CN110271561A - A kind of automatic Pilot alarming method for power, device and vehicle - Google Patents
A kind of automatic Pilot alarming method for power, device and vehicle Download PDFInfo
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- CN110271561A CN110271561A CN201910491013.6A CN201910491013A CN110271561A CN 110271561 A CN110271561 A CN 110271561A CN 201910491013 A CN201910491013 A CN 201910491013A CN 110271561 A CN110271561 A CN 110271561A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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Abstract
The invention discloses a kind of automatic Pilot alarming method for power, device and vehicles, it is described the following steps are included: judging whether Function for Automatic Pilot is opened, if, the attention force information of vehicle front exception traffic information and driver is then obtained in real time, wherein the attention force information of the driver is effective time of the driver attention not in road ahead；Judge whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；If so, the effective time according to the driver attention not on road, executes the warning alert of appropriate level；If it is not, then directly executing warning alert.The present invention passes through a kind of combined warning strategy, it not only can satisfy the demand of high-level automatic Pilot in terms of functional safety, and can be authentic and valid prompting driver, the action taken required for allowing driver clearly to recognize at present generates harm to avoid high-grade Function for Automatic Pilot.
Description
Technical field
The present invention relates to automatic Pilot security fields, in particular to a kind of automatic Pilot alarming method for power, device and vehicle.
Background technique
With the rapid development of automatic Pilot technology, especially L3, the automatic Pilot technical application of L4 rank, human-computer interaction
Strategy becomes more and more important, and how effectively to warn to driver, so that driver will not generate to automatic Pilot function
Trust can be generated, for avoiding harm from being particularly important.It is only shown mostly with instrument board and vehicle currently on the market
The prompting of sound, the Function for Automatic Pilot high-grade for one can not effectively attract driver, and be unable to satisfy height
The functional safety demand of grade, therefore combined warning strategy is particularly important.
With the promotion of Function for Automatic Pilot grade, the both hands and both feet of driver are gradually liberated, driver is without control
Steering wheel and braking accelerator pedal processed, if none suitable driver alert's strategy, will lead to driver attention not
Concentrate, and the trust excessive to function, in emergency can not adapter tube vehicle in time, lead to occurrence injury, it is well known that mesh
The renewal frequency of preceding high-precision map is excessively slow, and most of is all 1 year 4 to 6 times renewal frequencies, and actual road conditions are often
There is construction area, and frequency is much larger than 1 year 4 to 6 times, road construction region is all often there are personnel to construct inside and temporarily apply
Work region blocks mark is unobvious, and the existing sensor of automatic driving vehicle is difficult to detect construction marker and be avoided, and causes
Vehicle is entered construction area, wound construction personnel or conflict lane, therefore is avoided during Function for Automatic Pilot is opened
Road construction area seems abnormal important.Current warning strategy is mostly relatively simple, only shows from instrument board and sound is mentioned
It wakes up, is unable to satisfy the requirement of functional safety grade ASIL C or ASIL D, and really can not effectively remind driver, prevents from driving
The person of sailing misunderstands, thus be badly in need of new technical solution solve the problems, such as it is present.
Summary of the invention
In view of the above problems in the prior art, the object of the present invention is to provide a kind of automatic Pilot alarming method for power, device
And vehicle, the invention remind driver by combined warning strategy, adopt required for allowing driver clearly to recognize at present
The action taken is to meet functional safety requirement.
In order to solve the above-mentioned technical problem, the specific technical solution of the present invention is as follows:
On the one hand, the present invention provides a kind of automatic Pilot alarming method for power, comprising the following steps:
Judge whether Function for Automatic Pilot is opened, if so, obtaining vehicle front exception traffic information and driver in real time
Attention force information, wherein the driver's notices that force information is driver attention not in effective in road ahead
Between；
Judge whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
If so, the effective time according to the driver attention not on road, the warning for executing appropriate level is mentioned
It wakes up；
If it is not, then directly executing warning alert.
Further, the vehicle front exception traffic information includes one or more of following: upcoming construction areas,
Road surface slippery situation, icy on road, road surface has hole and front that accident occurs.
Further, the real-time attention information for obtaining driver includes:
The facial information of acquisition driver in real time；
According to the facial information of the driver, the attention direction of driver is obtained；
According to the attention direction of the driver, judge the attention of the driver whether in road ahead；
If not existing, effective time of the driver attention not in road ahead is calculated, wherein when the driving
Time of member's attention in road ahead reaches the 5th threshold value, and the effective time is recalculated.
Specifically, the warning alert includes level-one warning, second level warning, three-level warning and level Four warning；
The level-one warning need to focus in road ahead including meter panel of motor vehicle display driver and vehicle
Make a sound prompting；
The second level warning includes that meter panel of motor vehicle shows that driver need to focus in road ahead, vehicle issues
Prompting is shaken and tightened to sound prompting and pilot harness；
The three-level warning includes that meter panel of motor vehicle shows that driver need to focus in road ahead, vehicle issues
Sound prompting, pilot harness shake and tighten prompting and vehicle carries out a brake and reminds；
The level Four warning includes that vehicle carries out secure parking.
Further, the abnormal road conditions in the front described in the vehicle distances are greater than distance threshold, then are paid attention to according to the driver
Effective time of the power not in road ahead, the alert mode for executing appropriate level include:
Judge whether the driver attention effective time not in road ahead reaches first threshold, if so,
Execute level-one warning；
Judge whether the driver attention effective time not in road ahead reaches second threshold, if so,
Execute second level warning；
Judge whether the driver attention effective time not in road ahead reaches third threshold value, if so,
Execute three-level warning；
Judge whether the driver attention effective time not in road ahead reaches the 4th threshold value, if so,
Execute level Four warning.
Further, the abnormal road conditions in the front described in the vehicle distances are not more than distance threshold, then direct execution warning alert
Include:
Execute level-one warning；
Judge whether the driver attention effective time not in road ahead reaches the 6th threshold value, if so,
Second level warning is executed, wherein the 6th threshold value is the difference of the second threshold and first threshold；
Judge whether the driver attention effective time not in road ahead reaches the 7th threshold value, if so,
Three-level warning is executed, wherein the 7th threshold value is the difference of the third threshold value and first threshold；
Judge whether the driver attention effective time not in road ahead reaches the 8th threshold value, if so,
Level Four warning is executed, wherein the 8th threshold value is the difference of the 4th threshold value and first threshold.
On the other hand, the present invention also provides a kind of automatic Pilot alarming device, described device executes described above automatic
Alarming method for power is driven, described device includes:
First judgment module, for judging whether Vehicular automatic driving function opens；
Road information obtains module, for obtaining vehicle front exception road conditions letter in real time after Function for Automatic Pilot is opened
Breath；
Attention data obtaining module, the attention for obtaining driver in real time after Function for Automatic Pilot is opened are believed
Breath, wherein the attention force information of the driver is effective time of the driver attention not in road ahead；
Second judgment module, for judging whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
First warning execution module, when being greater than distance threshold for the abnormal road conditions in the front described in vehicle distances, according to institute
Effective time of the driver attention not on road is stated, the warning alert of appropriate level is executed；
Second warning execution module, when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances, directly
Execute warning alert.
Further, the attention data obtaining module includes:
Image acquisition units, for acquiring driver's facial information in real time；
Image processing unit obtains the attention direction of driver for the facial information according to the driver；
Attention judging unit judges the attention of the driver for the attention direction according to the driver
Whether in road ahead；
Time recording unit, for not when in road ahead, calculating driver's note in driver attention direction
Effective time of the power of anticipating not in road ahead, wherein when the driver attention reaches the 5th at the time in road ahead
Threshold value, the effective time are recalculated.
Further, the first warning execution module includes:
Level-one execution unit, for judging whether the driver attention reaches the effective time not in road ahead
First threshold, if so, executing level-one warning；
Second level execution unit, for judging whether the driver attention reaches the effective time not in road ahead
Second threshold, if so, executing second level warning；
Three-level execution unit, for judging whether the driver attention reaches the effective time not in road ahead
Third threshold value, if so, executing three-level warning；
Level Four execution unit, for judging whether the driver attention reaches the effective time not in road ahead
4th threshold value, if so, executing level Four warning.
Further, the second warning execution module includes:
Pyatyi execution unit directly executes when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances
Level-one warning；
Six grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
6th threshold value, if so, second level warning is executed, wherein the 6th threshold value is the difference of the second threshold and first threshold；
Seven grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
7th threshold value, if so, three-level warning is executed, wherein the 7th threshold value is the difference of the third threshold value and first threshold；
Eight grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
8th threshold value, if so, level Four warning is executed, wherein the 8th threshold value is the difference of the 4th threshold value and first threshold.
The third aspect of the invention also provides a kind of vehicle, and the vehicle has Function for Automatic Pilot, and the vehicle is set
There is automatic Pilot alarming device described above.
By adopting the above technical scheme, a kind of automatic Pilot alarming method for power, device and vehicle of the present invention have as follows
The utility model has the advantages that
1. a kind of automatic Pilot alarming method for power, device and vehicle of the present invention, by the prompting that various combination is arranged
Strategy can satisfy high level functional safety demand, guarantee that driver can make correct driving behavior.
2. a kind of automatic Pilot alarming method for power, device and vehicle of the present invention, since different alerting patterns is distinguished
Belong to different devices to go to execute, ensure that its mutual independence, the appearance for avoiding while failing has carried out effective function
The decomposition of safety.
3. a kind of automatic Pilot alarming method for power, device and vehicle of the present invention, according to driver attention's situation by
Grade increases the intensity of the warning alert of device, ensure that the reasonability of decomposition to the greatest extent, can effectively remind driver.
4. a kind of automatic Pilot alarming method for power, device and vehicle of the present invention, by reasonably combining warning alert
Strategy can satisfy functional safety demand, and high-grade Function for Automatic Pilot is avoided to generate dangerous situation.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
A kind of the step of Fig. 1 automatic Pilot alarming method for power of the present invention, schemes；
Fig. 2 is the flow chart of automatic Pilot alarming method for power described in Fig. 1；
The structure chart of attention data obtaining module in a kind of Fig. 3 automatic Pilot alarming device of the present invention；
The structure chart of first warning execution module in a kind of Fig. 4 automatic Pilot alarming device of the present invention；
The structure chart of second warning execution module in a kind of Fig. 5 automatic Pilot alarming device of the present invention；
The decomposing scheme diagram of driver alert's strategy in Fig. 6 present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Covering non-exclusive includes to be not necessarily limited to for example, containing the process, method of a series of steps or units, device, product or equipment
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
With the promotion of Function for Automatic Pilot grade, the both hands and both feet of driver are gradually liberated, driver is without control
Steering wheel and braking accelerator pedal processed, if none suitable driver alert's strategy, will lead to driver attention not
Concentrate, and the trust excessive to function, in emergency can not adapter tube vehicle in time, lead to occurrence injury.Current warning
It is tactful mostly relatively simple, it is only shown from instrument board and sound is reminded, be unable to satisfy the requirement of higher functionality security level,
And driver really can not be effectively reminded, prevent driver from misunderstanding.
In one embodiment of this specification, a kind of automatic Pilot alarming method for power is provided, as depicted in figs. 1 and 2, for institute
The step of stating method figure and flow chart, as shown in fig. 6, the combined warning strategy wherein used in the method may include instrument
The information of dial plate shows, the sound prompting of vehicle, driver safety belt vibration and tighten and the point of vehicle is stopped and reminded, when
So detect that driver there are also will do it secure parking in the case where certain risk, ensures the safety of driver in device.
Method in the present embodiment specifically includes:
Judge whether Function for Automatic Pilot is opened, if so, obtaining vehicle front exception traffic information and driver in real time
Attention force information, wherein the driver's notices that force information is driver attention not in effective in road ahead
Between；
Judge whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
If so, the effective time according to the driver attention not on road, the warning for executing appropriate level is mentioned
It wakes up；
If it is not, then directly executing warning alert.
After vehicle start-up, it can be manual switching and enter automatic driving mode, then entire car controller detection is driven automatically
Sail whether function opens success, naturally it is also possible to be that other detection units are judged, enter automatic Pilot state in vehicle
Afterwards, the attention force information of vehicle real-time detection driver, wherein notice that force information can be the facial information of driver, detection
Equipment can be vehicle-mounted pick-up or third party's testing equipment, after obtaining driver's facial information, by preset algorithm into
Row analysis driver face direction and eyes pay attention to direction, and the result of binding analysis obtains the attention direction of driver.
It is well known that the renewal frequency of high-precision map is excessively slow at present, most of is all 1 year 4 to 6 times renewal frequencies, and
Actual road conditions often will appear construction area, and frequency is much larger than 1 year 4 to 6 times, and road construction region often all has
Personnel construct inside and temporary construction region blocks mark is unobvious, and the existing sensor of automatic driving vehicle is difficult to detect construction
Indicate and avoided, vehicle is caused to be entered construction area, wound construction personnel or conflict lane, certain road exception information
Including following situations: road surface slippery situation, icy on road, road surface has hole and front that accident etc. occurs, in order to preferably timely update
The information of road ahead needs real-time tracing during automatic Pilot to judge, can be with real-time update road information, according to vehicle-mounted
GPS, the map softwares such as Beidou update prompt, naturally it is also possible to are tracked, be shown by road collaboration and car networking technology (V2V)
Under such as, by the way that the transceiver of V2V will be installed on vehicle, to obtain the actual conditions of road ahead, connect by default certain
Road ahead distance, such as 5 kilometers of default front are received as distance is received, when 5 kilometers receive front vehicles apart from front
It is abnormal to know that road ahead occurs, need to improve concentration, the instrument board of vehicle, which can be shown, allows driver to watch road ahead attentively for information
Printed words, while vehicle issue slowly drop drop sound prompting driver, in order to improve the practicability of the alarming method for power, if driving
It is more than 5 seconds that the person of sailing watches road ahead attentively again during this period, and instrument board is shown and sound prompting disappears, and device restarts to supervise
Depending on；When driver does not also recognize the prompt of vehicle, vehicle will continue to having for record driver attention no longer road ahead
The time is imitated, if driver attention is not accumulative more than 120 seconds in the effective time of road ahead, is shown and vehicle sound in instrument board
Sound remind on the basis of, vehicle driver's safety belt can generate shake and tighten, and at any time driver do not watch attentively road when
Between elongated, the quickening that the prompting frequency of sound will be slow, if it is more than 5 seconds that driver watches road ahead attentively again during this period, instrument
Dial plate, which is shown, tightens disappearance with sound prompting and safety belt vibration, and device restarts to monitor；If driver attention does not exist
Effective time of road ahead is accumulative to be shown more than 210 seconds in instrument board, the base that sound prompting and safety belt shake and tighten
On plinth, vehicle can carry out a brake, if it is more than 5 seconds that driver watches road ahead attentively again during this period, instrument with certain frequency
Disk shows that sound prompting, safety belt vibration tightens and vehicle point is stopped and disappears, and device restarts to monitor；If driver pays attention to
Power is not accumulative more than 230 seconds in the effective time of road ahead, and vehicle will carry out secure parking automatically, and function is closed, at this
The function will be unable to be again turned in drive cycle, can guarantee that driver can before entering current road segment by above-mentioned strategy
Absorbed watches front attentively and controls vehicle.
On the other hand, in road ahead road conditions without exception, it is thus necessary to determine that driver attention direction not in road ahead,
Vehicle calculates driver attention not in the effective time of road ahead by the time recording unit of setting, and vehicle can divide in real time
Analysis judges the driver attention not in the effective time of road ahead, if driver attention is not in the effective of road ahead
Time is more than 60 seconds, and the instrument board of vehicle can show the printed words for allowing driver to watch road ahead attentively at this time, while vehicle issues and delays
The sound prompting driver of slow drop drop, in order to improve the practicability of the alarming method for power, if driver watches attentively again during this period
Road ahead is more than 5 seconds, and instrument board is shown and sound prompting disappears, and device restarts to monitor；If driver attention is not
It is accumulative more than 180 seconds in the effective time of road ahead, on the basis of instrument board is shown and vehicle sounds are reminded, vehicle drive
Member safety belt can generate shake and tighten, and at any time driver do not watch attentively road time it is elongated, the prompting frequency meeting of sound
Slowly accelerate, if it is more than 5 seconds that driver watches road ahead attentively again during this period, instrument board is shown and sound prompting and peace
Full band vibration tightens disappearance, and device restarts to monitor；If driver attention is not accumulative super in the effective time of road ahead
270 seconds are spent, is shown in instrument board, sound prompting and safety belt vibration and on the basis of tightening, vehicle can be with certain frequency
A brake is carried out, if it is more than 5 seconds that driver watches road ahead attentively again during this period, instrument board is shown, sound prompting, safety belt shake
Dynamic to tighten and vehicle point is stopped and disappears, device restarts to monitor；If driver attention is not in the effective time of road ahead
Accumulative more than 290 seconds, vehicle will carry out secure parking automatically, and function is closed, and the function will be unable to again in this drive cycle
Secondary opening.
In one embodiment of this specification, be the focus by driver during automatic Pilot it is strong and weak by
Gradually reinforce the warning alert to driver, and different warning strategies belongs to the different device of vehicle and carries out control execution, both
It can guarantee its mutual independence, while not influencing the execution of other strategies in the case where wherein certain strategy fails, improve
The validity of warning.
Based on automatic Pilot alarming method for power described above, one embodiment of this specification additionally provides one kind and drives automatically
Sail alarming device, the device may include system (including the distributed system for having used this specification embodiment the method
System), software (application), module, component, server, client etc. and the device for combining necessary implementation hardware.Based on same wound
New design, the device in one or more embodiments that this specification embodiment provides is as described in the following examples.Due to dress
Set that the implementation solved the problems, such as is similar to method, thus the implementation of the specific device of this specification embodiment can participate in it is aforementioned
The implementation of method, overlaps will not be repeated.Used below, predetermined function may be implemented in term " unit " or " module "
Software and/or hardware combination.Although device described in following embodiment is preferably realized with software, hardware,
Or the realization of the combination of software and hardware is also that may and be contemplated.
Specifically, a kind of automatic Pilot alarming device is provided in this specification embodiment, described device includes:
First judgment module, for judging whether Vehicular automatic driving function opens；
Road information obtains module, for obtaining vehicle front exception road conditions letter in real time after Function for Automatic Pilot is opened
Breath；
Attention data obtaining module, the attention for obtaining driver in real time after Function for Automatic Pilot is opened are believed
Breath, wherein the attention force information of the driver is effective time of the driver attention not in road ahead；
Second judgment module, for judging whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
First warning execution module, when being greater than distance threshold for the abnormal road conditions in the front described in vehicle distances, according to institute
Effective time of the driver attention not on road is stated, the warning alert of appropriate level is executed；
Second warning execution module, when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances, directly
Execute warning alert.
Further, as shown in figure 3, the attention data obtaining module includes:
Image acquisition units, for acquiring driver's facial information in real time；
Image processing unit obtains the attention direction of driver for the facial information according to the driver；
Attention judging unit judges the attention of the driver for the attention direction according to the driver
Whether in road ahead；
Time recording unit, for not when in road ahead, calculating driver's note in driver attention direction
Effective time of the power of anticipating not in road ahead, wherein when the driver attention reaches the 5th at the time in road ahead
Threshold value, the effective time are recalculated.
On the basis of the above embodiments, in one embodiment of this specification, as shown in figure 4, first warning is held
Row module specifically includes:
Level-one execution unit, for judging whether the driver attention reaches the effective time not in road ahead
First threshold, if so, executing level-one warning；
Second level execution unit, for judging whether the driver attention reaches the effective time not in road ahead
Second threshold, if so, executing second level warning；
Three-level execution unit, for judging whether the driver attention reaches the effective time not in road ahead
Third threshold value, if so, executing three-level warning；
Level Four execution unit, for judging whether the driver attention reaches the effective time not in road ahead
4th threshold value, if so, executing level Four warning.
On the basis of the above embodiments, in one embodiment of this specification, as shown in figure 5, second warning is held
Row module includes:
Pyatyi execution unit directly executes when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances
Level-one warning；
Six grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
6th threshold value, if so, second level warning is executed, wherein the 6th threshold value is the difference of the second threshold and first threshold；
Seven grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
7th threshold value, if so, three-level warning is executed, wherein the 7th threshold value is the difference of the third threshold value and first threshold；
Eight grades of execution units, for judging whether the driver attention reaches the effective time not in road ahead
8th threshold value, if so, level Four warning is executed, wherein the 8th threshold value is the difference of the 4th threshold value and first threshold.
In this specification one embodiment, driver is reminded to focus on by taking the warning strategy of combination
On road or adapter tube vehicle and meets the needs of functional safety.
It should be noted that device described above can also include it according to the description of automatic Pilot alarming method for power embodiment
His embodiment.Concrete implementation mode is referred to the description of related method embodiment, does not repeat one by one herein.
On the basis of the automatic Pilot alarming method for power and device of above-mentioned offer, one embodiment of this specification is also provided
A kind of vehicle, the vehicle have Function for Automatic Pilot, and a kind of automatic Pilot warning dress of above-mentioned offer is arranged in the vehicle
It sets, the technology sense and usage experience sense of vehicle is improved by the way that automatic Pilot alarming device is arranged.
It is above-mentioned that this specification embodiment is described.Other embodiments are within the scope of the appended claims.?
The movement recorded in detail in the claims under some cases or step can execute simultaneously according to the sequence being different from embodiment
And desired result still may be implemented.In addition, process depicted in the drawing not necessarily require the particular order shown or
Consecutive order is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
Person may be advantageous.
Method or apparatus described in above-described embodiment that this specification provides can realize that business is patrolled by computer program
It collects and records on a storage medium, the storage medium can be read and be executed with computer, realize this specification embodiment institute
The effect of description scheme.
It should be noted that specification device and vehicle described above can be with according to the description of related method embodiment
Including other embodiments, concrete implementation mode is referred to the description of corresponding method embodiment, does not go to live in the household of one's in-laws on getting married one by one herein
It states.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Divide and participate in mutually, each embodiment focuses on the differences from other embodiments.Especially for hardware+
For program class embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place acceding party
The part of method embodiment illustrates.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, for those skilled in the art
For, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from of the invention spiritual or substantially special
In the case where sign, the present invention can be realized in other specific forms.It therefore, in all respects, should all be by embodiment
Regard exemplary as, and is non-limiting, the scope of the invention being indicated by the appended claims rather than by the foregoing description,
It is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention.It should not incite somebody to action
Any appended drawing reference in claim is construed as limiting the claims involved.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of automatic Pilot alarming method for power, which comprises the following steps:
Judge whether Function for Automatic Pilot is opened, if so, obtaining the note of vehicle front exception traffic information and driver in real time
Meaning force information, wherein the attention force information of the driver is effective time of the driver attention not in road ahead；
Judge whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
If so, the effective time according to the driver attention not on road, executes the warning alert of appropriate level；
If it is not, then directly executing warning alert.
2. a kind of automatic Pilot alarming method for power according to claim 1, which is characterized in that the real-time acquisition driver's
Attention information includes:
The facial information of acquisition driver in real time；
According to the facial information of the driver, the attention direction of driver is obtained；
According to the attention direction of the driver, judge the attention of the driver whether in road ahead；
If not existing, effective time of the driver attention not in road ahead is calculated, wherein when the driver infuses
Time of the power of anticipating in road ahead reaches the 5th threshold value, and the effective time is recalculated.
3. a kind of automatic Pilot alarming method for power according to claim 1, which is characterized in that the warning alert includes level-one
Warning, second level warning, three-level warning and level Four warning；
The level-one warning includes that meter panel of motor vehicle shows that driver need to focus in road ahead and vehicle issues
Sound prompting；
The second level warning includes that driver need to focus in road ahead, vehicle makes a sound for meter panel of motor vehicle display
It reminds and prompting is shaken and tightened to pilot harness；
The three-level warning includes that driver need to focus in road ahead, vehicle makes a sound for meter panel of motor vehicle display
It reminds, prompting is shaken and tightened to pilot harness and vehicle carries out a brake and reminds；
The level Four warning includes that vehicle carries out secure parking.
4. a kind of automatic Pilot alarming method for power according to claim 1, which is characterized in that described if so, according to described
Effective time of the driver attention not in road ahead, the alert mode for executing appropriate level include:
Judge whether the driver attention effective time not in road ahead reaches first threshold, if so, executing
Level-one warning；
Judge whether the driver attention effective time not in road ahead reaches second threshold, if so, executing
Second level warning；
Judge whether the driver attention effective time not in road ahead reaches third threshold value, if so, executing
Three-level warning；
Judge whether the driver attention effective time not in road ahead reaches the 4th threshold value, if so, executing
Level Four warning.
5. a kind of automatic Pilot alarming method for power according to claim 4, which is characterized in that described if it is not, then directly executing
Warning alert includes:
Execute level-one warning；
Judge whether the driver attention effective time not in road ahead reaches the 6th threshold value, if so, executing
Second level warning, wherein the 6th threshold value is the difference of the second threshold and first threshold；
Judge whether the driver attention effective time not in road ahead reaches the 7th threshold value, if so, executing
Three-level warning, wherein the 7th threshold value is the difference of the third threshold value and first threshold；
Judge whether the driver attention effective time not in road ahead reaches the 8th threshold value, if so, executing
Level Four warning, wherein the 8th threshold value is the difference of the 4th threshold value and first threshold.
6. a kind of automatic Pilot alarming device, which is characterized in that described device perform claim requirement 1 to 5 is described in any item certainly
Dynamic to drive alarming method for power, described device includes:
First judgment module, for judging whether Vehicular automatic driving function opens；
Road information obtains module, for obtaining vehicle front exception traffic information in real time after Function for Automatic Pilot is opened；
Attention data obtaining module, for obtaining the attention force information of driver in real time after Function for Automatic Pilot is opened,
Described in driver attention force information be effective time of the driver attention not in road ahead；
Second judgment module, for judging whether the abnormal road conditions in front described in vehicle distances are greater than distance threshold；
First warning execution module is driven when being greater than distance threshold for the abnormal road conditions in the front described in vehicle distances according to described
Effective time of the person's of sailing attention not on road, execute the warning alert of appropriate level；
Second warning execution module directly executes when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances
Warning alert.
7. a kind of automatic Pilot alarming device according to claim 6, which is characterized in that the attention acquisition of information mould
Block includes:
Image acquisition units, for acquiring driver's facial information in real time；
Image processing unit obtains the attention direction of driver for the facial information according to the driver；
Attention judging unit, for the attention direction according to the driver, judge the driver attention whether
In road ahead；
Time recording unit, for not when in road ahead, calculating the driver attention in driver attention direction
Effective time not in road ahead, wherein when the driver attention reaches the 5th threshold at the time in road ahead
Value, the effective time are recalculated.
8. a kind of automatic Pilot alarming device according to claim 6, which is characterized in that the first warning execution module
Include:
Level-one execution unit, for judging whether the driver attention effective time not in road ahead reaches first
Threshold value, if so, executing level-one warning；
Second level execution unit, for judging whether the driver attention effective time not in road ahead reaches second
Threshold value, if so, executing second level warning；
Three-level execution unit, for judging whether the driver attention effective time not in road ahead reaches third
Threshold value, if so, executing three-level warning；
Level Four execution unit, for judging whether the driver attention effective time not in road ahead reaches the 4th
Threshold value, if so, executing level Four warning.
9. a kind of automatic Pilot alarming device according to claim 6, which is characterized in that the second warning execution module
Include:
Pyatyi execution unit directly executes level-one when being not more than distance threshold for the abnormal road conditions in the front described in vehicle distances
Warning；
Six grades of execution units, for judging whether the driver attention effective time not in road ahead reaches the 6th
Threshold value, if so, second level warning is executed, wherein the 6th threshold value is the difference of the second threshold and first threshold；
Seven grades of execution units, for judging whether the driver attention effective time not in road ahead reaches the 7th
Threshold value, if so, three-level warning is executed, wherein the 7th threshold value is the difference of the third threshold value and first threshold；
Eight grades of execution units, for judging whether the driver attention effective time not in road ahead reaches the 8th
Threshold value, if so, level Four warning is executed, wherein the 8th threshold value is the difference of the 4th threshold value and first threshold.
10. a kind of vehicle, the vehicle has Function for Automatic Pilot, which is characterized in that the vehicle is equipped with claim 6 to 9
Described in any item automatic Pilot alarming devices.
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