CN115352450A - Vehicle driving assistance method and device, vehicle and storage medium - Google Patents

Abstract

The application relates to the technical field of intelligent automobiles, in particular to a driving assisting method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring physiological data, facial expressions and/or gesture actions of a driver; matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or the gesture motion; whether a driver is in a preset incapability state or not is determined by judging the size relationship between the first incapability level and the second incapability level and the incapability threshold value and whether the vehicle is in a preset disordered driving state or not, and when the driver is in the incapability state, the vehicle is controlled to execute a safe parking action and simultaneously rescue information is sent to a preset terminal. From this, solved only monitor the driver state through the bracelet among the correlation technique, the accuracy is relatively poor, and only can realize reminding the function, can't effectively guarantee to drive safety scheduling problem.

Description

Vehicle driving assistance method, device, vehicle and storage medium

technical field

The present application relates to the technical field of smart cars, and in particular to a method and device for assisting driving of a vehicle, a vehicle and a storage medium.

Background technique

At present, with the increasing popularity of automobiles, there are more and more potential safety hazards caused by automobile driving factors. During the driving process, traffic accidents often occur due to their own fatigue or sudden illness. Therefore, when the driver is unable to drive, it is necessary to provide corresponding safety assistance to the driver to improve driving safety. sex.

In the related art, in order to solve the above-mentioned problems, the driver's disability rescue is usually achieved by wearing a smart wristband for the driver, so as to ensure the safety of the driver's life. However, in the related art, only the wristband is used to monitor the driver's state, the accuracy is poor, and only the reminder function can be realized, and the driving safety cannot be effectively guaranteed.

Contents of the invention

The present application provides a vehicle driving assistance method, device, vehicle and storage medium to solve the problem that in the related art, only the wristband is used to monitor the driver's state, the accuracy is poor, and only the reminder function can be realized, and the driving cannot be effectively guaranteed. security issues.

The embodiment of the first aspect of the present application provides a method for assisted driving of a vehicle, including the following steps: acquiring the driver's physiological data, facial expressions and/or gestures; matching the driver's first disability based on the physiological data level, and match the driver’s second disability level based on the facial expression and/or gesture action; both the first disability level and the second disability level are greater than the disability threshold, or, When the first disability level is greater than the disability threshold, and the second disability level is less than or equal to the disability threshold, and it is identified based on vehicle driving data that the vehicle is in a preset turbulent driving state, it is determined that the If the driver is in a preset disabled state, when the vehicle is controlled to perform a safe parking action, rescue information is sent to a preset terminal; otherwise, it is determined that the driver is not in the preset disabled state.

According to the above technical means, the embodiment of the present application can match the corresponding disability level according to the driver's physiological data and facial expressions and/or gestures, by judging the relationship between the disability level and the disability threshold and whether the vehicle is in a preset disorder Driving state, to determine whether the driver has lost the ability to control the vehicle normally. When the vehicle cannot be controlled normally, control the vehicle to perform a safe parking action and send rescue information to the corresponding rescue terminal, so that when the driver can no longer drive The corresponding safety assistance ensures the safety of driving, and at the same time, it can determine whether the driver is in a disabled state in many ways, with high accuracy, and improves the driving experience of the user.

Optionally, in an embodiment of the present application, before controlling the vehicle to perform a safe parking action, it includes: controlling the vehicle to keep driving in its own lane, controlling the vehicle to perform a preset wake-up action, and identifying the driving The actual wake-up state of the driver; when the actual wake-up state is the preset wake-up state, control the vehicle to stop the preset wake-up work, otherwise count the continuous execution time of the preset wake-up action, and when the continuous execution time is longer than the preset When the value is set, the vehicle is controlled to perform a safe parking action.

According to the above technical means, the embodiment of the present application can wake up the driver while controlling the vehicle to keep driving in the lane when the driver is in a disabled state, so that the driver can save himself. At this time, the driver controls the vehicle to stop safely, with higher reliability and accuracy, improving user experience and driving safety.

Optionally, in an embodiment of the present application, after controlling the vehicle to perform a safe parking action, it includes: detecting whether the vehicle is parked; after detecting that the vehicle is parked, controlling the vehicle to perform an acoustic Simultaneously with the reminder action and/or the optical reminder action, the vehicle doors of the vehicle are controlled to be unlocked.

According to the above-mentioned technical means, in the embodiment of the present application, after the vehicle is safely parked, the vehicle is controlled to give an alarm reminder and unlock the door at the same time, so that the driver can be rescued in a short time, avoiding missing the best rescue time, and further ensuring the safety of the driver. safety.

Optionally, in one embodiment of the present application, the acquiring the driver's physiological data, facial expressions and/or gestures includes: acquiring the driver's physiological data detected by the smart bracelet and the driving image of the driver; identifying the driver image to obtain the driver's facial expressions and/or gestures.

According to the above technical means, the embodiment of the present application can monitor the driver's physical data through the smart bracelet, and check the driver's facial expressions and gestures in real time through the monitoring equipment in the car, so as to provide a basis for judging whether the driver is in a disabled state.

The embodiment of the second aspect of the present application provides a vehicle driving assistance device, including: an acquisition module, used to acquire the driver's physiological data, facial expressions and/or gestures; a matching module, used to match the driver's physiological data based on the physiological data. the driver’s first disability level, and match the driver’s second disability level based on the facial expressions and/or gestures; the auxiliary module is configured to provide the driver with the first disability level and the second disability level Both of the two disability levels are greater than the disability threshold, or, when the first disability level is greater than the disability threshold, and the second disability level is less than or equal to the disability threshold, and the identification is based on vehicle driving data When the vehicle is in a preset disordered driving state, it is determined that the driver is in a preset disabled state, and while the vehicle is controlled to perform a safe parking action, rescue information is sent to a preset terminal; otherwise, it is determined that the driver is not in the preset disabled state.

Optionally, in an embodiment of the present application, before controlling the vehicle to perform a safe parking action, it includes: a first control module, configured to control the vehicle to perform a preset wake-up while maintaining the vehicle in its own lane Action, and identify the actual wake-up state of the driver; the second control module is used to control the vehicle to stop the preset wake-up work when the actual wake-up state is the preset wake-up state, otherwise count the preset wake-up The continuous execution time of the action, when the continuous execution time is greater than a preset value, the vehicle is controlled to perform a safe parking action.

Optionally, in one embodiment of the present application, after controlling the vehicle to perform a safe parking action, it includes: a detection module, configured to detect whether the vehicle is parked; a third control module, configured to After the vehicle is parked, the vehicle is controlled to perform an acoustic reminder action and/or an optical reminder action while controlling the door of the vehicle to be unlocked.

Optionally, in one embodiment of the present application, the acquisition module is further configured to acquire the driver's physiological data detected by the smart bracelet and the driver's image captured by the in-vehicle monitoring device, and identify the driver's image to obtain the Describe the driver's facial expressions and/or gestures.

The embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the program to implement the following: The method for assisting driving of a vehicle described in the above-mentioned embodiments.

The embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the method for assisting driving of a vehicle as described in the above-mentioned embodiments.

Thus, the application at least has the following beneficial effects:

1. Match the corresponding disability level according to the driver's physiological data and facial expressions and/or gestures, and determine whether the driver is Losing the ability to control the vehicle normally, when the vehicle cannot be controlled normally, control the vehicle to perform a safe parking action and send rescue information to the corresponding rescue terminal, so as to achieve corresponding safety assistance when the driver can no longer drive, ensuring Driving safety, at the same time, it can determine whether the driver is in a disabled state in many ways, with high accuracy, and improves the user's driving experience.

2. When the driver is in a disabled state, it can control the vehicle to keep driving in this lane, and at the same time, wake up the driver so that the driver can save himself. If the driver fails to wake up within a certain period of time, at this time, control the vehicle Safe parking, higher reliability and accuracy, improved user experience and driving safety.

3. After the vehicle is parked safely, control the vehicle to give an alarm and unlock the door at the same time, so that the driver can be rescued in a short time, avoiding missing the best rescue time, and further ensuring the safety of the driver.

4. The driver's body data can be monitored through the smart bracelet, and the driver's facial expressions and gestures can be viewed in real time through the monitoring equipment in the car, providing a basis for judging whether the driver is in a disabled state.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flowchart of a method for assisting driving of a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a method for assisting driving of a vehicle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of logic for judging a driver's incapacity according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a rescue scheme according to an embodiment of the present application;

FIG. 5 is a schematic block diagram of a driving assistance device for a vehicle according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Explanation of reference numerals: acquisition module-100, matching module-200, auxiliary module-300, memory-601, processor-602, communication interface-603.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

The vehicle driving assistance method, device, vehicle and storage medium according to the embodiments of the present application will be described below with reference to the accompanying drawings. Aiming at the problems mentioned in the above-mentioned background technology, the present application provides a method for assisted driving of a vehicle, in which method, by acquiring the driver's physiological data, facial expressions and/or gestures; matching the driver's The first disability level, and match the driver’s second disability level based on facial expressions and/or gestures; both the first disability level and the second disability level are greater than the disability threshold, or, at the first disability level When the level is greater than the disability threshold, and the second disability level is less than or equal to the disability threshold, and the vehicle is identified based on the vehicle driving data as being in a preset disordered driving state, it is determined that the driver is in a preset disabled state, and the vehicle is controlled to perform a safe parking action At the same time, send rescue information to the preset terminal, otherwise, it is determined that the driver is not in the default disabled state. As a result, the problems in the related art that only monitor the driver's state through the wristband are poor in accuracy, and only a reminder function can be realized, and driving safety cannot be effectively guaranteed, are solved.

Specifically, FIG. 1 is a schematic flowchart of a method for assisting driving of a vehicle provided in an embodiment of the present application.

As shown in Figure 1, the assisted driving method of the vehicle includes the following steps:

In step S101, physiological data, facial expressions and/or gestures of the driver are acquired.

This application can control the vehicle to perform corresponding safety assistance actions during the driving process of the vehicle and the driver cannot normally control the car to improve driving safety. In order to accurately determine whether the driver can no longer perform driving behaviors, the embodiment First, physiological data, facial expressions and/or gestures of the driver can be captured.

In one embodiment of the present application, obtaining the driver's physiological data, facial expressions and/or gestures includes: obtaining the driver's physiological data detected by the smart bracelet and the image of the driver captured by the in-vehicle monitoring device; identifying the driver The images capture the driver's facial expressions and/or gestures.

It can be understood that, as shown in Figure 2, the embodiment of the present application can monitor the driver's heart rate, blood flow rate and other physiological data through the smart bracelet, measure the driver's physical state, send the driver's physical state data, and send the driver's physical state data through Bluetooth. It is transmitted to the car end (cockpit controller), converted into CAN data and sent to the vehicle bus; the driver's human body image can be obtained through the monitoring equipment in the car, such as a camera, and the driver's facial expression can be recognized by methods such as portrait recognition technology ( The frequency of eye blinking and the opening and closing of eyelids, etc.), gestures (holding the steering wheel), etc., and the in-vehicle monitoring equipment can send these states to the vehicle bus to determine whether the driver is in a state of fatigue or fainting. In an abnormal state, control the vehicle to implement corresponding safety measures.

In step S102, the driver's first disability level is matched based on physiological data, and the driver's second disability level is matched based on facial expressions and/or gestures.

Wherein, the first disability level and the second disability level can be divided into mild fatigue, moderate fatigue, severe fatigue and the like. In order to accurately determine the driver's disability status and protect the driver's personal safety, the embodiments of the present application classify the disability levels according to the acquired physiological data, facial expressions and/or gestures of the driver.

In step S103, both the first disability level and the second disability level are greater than the disability threshold, or, the first disability level is greater than the disability threshold, and the second disability level is less than or equal to the disability threshold, and When it is recognized that the vehicle is in a preset disordered driving state based on the vehicle driving data, it is determined that the driver is in a preset disabled state, and while the vehicle is controlled to perform a safe parking action, rescue information is sent to a preset terminal; otherwise, it is determined that the driver is not in a preset state. Set disabled state.

Among them, the disability threshold can be the maximum limit for the driver to lose the ability to control the car normally. The preset disordered driving state can be the abnormal driving of the vehicle. , 120 first aid, etc.

The vehicle driving data in the embodiment of the present application may be vehicle driving state, driver's manipulation information and driving information. Wherein, the vehicle driving state includes driving speed, engine torque, motor torque, and state of charge of the electric energy storage unit, and driver operation information includes accelerator pedal operation amount and brake pedal operation amount.

It can be understood that when the first disability level of the driver's physiological data and the second disability level of facial expressions and/or gestures are greater than the disability threshold, it can be determined that the driver is in a preset disability state; When the first disability level of the employee's physiological data is greater than the disability threshold, the second disability level of facial expressions and/or gestures is less than or equal to the disability threshold, and the vehicle's state information is in the preset disordered driving state, it can be determined that the driving The driver is in a preset disabled state; when the driver is in a disabled state, while controlling the vehicle to perform a safe parking action, send rescue information to the preset terminal and wait for rescue.

In the embodiment of the present application, when the first disability level of the driver's physiological data is greater than the disability threshold, the smart bracelet outputs that the driver's status is disabled. When the second disability level of the driver's facial expression and/or gesture action is greater than the disability threshold, the in-vehicle monitoring device controller outputs the driver status as disabled.

Specifically, the embodiment of the present application explains the driver's disability judgment logic in detail. As shown in FIG. Measures; when the smart bracelet outputs the driver status as disabled, the in-vehicle monitoring camera controller output is disabled, the driving status is disordered, and the driver disability safety assistance system executes safety measures; when the smart bracelet outputs the driver status as Incapacitated, the output of the monitoring camera controller in the car is disabled, the driving state is not disordered, and the safety assistance system implements safety measures for the driver's disability; when the smart bracelet outputs the driver status as disabled, the controller of the monitoring camera in the car outputs If it is not disabled, the driving state is disordered, and the driver disability safety assistance system implements safety measures; when the smart bracelet outputs the driver state as disabled, the in-vehicle monitoring camera controller output is not disabled, and the driving state is not disordered , the driver disability safety assist system does not implement the corresponding safety measures.

In one embodiment of the present application, before controlling the vehicle to perform a safe parking action, it includes: controlling the vehicle to keep driving in the lane while controlling the vehicle to perform a preset wake-up action, and identifying the actual wake-up state of the driver; in the actual wake-up state When it is in the preset wake-up state, the vehicle is controlled to stop the preset wake-up work, otherwise, the continuous execution time of the preset wake-up action is counted, and when the continuous execution time is greater than the preset value, the vehicle is controlled to perform a safe parking action.

Among them, the preset wake-up action can be set according to the actual situation, such as voice wake-up, steering wheel vibration and/or seat vibration and other wake-up methods; the preset value can be specifically set or calibrated, for example, it can be set to 10s or 20s, etc., usually set to A smaller value is used to identify whether the driver has recovered his behavioral capacity to ensure driving safety.

It can be understood that, before the driver's body is in a disabled state and the vehicle is controlled to perform a safe parking action, as shown in Figure 4, the embodiment of the present application can control the vehicle to keep driving in its own lane while performing auditory or visual inspection of the driver. The wake-up action in the aspect enables the driver to save himself. If the driver fails to wake up within a certain period of time, at this time, the vehicle can be controlled to decelerate. When it is capable and not in danger, it can stop safely, with higher reliability and accuracy. Improved user experience and driving safety.

As a possible implementation, the embodiment of the present application can detect whether the vehicle has a collision risk when the driving state of the vehicle is disordered, and if there is a collision risk, control the vehicle to perform a safe parking action. Among them, the collision risk can be that the longitudinal deceleration exceeds 90% CDD threshold or the lateral distance from the lane line is less than 0.1m, the distance between the guardrail and the vehicle next to it is less than 0.2m (calibrated according to the speed and curvature of the vehicle), and the deviation speed is greater than 0.

In one embodiment of the present application, after controlling the vehicle to perform the safe parking action, it includes: detecting whether the vehicle parking is completed; The vehicle's doors are unlocked.

The reminder action in this application may be an alarm sound from an acoustic reminder device, such as a voice reminder from a car stereo, or a beep sound from a vehicle's own device. It can also be reminded by an optical reminding device, such as the blinking of the vehicle indicator light and the like.

Specifically, in order to allow the driver to get help in a short time and avoid missing the best rescue time, the embodiments of the present application control the vehicle's optical reminder device or acoustic reminder device to remind after detecting that the vehicle is parked. Unlock the doors. As a possible implementation, in the embodiment of the present application, when the driver is in a preset disabled state and controls the vehicle to perform a safe parking action, at the same time, the rescue information is sent to the customer service of the car company at the first time, such as vehicle positioning, the customer service is at the first time Call the driver's emergency contact at the right time for relevant processing, the vehicle will simultaneously turn on the double flashing lights, sound the horn, and unlock the door so that other personnel can rescue the driver.

In the actual implementation process, there are many ways to detect whether the vehicle is parked. For example, the embodiment of the present application can judge whether the vehicle is parked according to the vehicle speed. When the vehicle speed is equal to 0, it can be determined that the vehicle is parked. Or it can be judged by the map navigation system and positioning technology. When the positioning of the vehicle is in a static state in the map navigation system, it can be determined that the vehicle is parked. For this, those skilled in the art can set it according to the actual situation, and no specific limitation is made.

According to the assisted driving method of the vehicle proposed in the embodiment of the present application, by acquiring the driver's physiological data, facial expressions and/or gestures; matching the driver's first disability level based on the physiological data, and based on the facial expressions and/or gestures The action matches the driver's second disability level; if both the first and second disability levels are greater than the disability threshold, or, if the first disability level is greater than the disability threshold and the second disability level is less than or equal to the disability threshold, and the vehicle is identified based on the vehicle driving data as being in a preset disordered driving state, it is determined that the driver is in a preset disabled state, and while the vehicle is controlled to perform a safe parking action, rescue information is sent to the preset terminal; otherwise, it is determined The driver is not in a preset incapacitated state. As a result, the problems in the related art that only monitor the driver's state through the wristband are poor in accuracy, and only a reminder function can be realized, and driving safety cannot be effectively guaranteed, are solved.

Next, a driving assistance device for a vehicle proposed according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 5 is a schematic block diagram of a driving assistance device for a vehicle according to an embodiment of the present application.

As shown in FIG. 5 , the driving assistance device 10 of the vehicle includes: an acquisition module 100 , a matching module 200 and an assistance module 300 .

Among them, the acquisition module 100 is used to acquire the driver's physiological data, facial expressions and/or gestures; the matching module 200 is used to match the driver's first disability level based on the physiological data, and based on the facial expressions and/or gestures The action matches the driver's second disability level; the auxiliary module 300 is configured to be greater than the disability threshold when both the first disability level and the second disability level are greater than the disability threshold, or, when the first disability level is greater than the disability threshold, and the second 2. When the disability level is less than or equal to the disability threshold, and based on the vehicle driving data, it is identified that the vehicle is in a preset disordered driving state, it is determined that the driver is in a preset disabled state, and while the vehicle is controlled to perform a safe parking action, a rescue message is sent to the preset If the terminal is set, otherwise, it is determined that the driver is not in a preset disabled state.

Optionally, in one embodiment of the present application, before controlling the vehicle to perform a safe parking action, it includes: a first control module, configured to control the vehicle to perform a preset wake-up action while controlling the vehicle to keep driving in its own lane, and identify The actual wake-up state of the driver; the second control module is used to control the vehicle to stop the preset wake-up work when the actual wake-up state is the preset wake-up state; When the value is set, the vehicle is controlled to perform a safe parking action.

Optionally, in one embodiment of the present application, after controlling the vehicle to perform the safe parking action, it includes: a detection module, configured to detect whether the vehicle parking is completed; a third control module, configured to detect that the vehicle parking is completed, When the vehicle is controlled to perform an acoustic reminder and/or an optical reminder, the doors of the vehicle are controlled to be unlocked.

Optionally, in one embodiment of the present application, the acquiring module 100 is further configured to acquire the driver's physiological data detected by the smart bracelet, and the driver's image captured by the in-vehicle monitoring device, and recognize the driver's image to obtain the driver's face Emoticons and/or gestures.

It should be noted that the foregoing explanations on the embodiment of the method for assisting driving of a vehicle are also applicable to the device for assisting driving of a vehicle in this embodiment, and details are not repeated here.

According to the vehicle driving assistance device proposed in the embodiment of the present application, by acquiring the driver's physiological data, facial expressions and/or gestures; matching the driver's first disability level based on the physiological data, and based on the facial expressions and/or gestures The action matches the driver's second disability level; if both the first and second disability levels are greater than the disability threshold, or, if the first disability level is greater than the disability threshold and the second disability level is less than or equal to the disability threshold, and the vehicle is identified based on the vehicle driving data as being in a preset disordered driving state, it is determined that the driver is in a preset disabled state, and while the vehicle is controlled to perform a safe parking action, rescue information is sent to the preset terminal; otherwise, it is determined The driver is not in a preset incapacitated state. As a result, the problems in the related art that only monitor the driver's state through the wristband are poor in accuracy, and only a reminder function can be realized, and driving safety cannot be effectively guaranteed, are solved.

FIG. 6 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. The vehicle can include:

A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

When the processor 602 executes the program, the method for assisting driving of the vehicle provided in the above-mentioned embodiments is realized.

Further, the vehicle also includes:

The communication interface 603 is used for communication between the memory 601 and the processor 602 .

The memory 601 is used to store computer programs that can run on the processor 602 .

The memory 601 may include a high-speed RAM (Random Access Memory, random access memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus to complete mutual communication. The bus may be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component, external device interconnection) bus, or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 6 , but it does not mean that there is only one bus or one type of bus.

Optionally, in specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on one chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through the internal interface.

The processor 602 may be a CPU (Central Processing Unit, central processing unit), or an ASIC (Application Specific Integrated Circuit, specific integrated circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above method for assisting driving of a vehicle is implemented.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or N embodiments or examples in an appropriate manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a custom logical function or step of a process , and the scope of preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including in substantially simultaneous fashion or in reverse order depending on the functions involved, which shall It should be understood by those skilled in the art to which the embodiments of the present application belong.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the above embodiments, the N steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method embodiments is included.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A driving assistance method of a vehicle, characterized by comprising the steps of:

acquiring physiological data, facial expressions and/or gesture actions of a driver;

matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions;

when the first incapability grade and the second incapability grade are both larger than a incapability threshold value, or when the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered driving state based on vehicle driving data, judging that the driver is in a preset incapability state, controlling the vehicle to execute a safe parking action, and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

2. The method of claim 1, prior to controlling the vehicle to perform a safe parking action, comprising:

controlling a vehicle to keep running in a lane, controlling the vehicle to execute a preset awakening action, and identifying an actual awakening state of the driver;

and when the actual awakening state is a preset awakening state, controlling the vehicle to stop the preset awakening work, otherwise, counting the continuous execution time of the preset awakening action, and when the continuous execution time is longer than a preset value, controlling the vehicle to execute a safe parking action.

3. The method according to claim 1 or 2, characterized in that after controlling the vehicle to perform a safe parking action, it comprises:

detecting whether the vehicle parking is completed;

after the vehicle is detected to be stopped, controlling the vehicle to perform an acoustic reminding action and/or an optical reminding action, and simultaneously controlling the door of the vehicle to be unlocked.

4. The method of claim 1, wherein the obtaining physiological data, facial expressions, and/or gestural actions of the driver comprises:

acquiring a driver image which is detected by the intelligent bracelet and is shot by the in-vehicle monitoring equipment of the physiological data of the driver;

and identifying the driver image to obtain the facial expression and/or gesture action of the driver.

5. A driving assistance apparatus of a vehicle, characterized by comprising:

the acquisition module is used for acquiring physiological data, facial expressions and/or gesture actions of a driver;

a matching module for matching a first disability level of the driver based on the physiological data and matching a second disability level of the driver based on the facial expression and/or gesture actions;

the auxiliary module is used for judging that the driver is in a preset incapability state when the first incapability grade and the second incapability grade are both larger than an incapability threshold value, or the first incapability grade is larger than the incapability threshold value and the second incapability grade is smaller than or equal to the incapability threshold value and the vehicle is identified to be in a preset disordered running state based on vehicle running data, controlling the vehicle to execute a safe parking action and simultaneously sending rescue information to a preset terminal, otherwise, judging that the driver is not in the preset incapability state.

6. The apparatus of claim 5, prior to controlling the vehicle to perform the safe parking action, comprising:

the first control module is used for controlling the vehicle to execute a preset awakening action while keeping the vehicle running in the lane and identifying the actual awakening state of the driver;

and the second control module is used for controlling the vehicle to stop the preset awakening work when the actual awakening state is the preset awakening state, otherwise, counting the continuous execution time of the preset awakening action, and controlling the vehicle to execute the safe parking action when the continuous execution time is greater than the preset value.

7. The apparatus according to claim 5 or 6, characterized by, after controlling the vehicle to perform a safe parking action, comprising:

the detection module is used for detecting whether the vehicle is parked or not;

and the third control module is used for controlling the vehicle to carry out an acoustic reminding action and/or an optical reminding action and simultaneously controlling the unlocking of the vehicle door after the vehicle is detected to be parked completely.

8. The device according to claim 5, wherein the obtaining module is further configured to obtain a driver image captured by the in-vehicle monitoring device based on the physiological data of the driver detected by the smart band, and recognize the driver image to obtain the facial expression and/or the gesture of the driver.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of assisted driving of a vehicle as claimed in any one of claims 1 to 4.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method for driving assistance of a vehicle according to any one of claims 1 to 4.

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