Vehicle control method, apparatus and system, and storage medium

A vehicle control apparatus, comprising:

• processing circuitry configured to
• obtain first control behavior information via a vehicle-mounted sensor system while a vehicle is in an autonomous control mode, the first control behavior information being generated from sensor data that is detected by the vehicle-mounted sensor system based on a first user action performed on the vehicle, wherein the first control behavior information includes at least one of a brake pressure value when the first user action is pressing a brake pedal, an accelerator pressure value when the first user action is pressing an accelerator pedal, and a torsion value when the first user action is turning a steering wheel;
• determine that the first control behavior information is a predetermined type of control behavior information when at least one of the brake pressure value is greater than a brake threshold, the accelerator pressure value is greater than an accelerator threshold, and the torsion value is greater than a steering threshold;
• switch from the autonomous control mode to a manual control mode in response to the first user action only when determining that the first control behavior information is not the predetermined type of control behavior information, and maintain the autonomous control mode when determining that the first control behavior information is the predetermined type of control behavior information;
• determine whether second control behavior information is dangerous behavior information according to the second control behavior information and vehicle running state information;
• and
• start an aided control mode when the second control behavior information is determined to be the dangerous behavior information, wherein
• the vehicle running state information includes an angular velocity value of the vehicle, and
• the processing circuitry is further configured to
• determine, according to the second control behavior information and the angular velocity value of the vehicle, whether the angular velocity value of the vehicle is greater than an angular velocity threshold in a time period, and
• determine that the second control behavior information is the dangerous behavior information when the angular velocity value of the vehicle is greater than the angular velocity threshold in the time period.

A non-transitory computer readable storage medium storing instructions which when executed by a processor cause the processor to perform:

• obtaining first control behavior information via a vehicle-mounted sensor system while a vehicle is in an autonomous control mode, the first control behavior information being generated from sensor data that is detected by the vehicle-mounted sensor system based on a first user action performed on the vehicle, wherein the first control behavior information includes at least one of a brake pressure value when the first user action is pressing a brake pedal, an accelerator pressure value when the first user action is pressing an accelerator pedal, and a torsion value when the first user action is turning a steering wheel;
• determining whether the first control behavior information is a predetermined type of control behavior information when at least one of the brake pressure value is greater than a brake threshold, the accelerator pressure value is greater than an accelerator threshold, and the torsion value is greater than a steering threshold;
• switching from the autonomous control mode to a manual control mode in response to the first user action only when determining that the first control behavior information is not the predetermined type of control behavior information, and maintaining the autonomous control mode when determining that the first control behavior information is the predetermined type of control behavior information;
• determining whether second control behavior information is dangerous behavior information according to the second control behavior information and vehicle running state information;
• and
• starting an aided control mode when the second control behavior information is determined to be the dangerous behavior information, wherein
• the vehicle running state information includes an angular velocity value of the vehicle, and
• the determining whether the second control behavior information is the dangerous behavior information includes
• determining, according to the second control behavior information and the angular velocity value of the vehicle, whether the angular velocity value of the vehicle is greater than an angular velocity threshold in a time period, and
• determining that the second control behavior information is the dangerous behavior information when the angular velocity value of the vehicle is greater than the angular velocity threshold in the time period.