in-vehicle apparatus 200 may include: processor 210, memory 220, power supply 230, antenna 1, antenna 2, vehicle wireless communication (vehicle to everything, V2X) module 240, sensor module 250, positioning module 260, audio module 270, whistle button 280, display 290, vehicle camera 291, suspension system 292, seat adjustment system 293, and the like. Wherein, the environment sensing sensor module 250 includes: a direction sensor 250A, a gyro sensor 250B, an acceleration sensor 250C, a speed sensor 250D, a distance sensor 250E, and the like. The respective devices of the in-vehicle apparatus 200 may be connected by a bus.

It is to be understood that the structure illustrated in the present embodiment does not constitute a specific limitation on the above-described in-vehicle apparatus 200. In other embodiments, the in-vehicle apparatus 200 described above may include more or less components than illustrated, or certain components may be combined, or certain components may be split, or different arrangements of components may be provided. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 210 is a control center of the in-vehicle apparatus 200, and may be one processor or a collective term of a plurality of processing elements. For example, processor 210 is a central processing unit (central processing unit, CPU), may be an integrated circuit specific (application specific integrated circuit, ASIC), or may be one or more integrated circuits configured to implement embodiments of the present application, such as: one or more microprocessors (digital signal processor, DSPs), or one or more field programmable gate arrays (field programmable gate array, FPGAs).

The processor 210 may perform various functions of the in-vehicle apparatus 200 by running or executing a software program stored in the memory 220, and calling data stored in the memory 220. In addition, the processor 210 may collect vehicle body information such as a door state and an airbag state of a vehicle in which the own vehicle-mounted device is located.

In particular implementations, processor 210 may include one or more CPUs, for example, processor 210 includes CPU0 and CPU1. For example, the in-vehicle apparatus 200 may include a plurality of processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

In some embodiments, the functionality of the controller in embodiments of the present application is integrated in the processor 210. For example, the controller is used for controlling the state of a preset system according to the driver data so as to control the state of the vehicle when the vehicle passes through the deceleration strip and the vibration of the vehicle.

The Memory 220 may be, but is not limited to, a random access Memory (random access Memory, RAM) such as Double Data Rate (DDR), flash Memory (flash), read-Only Memory (ROM) or other type of static storage device that may store static information and instructions, or other type of dynamic storage device that may store information and instructions, but may also be an electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (compact disc Read-Only Memory) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 220 may be stand alone and coupled to the processor 210 via a bus. Memory 220 may also be integrated with processor 210.

The memory 220 may be used to store software programs for executing aspects of the present application, and is controlled by the processor 210 for execution.

The power supply 230 may be used to power various components of the in-vehicle device 200, such as the processor 210, the memory 220, and the like.

The V2X communication function of the in-vehicle apparatus 200 can be realized by the antenna 2 and the V2X communication module. The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the in-vehicle apparatus 200 may be used to cover a single or multiple communication bands. Different antennas may also be multiplexed to improve the utilization of the antennas.

In some embodiments, the vehicle-mounted device 200 may further include a mobile communication module (not shown in the figure), and a solution including 2G/3G/4G/5G wireless communication applied to the vehicle-mounted device 200 may be provided. The mobile communication module can receive electromagnetic waves by the antenna, filter, amplify and the like the received electromagnetic waves, and transmit the electromagnetic waves to the modem processor for demodulation. The mobile communication module can amplify the signal modulated by the modulation and demodulation processor and convert the signal into electromagnetic waves to radiate through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module may be provided in the processor 210. In some embodiments, at least some of the functional modules of the mobile communication module may be provided in the same device as at least some of the modules of the processor 210.

The positioning module 260 may provide a global navigation satellite system (global navigation satellite system, GNSS) solution to implement positioning functions of the vehicle incorporating the in-vehicle device 200. The positioning module 260 may receive electromagnetic waves via the antenna 1, frequency modulate and filter the electromagnetic wave signals, and send the processed signals to the processor 210 so that the processor 210 determines location information of the device.

The direction sensor 250A may be used to determine direction information of the in-vehicle apparatus 200. In some embodiments, the traveling direction of the vehicle in which the in-vehicle device is located may be determined by the direction sensor.

The gyro sensor 250B may be used to determine a motion posture of the in-vehicle apparatus 200, such as straight running, turning, reversing, and the like. In some embodiments, the gyroscopic sensor 250B may also be used for navigation, and the motion pose of the vehicle in which the in-vehicle device is located may be determined from the data of the gyroscopic sensor 250B. In some embodiments, the gyro sensor 250B may also be used to detect the state of the vehicle door.

The acceleration sensor 250C may detect the magnitude of acceleration in the traveling direction of the vehicle in which the in-vehicle apparatus 200 is located. When the vehicle in which the in-vehicle apparatus 200 is located is in a stationary state, the magnitude of the gravity and the direction of the gravity of the vehicle in which the in-vehicle apparatus is located can also be detected, so that the posture of the vehicle can be recognized according to the direction of the gravity.

The speed sensor 250D may detect the running speed of the vehicle in which the in-vehicle apparatus is located. In some embodiments, the speed sensor 250D may detect the speed of the vehicle in real time when the vehicle in which the in-vehicle apparatus 200 is located is traveling on the speed limit section. If it is detected that the speed of the vehicle exceeds the line speed of the road segment, the speed sensor 250D may send the current vehicle speed to the processor 210.

A distance sensor 250E for measuring a distance between the vehicle in which the in-vehicle apparatus 200 is located and a surrounding vehicle. The in-vehicle apparatus 200 may measure the distance by infrared rays or laser light.

In other embodiments, sensor module 250 may also include an angular rate sensor, a radar sensor, a knock sensor, a water temperature sensor, and the like. In some embodiments, some or all of the sensors of the sensor module 250 described above may implement the functionality of an environmental awareness sensor in embodiments of the present application. In other embodiments, the function of the environmental sensor may also be implemented by some or all of the sensors of the sensor module 250 in conjunction with the onboard camera 291.

The in-vehicle apparatus 200 may realize audio functions through the audio module 270, the tweeter 270A, the in-vehicle speaker 270B, and the microphone 270C, and the application processor, etc. Such as whistling, playing music, playing navigation sounds, etc.

The audio module 270 is used to convert digital audio information into an analog audio signal output and also to convert an analog audio input into a digital audio signal. The audio module 270 may also be used to encode and decode audio signals. In some embodiments, the audio module 270 may be disposed in the processor 210, or some functional modules of the audio module 270 may be disposed in the processor 210.

The tweeter 270A is used to convert the whistling operation into a whistling sound. After receiving the whistle operation output by the user, the in-vehicle apparatus 200 sounds a whistle from the tweeter 270A.

The in-vehicle speaker 270B is configured to convert an audio signal into a sound signal. When the in-vehicle apparatus 200 plays music or plays navigation sound, the sound may be played through the in-vehicle speaker.

Microphone 270C, also referred to as a "microphone" or "microphone," is used to convert sound signals into electrical signals. When a user issues a voice command, or when the user sounds near the microphone 270C through the mouth, a sound signal is input to the microphone 270C. The in-vehicle apparatus 200 may be provided with at least one microphone 270C. In other embodiments, the in-vehicle apparatus 200 may be provided with two microphones 270C, and may realize a noise reduction function in addition to collecting sound signals.

The whistle button 280 may be a mechanical button or a touch button.

The in-vehicle apparatus 200 realizes a display function by a graphics processor (graphics processing unit, GPU), a display screen 290, an application processor, and the like. The GPU is a microprocessor for image processing, and is connected to the display screen 290 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 220 may include one or more GPUs that execute program instructions to generate or change display information.

The display screen 290 is used for displaying images, videos, and the like. The display screen 290 includes a display panel. The display panel may employ a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED) or an active-matrix organic light-emitting diode (matrix organic light emitting diode), a flexible light-emitting diode (flex), a mini, a Micro led, a Micro-OLED, a quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), or the like.

The in-vehicle camera 291 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image onto the photosensitive element. The photosensitive element may be a charge coupled device (charge coupled device, CCD) or a Complementary Metal Oxide Semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, which is then transferred to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV, or the like format. In some embodiments, the in-vehicle apparatus 200 may include 1 or N cameras 291, N being a positive integer greater than 1. In some embodiments, the in-vehicle camera 291 may include a camera for capturing an image of the interior of the vehicle, a camera for capturing an image of the road surface in front of the vehicle, and a camera for capturing an image of the rear of the vehicle.

Suspension system 292 includes the suspension of the vehicle. A suspension is a generic term for all force-transmitting connections between the frame (or carrying body) and the axle (or wheels) of a vehicle, the purpose of which is to transmit forces and torque between the wheels and the frame. And the suspension can buffer the impact force transmitted to the frame or the vehicle body by the uneven road surface and reduce the vibration of the frame or the vehicle body caused by the impact force, so that the vehicle can run more stably.

The seat adjustment system 293 may be used to adjust parameters of each seat on the vehicle.

The vehicle control method in the following embodiment may be implemented in the in-vehicle apparatus 200 having the above-described hardware configuration.

In the above-described scenario shown in fig. 1, when it is detected that a speed bump is provided on the road surface ahead during running of the vehicle in the related art, it is generally only controlled that the vehicle passes through the speed bump in a comfortable state. However, various different scenes exist in the running process of the vehicle, and when the vehicle encounters a deceleration strip, the vehicle cannot adapt to other different running scenes only by a single vehicle control method.

The application provides a vehicle control method which is applied to a vehicle. The controller in the vehicle is respectively connected with the environment sensing sensor of the vehicle, the preset system and the camera arranged in the vehicle. When the environment sensing sensor of the vehicle detects that the front road surface is provided with the deceleration strip, the controller acquires an image in the vehicle through a camera arranged in the vehicle. The controller analyzes the image in the vehicle to obtain the driver and passenger data in the vehicle; wherein the driver data includes a driver status. The controller then controls a preset system of the vehicle to enter a corresponding state according to the driver state. For example, when the driver state is detected as a normal driving state, the controller will control the preset system to enter the first state according to the driver state such that the vibration of the vehicle is reduced when the vehicle passes through the deceleration strip. When the driver state is detected to be in an abnormal driving state, such as fatigue driving, mobile phone operation, call making, turning and chatter with other people in the vehicle, and the like, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip.

Therefore, in the running process of the vehicle, under the condition that the deceleration strip is arranged on the road surface in front of the vehicle, if the driver is in a normal driving state, the controller can control the preset system to pass through the deceleration strip in a state of small vibration, so that a driver in the vehicle has better driving experience. If the driver is in an abnormal driving state, the controller can control the preset system to pass through the speed reduction zone in a state of larger vibration, so that the vibration of the vehicle when the vehicle passes through the speed reduction zone is utilized to give a prompt to the driver. Thereby being applicable to more different scenes in the running process of the vehicle.

The embodiment of the application provides a vehicle control method, which relates to an environment sensing sensor. The environmental sensor may detect objects around the vehicle and sense environmental information around the vehicle. In some embodiments, the vehicle's context-aware sensor may include a camera, lidar, millimeter wave radar, ultrasonic radar, gyroscope, accelerometer, etc. sensor mounted on the vehicle.

The controller of the vehicle may control the vehicle. In some embodiments, a controller of the vehicle mounts a driving assistance system of the vehicle. The auxiliary driving system can utilize various sensors (such as millimeter wave radar, laser radar, single/double-eye cameras and satellite navigation) arranged on the vehicle to sense surrounding environment at any time in the running process of the vehicle, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic operation and analysis, so that a driver can perceive dangerous objects possibly happening or objects possibly affecting comfort in advance, and the driving comfort and safety of the vehicle are effectively improved. In this application embodiment, when the environmental perception sensor detects that the place ahead road surface has set up the deceleration strip, the controller of vehicle combines the driver's data to control the system of predetermineeing of vehicle to the vibrations that receive when making the vehicle pass through the deceleration strip are lighter, perhaps, utilize vibrations when the vehicle passes through the deceleration strip to send the warning to the driver. Thus, the comfort of a vehicle driver can be improved, or the safety of driving of the vehicle can be improved by reminding the driver through vibration.

In some embodiments, the predetermined system involved in the above method comprises a suspension system of a vehicle. Wherein the suspension system of the vehicle comprises a suspension of the vehicle. A suspension is a generic term for all force-transmitting connections between the frame (or carrying body) and the axle (or wheels) of a vehicle, the purpose of which is to transmit forces and torque between the wheels and the frame. And the suspension can buffer the impact force transmitted to the frame or the vehicle body by the uneven road surface and reduce the vibration of the frame or the vehicle body caused by the impact force, so that the vehicle can run more stably. Specifically, if the vehicle is traveling at a relatively high speed on a relatively smooth road section, the controller may control the hardness of the suspension to be increased to improve the stability of the vehicle body. When the vehicle passes through a bumpy road surface, the controller can control the hardness of the suspension to be reduced, so that vibration of the vehicle when the vehicle passes through the bumpy road surface is reduced, the comfort of the vehicle is improved, and the driving experience of drivers and passengers in the vehicle is improved.

In other embodiments, the preset system may also include a seat adjustment system for a vehicle. Seat adjustment systems are used to adjust parameters of a vehicle seat. In particular, the seat adjustment system may adjust parameters of seat components of a vehicle seat back, seat cushion, armrest, foot rest, seat belt, and the like. When the vehicle passes through the speed bump, the controller can adjust the vehicle seat component by the seat adjusting system so as to reduce the impact force transmitted to the vehicle seat when passing through the speed bump, and further reduce the vibration felt by personnel on the vehicle seat when the vehicle passes through the speed bump. The specific manner in which the controller controls the seat adjusting system to adjust the parameters of the vehicle seat component may be referred to as description in the conventional technology, and the embodiments of the present application will not be repeated here.

In some embodiments, the steps of the vehicle control method provided herein are shown in fig. 3. The method is applied to a vehicle, and includes S301 to S308. Wherein:

s301, detecting objects around the vehicle by the environment sensing sensor during running of the vehicle.

During the running process of the vehicle, the environment sensing sensor installed on the vehicle detects objects around the vehicle in real time, and the obtained detection result can be sent to the controller of the vehicle. The controller can control the vehicle by combining the detection result, so that the auxiliary driving function is realized. In some embodiments, the context-aware sensor may detect objects such as vehicles, pedestrians, road traffic facilities (e.g., road traffic signs, markings, speed bumps, manhole covers, etc.) and the like within a certain range around the vehicle.

In some embodiments, the vehicle's context-aware sensor may include a camera, lidar, millimeter wave radar, ultrasonic radar, gyroscope, accelerometer, etc. sensor mounted on the vehicle.

S302, detecting that a deceleration strip is arranged on the road surface in front of the vehicle by the environment sensing sensor, and sending a detection result to the controller. The detection result is used for indicating that a deceleration strip is arranged on the road surface in front of the vehicle.

In some embodiments, the context-aware sensor includes a front camera for capturing an image of a road surface in front of the vehicle. During the running of the vehicle, the front camera for acquiring the road surface image in front of the vehicle can acquire the road surface image in front of the vehicle. It is possible to determine whether a deceleration strip is provided on the road surface in front of the vehicle by analyzing the road surface image. The road surface image is analyzed to determine whether the front road surface is provided with the deceleration strip, and reference may be made to description in the conventional technology, and details of this embodiment of the present application are omitted here.

In other embodiments, the context-aware sensor may also detect whether a deceleration strip is provided on the road surface in front of the vehicle in other ways.

The controller may perform S303 after receiving a detection result from the environment sensor indicating that the deceleration strip is provided on the road surface in front of the vehicle.

S303, the controller sends a control instruction to the camera, wherein the control instruction is used for controlling the camera to collect the in-vehicle image of the vehicle.

After receiving the control instruction sent by the controller, the camera may execute S304.

S304, the camera collects an in-vehicle image of the interior of the vehicle.

In some embodiments, the cameras include at least a first camera for capturing corresponding images of a front seat of the vehicle. The front seat of the vehicle includes a driver's seat and a passenger seat. In the present embodiment, the in-vehicle image is an image including at least the driver.

In other embodiments, the camera further comprises a second camera for capturing corresponding images of the rear seat of the vehicle. In the present embodiment, the in-vehicle image is an image that also includes passengers in the rear seats in addition to the driver on the vehicle.

In order to avoid that an in-vehicle image acquired at a certain moment cannot reflect the actual situation of a driver in a vehicle, in some embodiments, the acquiring of the in-vehicle image by the camera may specifically be: the camera collects a plurality of images in the vehicle in a preset time period. The preset time period may be set according to actual situations, for example, the preset time period may be set to 2 seconds, 3 seconds, or the like.

After acquiring the in-vehicle image, the camera may perform S305.

S305, the camera sends the image in the vehicle to the controller.

After the controller receives the in-vehicle image transmitted by the camera, S306 may be performed.

S306, the controller analyzes the image in the vehicle to obtain the driver and passenger data in the vehicle. Wherein the driver data includes a driver status.

As can be seen from the above embodiments, the in-vehicle image may include at least an image of the driver. Therefore, after the controller receives the in-vehicle image, the in-vehicle image can be analyzed to obtain the driver state.

The driver state may include a normal driving state and an abnormal driving state, among others. Wherein, the abnormal driving state indicates that the driver is currently in a state that may affect driving safety. For example, the abnormal driving state may include: and driving states such as fatigue driving and/or distraction driving of the driver during the running of the vehicle.

It is conceivable that the driver has poor or insufficient sleep quality and is likely to be in a fatigue driving state when driving the vehicle for a long period of time. The fatigue driving state affects the attention, feel, perception, thinking, judgment, mind, decision and movement of the driver, thereby affecting the safety of driving the vehicle. In some embodiments, the fatigue driving state comprises: during the running of the vehicle, the driver makes a plurality of driving states such as yawning, blinking and/or head hanging.

Distraction driving refers to a phenomenon in which the driver's attention is focused on activities not related to normal driving during running of the vehicle, resulting in a decrease in driving operation ability. In some embodiments, the distracted driving state includes: during the running process of the vehicle, the driver can talk, operate the electronic product, drink water and other driving states. The on-call status indicates that the driver is talking to other people, such as making an audio/video call; the call may be distracted from the driver, and thus the safety of driving the vehicle may be affected by the ongoing call of the driver. The operation of the electronic product may specifically refer to that the driver plays/looks at a mobile phone or the like during the running process of the vehicle, which is also a common situation affecting the driving safety of the vehicle.

And when the controller detects that the driver is in any one of the fatigue driving or distraction driving states, determining that the driver state is an abnormal driving state. It should be appreciated that the above examples of states of fatigue driving and distraction driving are part of examples, and that if the controller detects other states belonging to fatigue driving or distraction driving, it may also be determined that the driver state is an abnormal driving state. In contrast to the above-described abnormal driving state, if the driver does not have the above-described abnormal driving state such as fatigue driving, distraction driving, or the like, the controller may determine that the driver state is the normal driving state.

The specific step of determining whether the driver has an abnormal driving state according to the in-vehicle image analysis by the controller may be described in the conventional technology, and the embodiments of the present application are not repeated here.

After analyzing the in-vehicle image to obtain the driver state, the controller may control the state of the preset system in conjunction with the driver state. The preset system comprises a suspension system and/or a seat adjusting system, and vibration of the vehicle when passing through the deceleration strip can be controlled by controlling the state of the preset system, so that the effect of comfort of drivers and passengers in the vehicle is improved. Meanwhile, the controller combines with the driver state control preset system, and can also give consideration to the safety of vehicle driving. Specifically, the controller controlling the state of the preset system in combination with the driver state may include S307 and S308.

S307, if the driver state is a normal driving state, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip.

As can be seen from the above description, the preset system of the vehicle may include a suspension system of the vehicle. The vehicle suspension in the suspension system can cushion the impact force transmitted to the frame or the vehicle body from the uneven road surface and reduce the vibration of the frame or the vehicle body caused thereby. Therefore, in the present embodiment, the controller can adjust the state of the vehicle suspension by controlling the state of the preset system, in particular, by controlling the suspension system, so that the suspension buffers more impact force to the vehicle when the vehicle passes through the deceleration strip.

In one embodiment, the controller controls the preset system to enter a first state to reduce vibration of the vehicle as the vehicle passes over the deceleration strip, comprising: the controller controls the suspension system to reduce the stiffness of the suspension of the vehicle to reduce vibration of the vehicle as the vehicle passes over the deceleration strip. As is clear from the above description, when the suspension hardness of the vehicle is low, the vibration of the vehicle is small when the vehicle passes over a bumpy road surface. Therefore, when the vehicle passes through the deceleration strip, the controller controls the hardness of the suspension of the vehicle to be reduced, and the vibration of the vehicle when the vehicle passes through the deceleration strip can be reduced, so that the riding experience of a driver and passengers is improved.

In other embodiments, the preset system of the vehicle may include a seat adjustment system. The seat adjusting system of the vehicle can reduce shock felt by a person on the vehicle seat when the vehicle passes through the speed bump by adjusting the vehicle seat component to reduce the impact force transmitted to the vehicle seat when the vehicle passes through the speed bump. Therefore, in the present embodiment, the controller can also reduce the vibration of the vehicle passing through the speed bump by controlling the seat adjusting system, thereby improving the riding experience of the driver.

In some embodiments, the preset system of the vehicle may include both a suspension system and a seat adjustment system. As is apparent from the above-described embodiments, if the driver's state is a normal driving state while the vehicle passes through the speed bump, the controller of the vehicle can reduce the vibration of the vehicle while passing through the speed bump by controlling the suspension system or the seat adjusting system. Therefore, when detecting that the road surface in front of the vehicle is provided with the deceleration strip, the controller can also control the suspension system and the seat adjusting system to cooperate together, so that the effect of reducing the vibration of the vehicle is better when the vehicle passes through the deceleration strip, and the driving experience of drivers and passengers can be better improved.

And S308, if the driver state is an abnormal driving state, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip.

In one embodiment, the controller controls the preset system to enter a second state to alert the driver to concentrate on safe driving by vibration of the vehicle as the vehicle passes through the deceleration strip, comprising: the controller controls the suspension system to maintain the hardness of the suspension of the vehicle or to increase the hardness of the suspension of the vehicle so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip. As can be seen from the above embodiments, when the suspension hardness is high, the vibration of the vehicle is large when the vehicle passes through the deceleration strip, and the driver and the passenger on the vehicle will feel the large vibration. Therefore, if the driver's state is an abnormal driving state, the controller may adjust the suspension hardness of the vehicle by controlling the suspension system so that the vehicle generates a large shock when passing through the deceleration strip, thereby reminding the driver of concentrated mental safety driving using the shock.

In other embodiments, the hardness of the suspension is generally set higher because the vehicle is normally running in order to secure the stability of the vehicle body. Therefore, the controller can control the suspension system to maintain the hardness of the vehicle suspension even when it is detected that the front road surface is provided with the deceleration strip and the driver state is the abnormal driving state. Therefore, the vibration of the vehicle is still larger when the vehicle passes through the deceleration strip, and the effect of reminding the driver can be achieved by utilizing the vibration.

According to the technical scheme provided by the embodiment of the application, when the situation that the deceleration strip is arranged on the road surface in front of the vehicle is detected, the controller of the vehicle can determine how to control the vehicle to pass through the deceleration strip according to the driver data in the vehicle. If the driver state is the normal driving state, the state of the preset system is controlled, so that the preset system can reduce the vibration of the vehicle when the vehicle passes through the deceleration strip. If the driver state is an abnormal driving state, the driver is reminded of concentrating the mental safety driving by the vibration of the vehicle when passing through the deceleration strip. In this way, more different scenes in the running process of the vehicle can be adapted.

Compared with the prior art that only the vehicle is controlled to pass through the deceleration strip in a comfortable state when the deceleration strip is detected, the state of the vehicle passing through the deceleration strip can be determined and controlled according to the state of the driver, so that the control mode of the vehicle is richer when the vehicle passes through the deceleration strip, and the vehicle can adapt to more different driving scenes of the vehicle. In addition, in the embodiment of the application, after the environment sensing sensor detects that the deceleration strip is arranged on the road surface in front of the vehicle, the controller controls the camera to collect the image in the vehicle, so that the work of the camera can be reduced to a certain extent.

After analyzing the in-vehicle image to determine that the driver is in an abnormal driving state, the controller gives a reminder to the driver for safety of vehicle driving. In the above embodiment, the controller controls the preset system to enter the second state, so as to achieve the effect of reminding the driver through the vibration of the vehicle when the vehicle passes through the deceleration strip. It should be appreciated that the controller may also achieve the effect of alerting the driver by sending a third alert to the driver after detecting that the driver is in an abnormal driving state. Wherein, the third reminder is used for reminding the driver to concentrate on the mental safety driving. The third reminder may be at least the following reminder: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt. It is conceivable that the controller may issue the third reminder while controlling the preset system to enter the second state, so as to achieve a better effect of reminding the driver by two reminding modes.

If the driver state is the fatigue driving state, the controller can remind the driver to concentrate on the mental safety driving by controlling the preset system to enter the second state or sending out a third reminding mode. The third prompt can be a voice prompt, a driver vibration, an interface text or view prompt and a steering wheel prompt. Any reminding mode can play a good reminding effect on a driver in a fatigue driving state.

When the driver is in a distracted driving state, the driver may be in a state of holding the steering wheel with one hand and holding other things with the other hand, such as a water cup, a mobile phone and the like. At this time, if the driver is reminded by controlling the preset system to enter the second state, the driver's seat vibrates or the steering wheel vibrates, the driver may be caused to carelessly drop the objects held by the driver due to the vibration. In this case the driver may have the idea of picking up the dropped item, which in turn may affect the driving safety of the vehicle. Thus, in some embodiments, when the controller analyzes the in-vehicle image to determine that the driver state is a distracted driving state, the controller may choose to send a third alert to the driver in a voice alert, an interface text or a view alert, instead of controlling the preset system to enter the second state to alert the driver, thereby ensuring the safety of the vehicle driving in this case.

In general, vehicles have occupant seats in addition to the driver's seat, i.e., there may be a fellow passenger in addition to the driver. Under the condition that the same-row passengers exist on the vehicle, if the controller controls the preset system to enter the second state when the driver is in an abnormal driving state, poor riding experience can be brought to the passengers due to large vibration when the driver passes through the speed reducing zone. Therefore, when the environment sensing sensor detects that the deceleration strip is provided on the road surface in front of the vehicle, the controller can control the state of the preset system in combination with the driver state and whether or not there is an occupant on the vehicle.

In some embodiments, the occupant data further includes an amount of occupants. As shown in fig. 4, in the present embodiment, S308 described above includes S308a. Wherein: and S308a, if the driver state is an abnormal driving state and the number of drivers and passengers is 1, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip.

Wherein the driver and passenger include a driver and an occupant. As is apparent from the description of the above embodiments, the in-vehicle image may include images of front seats and rear seats. Therefore, the number of occupants currently riding on the vehicle can be obtained by analyzing the in-vehicle image.

The number of occupants is 1, indicating that there is only a driver on the vehicle. In this embodiment, when there is only a driver on the vehicle and the driver state is an abnormal driving state, the controller enters the second state by knowing the preset system, so as to remind the driver to concentrate on safe driving by the vibration of the vehicle when the vehicle passes through the deceleration strip.

In other embodiments, if the driver is in an abnormal driving state, but a fellow passenger is present on the vehicle, the driver may be alerted in other ways in order to avoid a bad riding experience for the passenger. As shown in fig. 5, the vehicle control method further includes S309 and S310. Wherein:

S309, if the driver state is an abnormal driving state and the number of drivers is greater than 1, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip.

S310, the controller sends out a first prompt. Wherein the first reminder is for reminding the driver to concentrate on mental safety driving; the first reminder includes at least one of the following reminder: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt.

The number of occupants is greater than 1, indicating that the vehicle includes occupants in addition to the driver. When the vehicle has an occupant, in order to improve the comfort and riding experience of the occupant, the controller may control the preset system of the vehicle to enter the first state when the vehicle passes through the deceleration strip, so as to reduce the vibration of the vehicle passing through the deceleration strip. And if the driver on the vehicle is in an abnormal driving state, the controller can send out a first reminder to the driver while controlling the preset system to enter the first state in order to improve the driving safety of the vehicle. Therefore, the riding experience and the comfortableness of the passengers can be cared, the driver can be reminded of concentrating on safe driving, and the driving safety of the vehicle is improved.

In some embodiments, the controller issues the first alert in the form of a voice alert. In this embodiment, the vehicle further includes a voice broadcast system, and the controller is connected to the voice broadcast system. When the controller analyzes the images in the vehicle to determine that the driver state is an abnormal driving state and the number of drivers is greater than 1, the controller sends a control instruction to the voice broadcasting system, and the control instruction is used for indicating the voice broadcasting system to send out a voice reminding message. In one embodiment, the voice alert may be "please concentrate on mental safe driving".

In other embodiments, the controller issues the first alert in the form of a driver seat shock alert. In this embodiment, when the environmental sensor detects that the speed bump is provided on the road surface in front, the controller may control the driving position to vibrate so as to remind the driver. The vibration of the driver's seat may be vibration of the driver's seat, or may be vibration of a seat belt of the driver's seat. Similarly, in other embodiments, the controller may also issue the first alert in the form of a steering wheel shake alert.

In other embodiments, the controller issues the first alert in the form of an interface text or view alert. Wherein in some embodiments, the vehicle further comprises a head-up display (HUD), and the controller of the vehicle is connected with the HUD. The HUD can project important driving information such as speed per hour and navigation onto windshield glass in front of a driver, so that the driver can see the important driving information such as speed per hour and navigation without lowering the head and turning the head as much as possible. When the environment sensing sensor detects that the speed bump is arranged on the road surface in front, the controller can display the sent first prompt in the HUD in a text or view mode so as to remind a driver of concentrating mental safety driving. In one embodiment, the text alert may be "please concentrate mental safe driving"; the view alert content may be displaying an alert identifier in the HUD interface.

In other embodiments, the text or visual reminder may also be presented on the display screen of the vehicle. For example, the display screen of the vehicle may present an interface 60 as shown in fig. 6A, wherein the interface 60 includes the above-described text alert 610, such as "please focus on mental retardation. As another example, the first reminder may be a view reminder 620 as shown in interface 60 of fig. 6B.

It should be appreciated that the controller may also issue the first reminder in combination with any two or more of the above in the event that the driver is in an abnormal driving condition and the number of occupants on the vehicle is greater than 1. Thus, a better reminding effect can be achieved for the driver.

According to the technical scheme, when the images in the vehicle are analyzed to determine that passengers are not in the vehicle, if the driver is in an abnormal driving state, the controller controls the preset system to pass through the deceleration strip in a state of reducing vibration of the vehicle, and meanwhile, the controller reminds the driver in other modes. Therefore, the safety of vehicle driving and the comfort of passengers on the vehicle are both considered, and good riding experience is provided for the passengers.

Compared with the prior art that only the vehicle is controlled to pass through the deceleration strip in a comfortable state when the deceleration strip is detected, the method and the device can also combine the state of the driver and the state of whether passengers on the vehicle are determined to control the vehicle to pass through the deceleration strip, so that the control mode of the vehicle is richer when the vehicle passes through the deceleration strip, and the method and the device can adapt to more different driving scenes of the vehicle.

In other embodiments, the controller may also be configured to obtain the presence of an occupant on the vehicle via a sensor disposed on the seat at the occupant location. In this embodiment, if the environmental sensor detects that a deceleration strip is disposed on a road surface in front of the vehicle, the method further includes: the controller obtains parameters of the sensors on the seats of each passenger position and determines whether the passenger exists on each passenger position. Wherein the sensor provided on the seat of the occupant position may be a pressure sensor. The controller obtains the parameters of the sensors on the seats of each passenger position as pressure values. If the pressure value is greater than the preset pressure threshold value, determining that the passenger is located on the passenger position.

In other embodiments, the controller may also determine whether an occupant is present on the vehicle in conjunction with the in-vehicle image and the sensor parameters at the occupant location. In this way, the accuracy of detecting whether an occupant is present on the vehicle can be improved.

In some embodiments, the preset system includes a seat adjustment system. Since each seat of the vehicle is independently provided, the control of each seat on the vehicle can be controlled in a partitioned manner. If the driver is in an abnormal driving state and an occupant is present on the vehicle, the occupant seat can be individually adjusted by the seat adjusting system to improve the occupant comfort, so that the occupant seats other than the driving seat are kept in a vibration-reduced state through the speed reduction belt. In the present embodiment, if the driver state is an abnormal driving state and the number of occupants is greater than 1, the controller controls the seat adjusting system to reduce vibrations of seats other than the driving position when the vehicle passes through the speed bump.

If a deceleration strip is provided on the road surface in front of the vehicle, the vehicle is provided with an occupant and the driver is in an abnormal driving state, the controller may adjust the occupant seats other than the driving position by controlling the seat adjusting system so that the occupant seats other than the driving position are kept in a vibration-reduced state through the deceleration strip. Therefore, the comfort of the passengers when the vehicle passes through the deceleration strip can be improved, and the riding experience of the passengers is better.

When the controller controls the seat adjusting system to enable the passenger position to pass through the deceleration strip in a vibration reducing state, the controller can not adjust or adjust the seat of the driving position to a vibration increasing state so as to remind the driver by utilizing larger vibration generated by the driving position when the vehicle passes through the deceleration strip.

Further, in the case where the preset system includes a seat adjustment system, the method further includes, while adjusting only the occupant seat to reduce the vibration of the occupant seat from passing through the speed bump: the controller sends out a first prompt; wherein the first reminder is for reminding the driver to concentrate on mental safety driving; the first reminder includes at least one of the following reminder: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt.

According to the technical scheme, the controller respectively controls the driving position and the non-driving position (the passenger position) through the seat adjusting system, so that the passenger position of the vehicle keeps the state of reducing vibration to pass through the speed reducing belt, the passenger can feel smaller vibration when passing through the speed reducing belt, and the comfort of the passenger is improved. Meanwhile, the driver can pay attention to the attention of the driver in a reminding mode so as to ensure safe driving, and the effect of improving the safety of vehicle driving is achieved.

The vibration of the vehicle is also related to the speed of the vehicle as it passes over the deceleration strip. The vibration of the vehicle is larger when passing through the speed reduction belt when the vehicle speed is higher, and the vibration of the vehicle passing through the speed reduction belt is smaller when the vehicle speed is lower. Under the conditions of higher vehicle speed and larger vehicle vibration, the safety problem of the vehicle is easy to occur. Thus, to avoid the above, in some embodiments, as shown in fig. 7A, the above method further includes S701 and S702 after S302. Wherein: and S701, if the speed limit of the front road section where the vehicle runs is detected, the controller acquires the current speed of the vehicle and the speed limit corresponding to the front road section. S702, if the current speed is greater than the limit speed, the controller sends out a second prompt; the second prompt is used for reminding a driver of reducing the vehicle speed; the second reminder includes at least one of the following reminder modes: voice alert, interface text or view alert.

The speed limit is usually to define a running speed within a certain numerical range for a road section within a certain length distance, and the main purpose is to remind a driver of reasonably controlling the running speed and preventing overspeed danger in the running process of a road section ahead in advance. If the vehicle speed exceeds the limit speed during the running of the vehicle, not only the road traffic illegal action is judged, but also the running safety risk exists. In addition, the vehicle can feel larger vibration when passing through the deceleration strip at high speed, and if the vibration is too large, certain risks can be brought to the driving safety of the vehicle. Therefore, in order to improve the driving safety of the vehicle, in this embodiment, when it is detected that the front road surface is provided with the deceleration strip and the front road section limits speed, if the current vehicle speed is greater than the limit speed of the front road section, the controller will issue a second reminder for reminding the driver to reduce the vehicle speed.

In some embodiments, whether the front road section where the vehicle runs is limited is detected, specifically, the controller can determine the road section where the current vehicle is located according to the positioning data of the current vehicle, and then determine whether the front road section where the vehicle runs is limited by combining the navigation database and the road section where the current vehicle is located. Navigation databases generally refer to navigation geographic databases. The navigational geographic database supports intelligent transportation systems (Intelligent Traffic System, ITS) and location-based services (Location Based Services, LBS). The navigation geographic database stores a large amount of road information, including speed limit information set for the road. Further, in the present embodiment, the controller may acquire the limiting speed corresponding to the front road section from the navigation database. The navigation database can be any navigation database of a navigation application program.

As can be seen from the above embodiments, the context-aware sensor may also include a front camera for capturing images of the road surface in front of the vehicle. In this embodiment, whether the road section ahead on which the vehicle is traveling is speed limited is detected, and the road surface image ahead of the vehicle may also be acquired by the front camera in the environment sensing sensor. Then the environment perception sensor analyzes the road surface image to determine whether a speed limit mark is detected; if yes, determining the speed limit of the front road section where the vehicle runs. In this embodiment, after the environmental sensor detects the speed limit of the road section ahead, the speed limit detection result is sent to the controller; the speed limit detection result is used for indicating whether the road section ahead limits speed.

Further, after the environmental perception sensor detects the speed limit of the front road section, the environmental perception sensor can also identify the speed limit mark detected in the road surface image, and determine the speed limit corresponding to the speed limit mark, namely the speed limit corresponding to the front road section. In this embodiment, the environmental sensor sends a speed limit detection result to the controller, where the speed limit detection result further includes a speed limit corresponding to the speed limit identifier. That is, the controller receives the speed limit detection result transmitted from the environment sensing sensor, and obtains the speed limit corresponding to the front link from the speed limit detection result.

It is contemplated that in other embodiments, the context-aware sensor may also send the road surface image directly to the controller after acquiring the road surface image in front of the vehicle's travel. That is, the above-mentioned analysis of the road surface image, determination of whether or not there is a speed limit flag (whether or not the road section ahead is speed-limited), and identification of the speed limit flag to obtain the corresponding speed limit are implemented in the controller.

The specific implementation manner of detecting whether the speed limit mark exists in the road surface image and identifying the speed limit mark to obtain the corresponding speed limit can refer to the description of the conventional technology, and the description of the specific implementation manner is omitted herein.

In other embodiments, detecting whether the road section ahead on which the vehicle is traveling is speed-limited or not, and acquiring the speed limit corresponding to the road section ahead may be achieved in other manners.

In some embodiments, the vehicle further comprises a speedometer, and the controller is coupled to the speedometer. Further, the controller may obtain the current vehicle speed from the speedometer. The controller may also obtain the current vehicle speed in other ways in other embodiments.

The second prompt can be in a voice prompt, interface text or view prompt mode. It should be understood that in other embodiments, the second reminder may be implemented in other manners, which are not limited in the embodiments of the present application. In one embodiment, the voice alert content or text alert content of the second alert may be "the current vehicle has overspeed, please reduce the vehicle speed as soon as possible". The view alert content of the second alert may be an overspeed alert identification.

For example, when the second reminder is sent in a text reminder manner, a text reminder 710 may be displayed in the vehicle display screen interface 70 as shown in fig. 7B, such as "the current vehicle has overspeed, please reduce the vehicle speed as soon as possible". When the second reminder is issued as a view reminder, a view reminder 720 may be displayed on the display screen interface 70 as shown in FIG. 7C.

It should be understood that after the environmental sensor detects that the deceleration strip is provided on the road surface in front of the vehicle, the vehicle may perform S701-S702 and S303-S310 simultaneously, may perform S701-S702 first, then S303-S310, or may perform S303-S310 first, then S701-S702. The embodiment of the present application does not limit the execution sequence of S701-S702 and S303-S310.

According to the technical scheme, the speed reducing zone is arranged in front of the vehicle and the speed of the current vehicle exceeds the limit speed of the front road section detected by the environment sensing sensor, and the driver is reminded of reducing the speed as soon as possible by sending a reminding mode to the driver so as to improve the driving safety of the vehicle.

Other embodiments of the present application provide an in-vehicle apparatus, including: the system comprises a memory, a controller, an environment sensing sensor, a preset system and a camera arranged in the vehicle; the controller is connected with the environment sensing sensor, the camera and the preset system; the environment sensing sensor is used for detecting objects around the vehicle; the preset system comprises a suspension system of the vehicle and/or a seat adjusting system of the vehicle; the memory is coupled to the controller, the memory being for storing computer program code comprising computer instructions that, when executed by the controller, cause the in-vehicle apparatus to perform the functions or steps of the method embodiments. The structure of the in-vehicle apparatus may refer to the structure of the in-vehicle apparatus 200 shown in fig. 2. The functions of the controller of the vehicle-mounted device in the embodiment of the present application may be integrated in the processor 201 shown in fig. 2.

In other embodiments, the in-vehicle device may not include an environmental awareness sensor, a preset system, and a camera. However, the in-vehicle apparatus includes an interface that can be used to circumscribe an environmental awareness sensor, a preset system, and a camera disposed inside the vehicle. The vehicle-mounted equipment can be connected with the environment sensing sensor, the preset system and the camera through the interfaces and controls the devices.

Embodiments of the present application also provide a chip system, as shown in fig. 8, the chip system 80 includes at least one processor 801 and at least one interface circuit 802. The processor 801 and the interface circuit 802 may be interconnected by wires. For example, the interface circuit 802 may be used to receive signals from other devices (e.g., a memory of an in-vehicle apparatus). For another example, interface circuit 802 may be used to send signals to other devices (e.g., processor 801). The interface circuit 802 may, for example, read instructions stored in a memory and send the instructions to the processor 801. The instructions, when executed by the processor 801, may cause the in-vehicle apparatus to perform the steps in the above-described embodiments. Of course, the chip system may also include other discrete devices, which are not specifically limited in this embodiment of the present application. The processor 801 may implement the functions of the controller in the embodiments of the present application.

The present application also provides a computer-readable storage medium, which includes computer instructions that, when executed on the vehicle-mounted device, cause the vehicle-mounted device to perform the functions or steps of the method embodiments described above.

Embodiments of the present application also provide a computer program product which, when run on a computer, causes the computer to perform the functions or steps of the method embodiments described above. The computer may be an in-vehicle device.

It will be apparent to those skilled in the art from this description that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

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

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

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized by being applied to a vehicle including a controller, an environment-aware sensor, a preset system, and a camera provided inside the vehicle; the controller is connected with the environment sensing sensor, the camera and the preset system; the environment-aware sensor is used for detecting objects around the vehicle; the preset system comprises a suspension system of the vehicle and/or a seat adjusting system of the vehicle; the method comprises the following steps:

in the running process of the vehicle, if the environment sensing sensor detects that a deceleration strip is arranged on the road surface in front of the vehicle, the controller controls the camera to acquire an in-vehicle image of the vehicle;

the controller analyzes the image in the vehicle to obtain driver and passenger data in the vehicle; wherein the occupant data includes a driver status and an amount of occupants;

If the driver state is a normal driving state, the controller controls the preset system to enter a first state so as to reduce vibration of the vehicle when the vehicle passes through the deceleration strip;

if the driver state is an abnormal driving state and the number of drivers and passengers is 1, the controller controls the preset system to enter a second state so as to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip;

if the driver state is the abnormal driving state and the number of drivers is greater than 1, the controller controls a seat adjusting system in the preset system to reduce vibration of other seats except a driving position when the vehicle passes through the deceleration strip;

wherein the abnormal driving state includes: the driver is in fatigue driving and/or distraction driving state during the running of the vehicle.

2. The method according to claim 1, wherein the method further comprises:

if the driver state is an abnormal driving state and the number of drivers is greater than 1, the controller sends out a first prompt; wherein the first reminder is for reminding the driver to concentrate on mental safety driving; the first reminder includes at least one of the following reminder modes: voice prompt, driver's seat vibration prompt, interface text or view prompt, steering wheel vibration prompt.

3. The method according to claim 1 or 2, wherein the preset system comprises the suspension system;

the controller controls the preset system to enter a first state to reduce vibration of the vehicle when the vehicle passes through the deceleration strip, comprising:

the controller controls the suspension system to reduce the stiffness of the suspension of the vehicle to reduce vibration of the vehicle as the vehicle passes the deceleration strip;

the controller controls the preset system to enter a second state to remind the driver of concentrated mental safety driving through vibration of the vehicle when the vehicle passes through the deceleration strip, and the method comprises the following steps:

the controller controls the suspension system to maintain or adjust up the hardness of the suspension of the vehicle to alert the driver to concentrated mental safety driving by vibration of the vehicle as it passes through the deceleration strip.

4. The method according to claim 1 or 2, characterized in that the method further comprises:

in the running process of the vehicle, if the environment sensing sensor detects that a deceleration strip is arranged on a road surface in front of the vehicle and the speed of a front road section where the vehicle runs is limited, the controller acquires the current speed of the vehicle and the limited speed corresponding to the front road section;

If the current vehicle speed is greater than the limiting speed, the controller sends out a second prompt; the second prompt is used for reminding the driver of reducing the vehicle speed; the second reminder includes at least one of the following reminder modes: voice alert, interface text or view alert.

5. An in-vehicle apparatus, characterized by comprising: the system comprises a memory, a controller, an environment sensing sensor, a preset system and a camera arranged in the vehicle; the controller is connected with the environment sensing sensor, the camera and the preset system; the environment-aware sensor is used for detecting objects around the vehicle; the preset system comprises a suspension system of the vehicle and/or a seat adjusting system of the vehicle;

the memory is coupled with the controller, the memory being for storing computer program code comprising computer instructions which, when executed by the controller, the in-vehicle apparatus performs the vehicle control method as claimed in any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein instructions that, when executed in an in-vehicle apparatus, cause the in-vehicle apparatus to execute the vehicle control method according to any one of claims 1 to 4.