CN110871732A - Method and device for steering lamp assistance and control device - Google Patents
Method and device for steering lamp assistance and control device Download PDFInfo
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- CN110871732A CN110871732A CN201811019394.XA CN201811019394A CN110871732A CN 110871732 A CN110871732 A CN 110871732A CN 201811019394 A CN201811019394 A CN 201811019394A CN 110871732 A CN110871732 A CN 110871732A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000028838 turning behavior Effects 0.000 claims abstract description 10
- 230000006399 behavior Effects 0.000 claims description 37
- 230000001133 acceleration Effects 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
- B60Q11/005—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00 for lighting devices, e.g. indicating if lamps are burning or not
- B60Q11/007—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00 for lighting devices, e.g. indicating if lamps are burning or not the lighting devices indicating change of drive direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a method and a device for turn signal lamp assistance, the method comprising: in the case of steady-state running of a vehicle, checking whether a state in which the vehicle has a turning behavior and a driver of the vehicle has an intention to turn continues for a specified period of time; if the result of the check is positive, detecting whether the turning-on of the steering lamp of the vehicle by the driver is correct; and if the detection result is negative, sending out a reminding message. The method and the device can help the driver to turn on the steering lamp of the vehicle correctly.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly to a method and apparatus for turn signal assist, a control device, and a machine-readable storage medium.
Background
Vehicles typically have a turn signal for indicating the turning direction of the vehicle. When the vehicle wants to change lanes or turn around in the driving process, the driver can turn on the corresponding steering lamp of the vehicle to remind the surrounding vehicles of the direction which the driver wants to turn, so as to avoid collision.
However, in a real situation, some drivers forget to turn on the turn signal or turn on the wrong turn signal when the vehicle changes lanes or turns around, which increases the risk of a traffic accident.
Disclosure of Invention
Embodiments of the present invention provide a method and apparatus for turn signal assistance, a control device, and a machine-readable storage medium, which can help a driver to turn on a turn signal of a vehicle correctly.
A method for turn signal assist according to an embodiment of the invention includes: in the case of steady-state running of a vehicle, checking whether a state in which the vehicle has a turning behavior and a driver of the vehicle has an intention to turn continues for a specified period of time; if the result of the check is positive, detecting whether the turning-on of the steering lamp of the vehicle by the driver is correct; and if the detection result is negative, sending out reminding information.
An apparatus for turn signal assist according to an embodiment of the present invention includes: the device comprises a checking module, a control module and a control module, wherein the checking module is used for checking whether a state that the vehicle has steering behavior and a driver of the vehicle has steering intention lasts for a specified time period under the condition that the vehicle runs in a steady state; the detection module is used for detecting whether the turning lamp of the vehicle is correctly turned on by the driver if the checking result is positive; and the sending module is used for sending out the reminding information if the detection result is negative.
A control apparatus according to an embodiment of the present invention includes: a processor; and a memory having executable instructions stored thereon, wherein the executable instructions, when executed, cause the processor to perform the aforementioned method.
A machine-readable storage medium according to an embodiment of the invention has stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the aforementioned method.
According to the scheme of the embodiment of the invention, when the vehicle has steering behavior and the driver has steering intention, the reminding information is sent to remind the driver when the actual steering direction of the vehicle is inconsistent with the steering direction indicated by the turned-on steering lamp of the vehicle, so that the driver can know that the driver does not turn on the steering lamp correctly and take measures to turn on the steering lamp correctly.
Drawings
The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
FIG. 1 shows a general flow diagram of a method for turn signal assist in accordance with one embodiment of the invention.
FIG. 2 shows a flow diagram of a method for turn signal assist in accordance with one embodiment of the present invention.
FIG. 3 shows a schematic view of an apparatus for turn signal assist in accordance with an embodiment of the present invention.
Fig. 4 shows a schematic diagram of a control device according to an embodiment of the invention.
Detailed Description
Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 shows a general flow diagram of a method for turn signal assist in accordance with one embodiment of the invention. The method 100 shown in fig. 1 may be implemented by an onboard computer of the vehicle (such as, but not limited to, an Electronic Stability Program (ESP) in the onboard computer) or any other suitable device on the vehicle.
As shown in fig. 1, in block 102, signals currently output by an inertial sensor, four wheel speed sensors, and a steering sensor of a vehicle V are received in a case where the vehicle is running in a steady state.
Here, the vehicle steady-state running refers to running of the vehicle in a state where an electronic brake force distribution (EBD), an Antilock Brake System (ABS), a Traction Control System (TCS), a vehicle dynamic control system (VDC), or the like is not activated (or does not function).
The signal output by the inertial sensor of the vehicle V includes the lateral acceleration ay and the yaw rate Vgif of the vehicle V. Any one of four wheel speed sensors of the vehicle V is configured to sense a wheel speed of one of the wheels of the vehicle V and output a signal indicative of the detected wheel speed. The steering sensor of the vehicle V is used to sense an angle by which a steering wheel of the vehicle V is turned and output a signal indicating the sensed angle.
At block 106, the lateral acceleration ay and yaw rate Vgif of the current vehicle V are obtained from the signals received from the inertial sensors.
At block 110, a wheel speed difference Wv is calculated across the current vehicle V using the received signals from the four wheel speed sensors of the vehicle V. Specifically, first, the respective wheel speeds on both sides of the current vehicle V are obtained from signals of four wheel speed sensors of the vehicle V, and then the absolute value of the difference between the wheel speeds on both sides of the vehicle V is calculated as the wheel speed difference Wv on both sides of the current vehicle V.
At block 114, the angle AN by which the steering wheel of the current vehicle V is turned is obtained from the signals received from the steering sensor.
At block 118, it is determined whether the current vehicle V has steering behavior and whether the driver of the vehicle V has steering intent by checking whether the acquired lateral acceleration ay is greater than a first threshold F1, the acquired yaw rate Vgif is greater than a second threshold F2, the calculated wheel speed difference Wv is greater than a third threshold F3, and the acquired angle AN is greater than zero. Wherein the first threshold F1, the second threshold F2, and the third threshold F3 are determined based on the speed of the vehicle V, and decrease as the speed of the vehicle V increases.
Here, if the acquired lateral acceleration ay is greater than the first threshold value F1, the acquired yaw angle change rate Vgif is greater than the second threshold value F2 and the calculated wheel speed difference Wv is greater than the third threshold value F3, the current vehicle V has a steering behavior, otherwise the current vehicle V has no steering behavior. If the acquired angle AN is greater than zero, the driver of the current vehicle V has a steering intention, otherwise the driver of the current vehicle V has no steering intention.
At block 122, if the determination at block 118 is negative (N), then: if the current vehicle V has no steering behavior and/or the driver of the current vehicle V has no steering intention, it is checked whether a reference time RT has been stored. Here, the reference time RT is a start time at which the vehicle V has a steering behavior and the driver of the vehicle V has a steering intention.
If the check of block 122 is negative (N), the flow returns to block 102 after waiting for the predetermined time PT. The predetermined time PT may be equal to or greater than zero here.
In block 126, if the check of block 122 is positive (Y), the stored reference time RT is deleted and the flow returns to block 102 after waiting for the predetermined time PT.
At block 130, if the determination at block 118 is positive (Y), then: if the current vehicle V has a steering behavior and the driver of the vehicle V has a steering intention, it is checked whether the reference time RT has already been stored.
In block 134, if the check of block 130 is negative (N), the current time is stored as the reference time RT, and then the flow returns to block 102 after waiting for the predetermined time PT.
At block 138, if the check of block 130 is positive (Y), the time difference between the current time and the stored reference time RT is calculated as the duration L during which the vehicle V has steering behavior and the driver of the vehicle V has steering intent.
At block 142, a determination is made as to whether the calculated duration L has reached the specified duration Th. The specified duration Th may be set according to actual conditions.
If the determination at block 142 is negative (N), flow returns to block 102.
At block 146, if the determination at block 142 is positive (Y), the actual steering direction of the vehicle V is determined based on the respective wheel speeds on both sides of the current vehicle V. Here, the direction in which the side of the vehicle V where the wheel speed is small is determined as the actual steering direction of the vehicle V. For example, assuming that the wheel speed on the left side (or right side) of the vehicle V is small compared to the right side (or left side) of the vehicle V, the actual steering direction of the vehicle V is a leftward (rightward) direction.
At block 150, a turn signal TS is obtained from the body control module of the vehicle V indicating the turn lights that the vehicle V is currently on. Here, if the turn signal TS indicating that the turn signal TS is a left turn signal, the turn signal TS indicates that the turn signal is a left turn signal. If the turn signal TS of the vehicle V is a right turn signal, the turn signal TS indicates that the turn signal of the vehicle V is a right turn signal. If the vehicle V is not currently turning on the turn signal TS, the turn signal TS indicates that the turn signal that the vehicle V is currently turning on is none.
At block 154, based on the retrieved turn signal TS, a turn signal is determined that the vehicle V is currently turned on.
At block 158, it is determined whether the steering direction indicated by the turn signal that the vehicle V is currently on coincides with the actual steering direction of the vehicle V. Wherein the steering direction indicated by the left steering lamp is to the left and the steering direction indicated by the right steering lamp is to the right.
Here, if the actual turning direction of the vehicle V is a right turn but the turn signal lamp of the vehicle V that is currently turned on is a left turn signal lamp or the vehicle V is not currently turned on, or the actual turning direction of the vehicle V is a left turn but the turn signal lamp of the vehicle V that is currently turned on is a right turn signal lamp or the vehicle V is not currently turned on, the turning direction indicated by the turn signal lamp of the vehicle V that is currently turned on does not coincide with the actual turning direction of the vehicle V.
At block 162, if the determination at block 158 is negative, a reminder is issued. Here, the reminder information may be issued in various available ways such as audio or video.
If the determination at block 158 is positive, the method does not operate.
According to the scheme of the embodiment, when the vehicle has steering behavior and the driver has steering intention, the reminding information is sent to remind the driver when the actual steering direction of the vehicle is inconsistent with the steering direction indicated by the steering lamp which is turned on, so that the driver can know that the steering lamp is not turned on correctly, and therefore measures are taken to turn on the steering lamp correctly, and therefore the scheme of the embodiment can help the driver to turn on the steering lamp correctly.
Other variants
It should be understood by those skilled in the art that although the first threshold value F1, the second threshold value F2, and the third threshold value F3 are varied depending on the speed of the vehicle in the above embodiment, the present invention is not limited thereto. In some other embodiments of the present invention, the first threshold F1, the second threshold F2, and/or the third threshold F3 may also be preset and fixed.
It should be understood by those skilled in the art that although in the above embodiment, the time at which the turning behavior of the vehicle is detected for the first time and the driver has the intention to turn is stored as the reference time RT, and thereafter the time difference between the current time and the reference time RT is calculated each time the turning behavior of the vehicle is detected and the driver has the intention to turn as the duration during which the turning behavior of the vehicle is detected and the driver has the intention to turn, the present invention is not limited thereto. In other embodiments of the invention, any suitable method may be used to calculate the duration of time that the vehicle has steering behavior and the driver has steering intent. For example, but not limited to, the timer is started to start counting when the vehicle is detected to have the turning behavior for the first time and the driver has the intention to turn, and then the time of the timer is taken as the duration of the vehicle to have the turning behavior and the driver has the intention to turn each time the vehicle is detected to have the turning behavior and the driver has the intention to turn.
It should be understood by those skilled in the art that although in the above embodiments, the motion conditions of the vehicle, such as the lateral acceleration and yaw rate of the vehicle and the wheel speed difference on both sides of the vehicle, are used to determine whether the vehicle has a turning behavior, the present invention is not limited thereto. In some other embodiments of the present invention, for example, but not limited to, it may also be determined whether the vehicle has a steering behavior only by using the lateral acceleration and yaw rate of the vehicle, or by using the wheel speed difference between two sides of the vehicle, or by using the motion condition of the vehicle other than the lateral acceleration and yaw rate of the vehicle and the wheel speed difference between two sides of the vehicle, or by using any other suitable manner other than the motion condition of the vehicle.
It should be understood by those skilled in the art that although in the above embodiments, the angle by which the steering wheel of the vehicle is turned is used to determine whether the driver has an intention to turn, the present invention is not limited thereto. In other embodiments of the invention, any other suitable manner than the angle by which the steering wheel of the vehicle is turned may be used to determine whether the driver intends to turn, for example, but not limited to, whether the driver intends to turn may be distinguished by observing the driver's behavior because the behavior when the driver intends to go straight is different from the behavior when the driver intends to turn.
It should be understood by those skilled in the art that although in the above embodiments, the actual steering direction of the vehicle is determined using the wheel speeds on both sides of the vehicle, the present invention is not limited thereto. In some other embodiments of the present invention, the actual steering direction of the vehicle may be determined by using other motion conditions of the vehicle besides the wheel speeds of the two sides of the vehicle, for example, but not limited to, the actual steering direction of the vehicle may be determined according to the motion track of the vehicle.
FIG. 2 shows a flow diagram of a method for turn signal assist in accordance with one embodiment of the present invention. The method 200 shown in fig. 2 may be implemented, for example, by an onboard computer of the vehicle (e.g., without limitation, an Electronic Stability Program (ESP) in the onboard computer) or any other suitable device on the vehicle.
As shown in FIG. 2, the method 200 may include, at block 202, checking whether a state where the vehicle has steering behavior and the driver of the vehicle has steering intent persists for a specified period of time in the event that the vehicle is traveling in a steady state.
The method 200 may further include, at block 204, detecting whether the driver has properly turned on the turn signals of the vehicle if the result of the check is positive.
The method 200 may also include, at block 206, issuing a reminder if the result of the detection is negative.
In a first aspect, block 202 includes: under the condition that the vehicle runs in a steady state, judging whether the vehicle has steering behaviors and whether the driver has steering intentions at present; and when the judgment result is positive, judging whether the vehicle has a steering behavior and whether the duration of the steering intention of the driver reaches the specified time length, wherein whether the vehicle has the steering behavior is judged based on the motion condition of the vehicle at present, and whether the driver has the steering intention is judged based on the angle of the steering wheel of the vehicle at present.
In a second aspect, determining whether the vehicle is currently steering comprises: acquiring the current lateral acceleration and yaw angle change rate of the vehicle; determining whether the obtained lateral acceleration is greater than a first threshold and the obtained yaw rate of change is greater than a second threshold; and if the result of the determination is positive, determining that the vehicle has steering behavior at present.
In a third aspect, the first threshold and the second threshold are determined based on a vehicle speed of the vehicle.
In a fourth aspect, determining whether the vehicle is currently steering comprises: obtaining wheel speeds of two sides of the current vehicle; determining whether the wheel speed difference of the two sides is larger than a third threshold value; and if the result of the determination is positive, determining that the vehicle has steering behavior at present.
In a fifth aspect, the third threshold is determined based on a speed of the vehicle.
In a sixth aspect, detecting whether the driver turns on the turn signal of the vehicle correctly comprises: determining an actual steering direction of the vehicle based on the motion condition of the vehicle; determining a turn signal that the vehicle is turned on; judging whether the steering direction indicated by the turned-on steering lamp is consistent with the actual steering direction or not; and if the result of the determination is negative, determining that the turning on of the turn signal of the vehicle by the driver is incorrect.
FIG. 3 shows a schematic view of an apparatus for turn signal assist in accordance with an embodiment of the present invention. The apparatus 300 shown in fig. 3 can be implemented by software, hardware or a combination of software and hardware. The apparatus 300 shown in fig. 3 may be installed, for example, in an on-board computer of a vehicle (such as, but not limited to, an Electronic Stability Program (ESP) in the on-board computer) or any other suitable device on the vehicle.
As shown in FIG. 3, apparatus 300 may include an inspection module 302, a detection module 304, and an issue module 306. The checking module 302 is used for checking whether a state that the vehicle has steering behavior and a driver of the vehicle has steering intention continues for a specified time period under the condition that the vehicle is in steady running. The detection module 304 is configured to detect whether the turning on of the turn signal of the vehicle by the driver is correct if the result of the check is positive. The sending module 306 is configured to send out a reminding message if the detection result is negative.
In a first aspect, the inspection module 302 includes: the first judgment module is used for judging whether the vehicle has steering behavior and whether the driver has steering intention under the condition that the vehicle runs in a steady state; and the second judging module is used for judging whether the vehicle has steering behavior and the duration of the steering intention of the driver reaches the specified time length when the judging result is affirmative, wherein whether the vehicle has the steering behavior currently is judged based on the motion condition of the vehicle, and whether the driver has the steering intention currently is judged based on the angle of the steering wheel of the vehicle.
In a second aspect, the first determining comprises: means for obtaining a current lateral acceleration and yaw rate of change of the vehicle; means for determining whether the obtained lateral acceleration is greater than a first threshold and the obtained rate of change of yaw angle is greater than a second threshold; and means for determining that the vehicle is currently steering if the result of the determination is positive.
In a third aspect, the first threshold and the second threshold are determined based on a vehicle speed of the vehicle.
In a fourth aspect, the first determining comprises: means for obtaining wheel speeds of both sides of the vehicle at present; means for determining whether the wheel speed difference on the two sides is greater than a third threshold; and means for determining that the vehicle is currently steering if the result of the determination is positive.
In a fifth aspect, the third threshold is determined based on a speed of the vehicle.
In a sixth aspect, the detection module 304 includes: means for determining an actual steering direction of the vehicle based on a motion condition of the vehicle; means for determining a turn signal that the vehicle is turned on; a module for judging whether the turning direction indicated by the turned-on turn lamp is consistent with the actual turning direction; and means for determining that the driver's turning on of a turn signal of the vehicle is incorrect if the result of the determination is negative.
Fig. 4 shows a schematic diagram of a control device according to an embodiment of the invention. As shown in fig. 4, the control device 400 may include a processor 402 and a memory 404. The memory 404 has stored thereon executable instructions that, when executed, cause the processor 402 to perform the method 100 or 200. The control device 400 may be, for example, an on-board computer of the vehicle or any other suitable device on the vehicle, etc.
There is also provided, in accordance with an embodiment of the present invention, a machine-readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the method 100 or 200.
The detailed description set forth above in connection with the appended drawings describes exemplary embodiments but does not represent all embodiments that may be practiced or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous" over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method for turn signal assist, comprising:
in the case of steady-state running of a vehicle, checking whether a state in which the vehicle has a turning behavior and a driver of the vehicle has an intention to turn continues for a specified period of time;
if the result of the check is positive, detecting whether the turning-on of the steering lamp of the vehicle by the driver is correct; and
and if the detection result is negative, sending out a reminding message.
2. The method of claim 1, wherein checking whether the state in which the vehicle has steering behavior and the driver of the vehicle has steering intent persists for a specified period of time comprises:
under the condition that the vehicle runs in a steady state, judging whether the vehicle has steering behaviors and whether the driver has steering intentions at present; and
when the judgment result is positive, judging whether the duration of the steering behavior of the vehicle and the steering intention of the driver reaches the specified duration or not,
wherein whether the vehicle has a current steering behavior is determined based on a moving condition of the vehicle, and whether the driver has a current steering intention is determined based on an angle at which a steering wheel of the vehicle is turned.
3. The method of claim 2, wherein determining whether the vehicle is currently steering comprises:
acquiring the current lateral acceleration and yaw angle change rate of the vehicle;
determining whether the obtained lateral acceleration is greater than a first threshold and the obtained yaw rate of change is greater than a second threshold; and
if the result of the determination is positive, it is determined that the vehicle currently has steering behavior,
preferably, the first threshold value and the second threshold value are determined based on a vehicle speed of the vehicle.
4. The method of claim 2, wherein determining whether the vehicle is currently steering comprises:
obtaining wheel speeds of two sides of the current vehicle;
determining whether the wheel speed difference of the two sides is larger than a third threshold value; and
if the result of the determination is positive, it is determined that the vehicle currently has steering behavior,
preferably, the third threshold is determined based on a speed of the vehicle.
5. The method of claim 1, wherein detecting whether the driver has properly turned on the turn signals of the vehicle comprises:
determining an actual steering direction of the vehicle based on the motion condition of the vehicle;
determining a turn signal that the vehicle is turned on;
judging whether the steering direction indicated by the turned-on steering lamp is consistent with the actual steering direction or not; and
if the result of the determination is negative, it is determined that the turning on of the turn signal of the vehicle by the driver is incorrect.
6. An apparatus for turn signal assist, comprising:
the device comprises a checking module, a control module and a control module, wherein the checking module is used for checking whether a state that the vehicle has steering behavior and a driver of the vehicle has steering intention lasts for a specified time period under the condition that the vehicle runs in a steady state;
the detection module is used for detecting whether the turning lamp of the vehicle is correctly turned on by the driver if the checking result is positive; and
and the sending module is used for sending out the reminding information if the detection result is negative.
7. The apparatus of claim 6, wherein the inspection module comprises:
the first judgment module is used for judging whether the vehicle has steering behavior and whether the driver has steering intention under the condition that the vehicle runs in a steady state; and
the second judgment module is used for judging whether the duration that the vehicle has the steering behavior and the driver has the steering intention reaches the specified duration or not when the judgment result is positive,
wherein whether the vehicle has a current steering behavior is determined based on a moving condition of the vehicle, and whether the driver has a current steering intention is determined based on an angle at which a steering wheel of the vehicle is turned.
8. The apparatus of claim 7, wherein the first determination comprises:
means for obtaining a current lateral acceleration and yaw rate of change of the vehicle;
means for determining whether the obtained lateral acceleration is greater than a first threshold and the obtained rate of change of yaw angle is greater than a second threshold; and
means for determining that the vehicle currently has steering behavior if the result of the determination is positive,
preferably, the first threshold value and the second threshold value are determined based on a vehicle speed of the vehicle.
9. The apparatus of claim 7, wherein the first determination comprises:
means for obtaining wheel speeds of both sides of the vehicle at present;
means for determining whether the wheel speed difference on the two sides is greater than a third threshold; and
means for determining that the vehicle currently has steering behavior if the result of the determination is positive,
preferably, the third threshold is determined based on a speed of the vehicle.
10. The apparatus of claim 6, wherein the detection module comprises:
means for determining an actual steering direction of the vehicle based on a motion condition of the vehicle;
means for determining a turn signal that the vehicle is turned on;
a module for judging whether the turning direction indicated by the turned-on turn lamp is consistent with the actual turning direction; and
means for determining that the driver's turning on of a turn signal of the vehicle is incorrect if the result of the determination is negative.
11. A control device, comprising:
a processor; and
a memory having executable instructions stored thereon, wherein the executable instructions, when executed, cause the processor to perform the method of any of claims 1-5.
12. A machine readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed, cause a machine to perform the method of any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811019394.XA CN110871732A (en) | 2018-09-03 | 2018-09-03 | Method and device for steering lamp assistance and control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811019394.XA CN110871732A (en) | 2018-09-03 | 2018-09-03 | Method and device for steering lamp assistance and control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111114558A (en) * | 2019-12-31 | 2020-05-08 | 惠州市德赛西威汽车电子股份有限公司 | Driving-encouragement turning indication method and system |
| CN112590663A (en) * | 2020-12-23 | 2021-04-02 | 恒大新能源汽车投资控股集团有限公司 | Vehicle steering lamp control method and system and vehicle |
| TWI745061B (en) * | 2020-08-31 | 2021-11-01 | 謝明賢 | Vehicle warning system |
| CN114394177A (en) * | 2022-01-17 | 2022-04-26 | 西安闻泰信息技术有限公司 | Vehicle steering prompting method, device and system and storage medium |
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