CN112991789A - Vehicle safety driving assistance system, vehicle comprising same, method and medium - Google Patents
Vehicle safety driving assistance system, vehicle comprising same, method and medium Download PDFInfo
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- CN112991789A CN112991789A CN201911199532.1A CN201911199532A CN112991789A CN 112991789 A CN112991789 A CN 112991789A CN 201911199532 A CN201911199532 A CN 201911199532A CN 112991789 A CN112991789 A CN 112991789A
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- 230000008921 facial expression Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 10
- 230000006996 mental state Effects 0.000 claims description 9
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000035900 sweating Effects 0.000 description 4
- 238000012502 risk assessment Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle safety driving assistance system, a vehicle including the same, a control method of assisting safety driving, and a computer-readable storage medium. The vehicle safety driving assistance system comprises an information acquisition unit configured to acquire vehicle-related information and/or driver-related information; a hesitation risk evaluation unit configured to evaluate a hesitation risk value based on the vehicle-related information and/or the driver-related information; a determining unit configured to determine whether the hesitation risk value is greater than a preset threshold; and the safety reminding unit is configured to send out a safety reminding when the hesitation risk value is judged to be larger than a preset threshold value. By utilizing the invention, the hesitation state of the driver facing a plurality of adjacent intersections can be evaluated in real time, and the surrounding vehicles or pedestrians are reminded based on the hesitation state, so that the probability of traffic accidents is reduced.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle safety driving assistance system, a vehicle including the same, a control method of assisting safety driving, and a computer-readable storage medium.
Background
The existing navigation system is very developed, and thus great convenience is brought to the trip of drivers and pedestrians. However, no matter how perfect the navigation systems are designed, various emergencies still occur when the navigation systems face complicated road conditions.
For example, when driving on a highway, the navigation system prompts the driver to exit at a certain exit according to the destination set by the driver. It may be the case that there is more than one exit in the driver's field of view. In this case, the driver cannot correctly judge which exit should be exited from, and for this reason, may suddenly brake or change lanes to find and exit the correct exit. Such driving may lead to potential traffic accidents.
Therefore, there is a need in the art to find a solution for detecting the state of the driver facing a plurality of adjacent intersections and reminding surrounding vehicles, self-vehicles or pedestrians according to the detection result, so as to reduce the occurrence probability of traffic accidents.
Disclosure of Invention
In order to solve the technical problems, the invention provides a technical scheme of vehicle safety auxiliary driving, which is used for reminding drivers of surrounding vehicles and/or pedestrians of being hesitant at present when the drivers cannot make correct selections facing a plurality of adjacent intersections, so that the probability of collision is reduced.
Specifically, in a first aspect of the present invention, there is provided a vehicle safety-assisted driving system, the system including:
an information acquisition unit configured to acquire vehicle-related information and/or driver-related information;
a hesitation risk evaluation unit configured to evaluate a hesitation risk value based on the vehicle-related information and/or the driver-related information;
a determining unit configured to determine whether the hesitation risk value is greater than a preset threshold; and
and the safety reminding unit is configured to send out a safety reminding when the hesitation risk value is judged to be larger than a preset threshold value.
In one embodiment, the vehicle-related information includes one or two of a distance between the vehicle and the intersection and a driving state of the vehicle, and the driver-related information includes one, two or three of a driver gaze direction, a driver facial expression, and a driver mental state.
In one embodiment, the hesitation risk evaluating unit is configured to output a score to each of the vehicle-related information and the driver-related information based on the same criterion, and sum the output scores to obtain the hesitation risk value.
In a further embodiment, the summing of the scores of the outputs is performed by means of a weighted sum, wherein the vehicle-related information and the driver-related information are assigned the same or different weighting values.
In yet a further embodiment, a higher weighting value is assigned to the driver's gaze direction relative to the other information.
In one embodiment, the safety reminder unit is configured to issue an external reminder and/or an internal reminder when the hesitation risk value is determined to be greater than a set threshold.
In a second aspect of the invention, a vehicle is provided that includes the vehicle safety driving assistance system relating to the first aspect of the invention.
In a third aspect of the present invention, there is provided a control method for assisting safe driving, the method including the steps of:
collecting vehicle-related information and/or driver-related information;
evaluating a hesitation risk value based on the vehicle-related information and/or driver-related information;
judging whether the hesitation risk value is larger than a preset threshold value or not; and
and sending a safety prompt when the hesitation risk value is judged to be larger than a preset threshold value.
In one embodiment, the vehicle-related information includes one or two of a distance between the vehicle and the intersection and a driving state of the vehicle, and the driver-related information includes one, two or three of a driver gaze direction, a driver facial expression, and a driver mental state.
In one embodiment, said assessing a hesitation risk value based on said vehicle-related information and/or driver-related information comprises: outputting a score to the vehicle-related information and the driver-related information, respectively, based on the same criterion, and summing the output scores to obtain a hesitation risk value.
In a further embodiment, said summing of the scores of the outputs is performed by means of a weighted sum, wherein the vehicle-related information and the driver-related information are assigned the same or different weighting values.
In yet a further embodiment, a higher weighting value is assigned to the driver's gaze direction relative to the other information.
In one embodiment, the sending out the safety reminder when the hesitation risk value is judged to be greater than the preset threshold value includes: and sending out an external prompt and/or an internal prompt when the hesitation risk value is judged to be larger than the set threshold value.
In a fourth aspect of the invention, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to the third aspect of the invention.
By utilizing the scheme of the invention, the hesitation state of the driver facing a plurality of adjacent intersections can be evaluated in real time, and the reminding is sent to surrounding vehicles or pedestrians based on the hesitation state so as to reduce the probability of traffic accidents.
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Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, in which:
fig. 1 shows an application scenario of the present invention.
Fig. 2 shows a schematic block diagram of a vehicle safety-assisted driving system 100 according to an embodiment of the first aspect of the present invention.
Fig. 3 shows a schematic block diagram of a control method S100 for assisting safe driving according to an embodiment of the third aspect of the present invention.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more apparent, the present invention will be described below with reference to the accompanying drawings. It is to be understood that the following detailed description and accompanying drawings are illustrative of the principles of the present invention, and are not intended to limit the scope of the invention. The scope of the invention is defined by the claims.
Fig. 1 shows an application scenario of the present invention. As can be seen from this figure, two outlets a and B, which are very close together, appear on the right side of the vehicle. When the vehicle navigation system prompts exit from the next exit, the driver will be confused as to whether exit a or exit B is exit because the two exits are very close? This is a problem in that the driver may suddenly brake or change lanes, thereby potentially causing a collision risk to surrounding vehicles.
To this end, a first aspect of the invention provides a vehicle safety-assisted driving system. Fig. 2 shows a schematic block diagram of a vehicle safety-assisted driving system 100 according to an embodiment of the first aspect of the present invention.
As shown in fig. 2, the vehicle safety driving assistance system 100 of the present invention includes: the system comprises an information acquisition unit 200, a hesitation risk assessment unit 300, a judgment unit 400 and a safety reminding unit 500.
The information collection unit 200 may be configured to collect vehicle-related information and/or driver-related information.
Herein, the "vehicle-related information" may include one or both of a distance between the vehicle and the intersection and a vehicle driving state. In this context, the term "intersection" refers to a place on a road where a driver needs to make a selection, such as a left turn, a right turn, or a straight line, and may include, for example, an entrance, an exit, a bifurcation, and the like. The distance between the vehicle and the intersection can be detected by, for example, a Global Navigation Satellite System (GNSS). Under the condition that the navigation system prompts that the vehicle exits at the next intersection, if the GNSS detects that the vehicle is approaching two or more intersections with short distances, namely, the GNSS detects that the distance between the vehicle and the intersections is shorter, the driver can be judged to be in a hesitation state at present.
The "vehicle running state" herein refers specifically to a state in which the vehicle runs at a sudden sharp deceleration (particularly at a sharp deceleration exceeding a preset deceleration) and/or suddenly changes lanes without any obstacle/vehicle/pedestrian in a certain distance ahead of the vehicle. Whether or not an obstacle/vehicle/pedestrian is present within a certain distance in front of the vehicle may be detected by a sensor (e.g., a camera/millimeter wave radar/lidar/ultrasonic sensor, etc.) mounted in the vehicle that is convenient and/or adapted to detect the position of the object in front. In one example, if the vehicle suddenly decelerates sharply without detecting any obstacle/vehicle/pedestrian in a certain distance, for example, 100-. In another example, a sudden lane change of the vehicle without any obstacle/vehicle/pedestrian in a certain distance in front of the vehicle, e.g. 100-.
Herein, the driver-related information includes one, two, or three of a driver gaze direction, a driver facial expression, and a driver mental state.
The driver gaze direction may be detected by an image capture device (e.g., camera/camcorder) mounted at any location within the vehicle that is convenient and/or suitable for capturing images of the driver's face (e.g., near an interior rearview mirror, at an interior ceiling, etc.), which may be an image capture device capable of capturing a single image frame or multiple sequential image frames (e.g., video). It may be determined that the driver is currently in a hesitant state if it is detected by the image capturing means that the gaze direction of the driver frequently switches between road signs located in front of the vehicle, a road surface in front of the vehicle and/or a navigation display. Those skilled in the art will appreciate that the location of the road sign and the road surface may be determined by an image capturing device (e.g., camera/camcorder), while the location of the navigation display may be determined by a preset location, which will not be described herein.
The driver facial expression may be detected by: first, the image of the face of the driver is captured using the image capturing apparatus for determining the direction of the driver's gaze as described above. Similarly, the facial image may also comprise a single image frame or a plurality of consecutive image frames (e.g., video). It will be appreciated that the same image capture device may be used to detect the driver gaze direction and the driver facial expression, but that a different image capture device may be used to capture an image of the driver's face and thereby detect the driver facial expression. Subsequently, feature extraction is performed on the captured facial image of the driver according to an image classification technique and facial expressions of the driver are classified according to the extracted features. The term "image classification" refers to an image processing method for distinguishing different types of objects from each other according to different features each reflected in image information. The technology utilizes a computer to carry out quantitative analysis on an image, and classifies each pixel or area in the image or the image into one of a plurality of categories to replace the visual interpretation of a human. In the present invention, if features related to hesitation, such as a left-to-right expectation, frowning, left-handed mouth, etc., are extracted from the facial expression of the driver, it can be determined that the driver is in a hesitation state. Taking the left-right look as an example, if it is detected that the face orientation and the viewing angle orientation of the driver frequently change from the captured continuous image frames, and the frequency of the change of both is greater than a predetermined threshold, it can be determined that the driver is in a hesitation state.
The driver's psychological state may be detected through a bio-sensor mounted on a steering wheel, and the driver's psychological state may be classified as a hesitation or confident state according to the detection result. The biosensor may be a biosensor that detects an index related to a human mental state including, for example, a force of grasping a steering wheel by a hand, a sweating condition of a hand, blood pressure, pulse, heart rate, and the like, but is not limited thereto. In one example, a grip sensor may be employed to detect the amount of force of the driver's hand gripping the steering wheel, and if it is detected by the grip sensor that the grip of the driver gripping the steering wheel exceeds some predetermined threshold or is greater than the grip just before, the current psychological state of the driver may be classified as a hesitant state. In another example, a sweat sensor may be employed to detect sweating of a driver's hand gripping a steering wheel, and if it is detected by the sweat sensor that the driver's hand gripping the steering wheel is sweating or that the amount of sweating exceeds a predetermined threshold for a certain period of time, the current psychological state of the driver may be classified as a hesitant state. Those skilled in the art know which sensor is used to detect the corresponding index, and therefore, the description thereof is omitted.
The hesitation risk assessment unit 300 may be configured to assess a hesitation risk value based on the vehicle-related information and/or the driver-related information. The hesitation risk evaluating unit 300 may output a score for each information based on a uniform criterion (e.g., 5-point/10-point/100-point), and sum the output scores to obtain a final hesitation risk value. For example, with the 10-point system as a standard, the hesitation risk assessment unit 300 may be configured to output a score between 0 and 10 points for each information according to a specific detection result, and then sum the scores output for each information to obtain a final hesitation risk value. It should be understood that, in the present invention, the higher the score output for each of the information types, the higher the final risk of hesitation value.
The following describes in detail the case of the score (in the case of a score of 10) for each information output.
Regarding the distance between the vehicle and the intersection, it is determined that the driver is likely to be hesitant if the vehicle is traveling near two or more intersections that are close to each other. And the distance between the vehicle and the intersection determines the magnitude of the output score. For example, if there are two or more intersections near the vehicle and the distance between the vehicle and the intersection is relatively long, a relatively small score, e.g., 2 points, may be output for the information; conversely, if the distance between the two is relatively close, a relatively large score, e.g., 8, is output for the information.
With regard to the vehicle running state, as described above, if the vehicle suddenly decelerates sharply and an obstacle/vehicle/pedestrian is not detected within a certain distance in front of the vehicle, it can be determined that the driver is likely to be hesitant. The magnitude of deceleration may be taken as a measure of the score output for the information. For example, if the vehicle is decelerating at a relatively small deceleration, a relatively small score, for example 2 scores, is output for the information; conversely, if the vehicle decelerates at a relatively large deceleration, a relatively large score, for example 8, is output for the information.
With respect to the driver's gaze direction, as described above, if the driver's gaze direction frequently switches between the road sign, the road surface, and the navigation display for a period of time during the travel of the vehicle, it indicates that the driver may be currently in a hesitant state. It will be appreciated that if the driver's gaze direction is switched between the signpost, road surface and navigation display with a relatively low frequency, a relatively small score, for example 2, may be output for the information; conversely, if the driver's gaze direction switches between the road sign, the road surface and the navigation display with a relatively high frequency, a relatively large score, for example 8, may be output for the information.
As for the facial expression of the driver, it can be detected by the image capturing device and the image classification technique as described above. In the present invention, if a lower classification score is obtained by the image classification technique (for features related to hesitation, such as left-to-right pan, frown, left-to-right, etc.), a relatively lower score, such as 2 scores, may be output for the information; conversely, if a higher classification score is obtained by the image classification technique, a relatively higher score, e.g., 8, may be output for the information.
As for the driver mental state, as described above, the detection may be performed by the biosensor mounted on the steering wheel, and the driver mental state may be classified into a hesitation state or a confident state according to the detection result. In the present invention, if a lower score associated with hesitation is detected by the biosensor, a relatively lower score, e.g., 2 scores, is output for the information; conversely, if a higher hesitation-related measurement score is detected, a relatively higher score, e.g., 8, is output for the information.
It is noted that any of the specific scores above are given for exemplary purposes only and are not intended to limit the specific scores output for the various pieces of information in any way.
Then, by summing up the scores of two or more, preferably all, of the five pieces of information, a final risk hesitation value may be obtained, which may be used to assess whether and/or to what extent the driver is in a hesitation state (if in a hesitation state).
In one embodiment, summing the scores of two or more of the five pieces of information may be performed in a weighted sum manner. In the invention, different weighted values can be distributed to the five pieces of information according to the respective hesitation states of the five pieces of information. For example, a relatively large weighting value, such as thirty percent, may be assigned to the driver's gaze direction, while the remaining seventy percent weighting values may be assigned equally among the other four pieces of information or in different proportions, such as twenty percent weighting values for each of the distance between the vehicle and the intersection and the vehicle driving status, and fifteen percent weighting values for each of the driver's facial expression and the driver's psychological status. Next, the score output for each piece of information is multiplied by the weight value assigned to each piece of information, and the obtained products are added together, thereby obtaining a final risk hesitation value. Likewise, the different weighting values given above for different information are for exemplary purposes only, and any other suitable weighting values are contemplated by the present invention.
The determining unit 400 may be configured to determine whether the hesitation risk value is greater than a preset threshold. The specific value of the predetermined threshold may be set empirically, but may be determined in other ways. When the determining unit 400 determines that the hesitation risk value is greater than the preset threshold, the safety prompting unit 500 is required to make a corresponding safety prompt (see the following details) to reduce the probability of collision.
The safety reminding unit 500 may be configured to issue a safety reminder when the hesitation risk value is determined to be greater than a preset threshold value. The safety reminder may include an external reminder and an internal reminder.
The external alerts may include visual alerts and audible alerts. For example, as a direct way, when the determining unit 400 determines that the hesitation risk value is greater than the preset threshold, the vehicle may be started to make the vehicle light frequently blink (visual alert) and/or the vehicle may be whistling to make the vehicle sound alert (auditory alert). As another example, as an indirect approach, visual and/or audible alerts may also be made via the Internet of vehicles (V2X) or vehicle-to-vehicle communications (V2V). For example, when the determining unit 400 determines that the hesitation risk value is greater than the preset threshold, the host vehicle sends a warning signal to the surrounding vehicles directly (V2V) or indirectly (V2X) connected to the host vehicle through a wireless communication method (mobile network/Wi-Fi/bluetooth). Upon receiving the alert signal, networked vehicles around the host vehicle may automatically/autonomously issue a visual alert (e.g., highlighting the location of the host vehicle on a navigation system on a display and displaying a text alert such as "hesitant to drive the vehicle, please note |") and/or an audible alert (e.g., announcing "the right front vehicle driver is in a hesitation state, please be careful").
When the determining unit 400 determines that the hesitation risk value is greater than the preset threshold, in addition to sending a safety prompt to the external vehicle through the safety prompting unit 500, a prompt such as a visual prompt may be further given to the inside of the vehicle, so that the driver ends the hesitation state as soon as possible and returns to the normal driving state. In one example, when the determining unit 400 determines that the hesitation risk value is greater than the preset threshold, the safety reminding unit 500 may further strengthen the navigation system, for example, to more clearly remind the driver to correctly exit the intersection in a detailed view. Optionally, if the vehicle is an autonomous vehicle or a vehicle with autonomous driving capability, the host vehicle may also automatically/autonomously control the braking system to decelerate the vehicle until passing at the intersection location when the system detects that the hesitation risk value is greater than a preset threshold.
In a second aspect of the invention, a vehicle is provided comprising a vehicle safety-assisted driving system according to the first aspect of the invention.
In a third aspect of the present invention, there is provided a control method for safe driving assistance corresponding to the vehicle safety driving assistance system of the first aspect of the present invention. Fig. 3 provides a control method S100 for assisting safe driving according to an embodiment of a third aspect of the present invention, the method including the steps of:
s110: collecting vehicle-related information and/or driver-related information;
s120: evaluating a hesitation risk value based on the vehicle-related information and/or driver-related information;
s130: judging whether the hesitation risk value is larger than a preset threshold value or not; and
s140: and sending a safety prompt when the hesitation risk value is judged to be larger than a preset threshold value.
It is to be understood that the above description of the vehicle safety-assisted driving system according to the first aspect of the invention may lead to or represent the control method for assisting safety driving of the third aspect of the invention. For example, in one exemplary method S100, the vehicle-related information includes one or two of a distance between the vehicle and the intersection and a driving state of the vehicle, and the driver-related information includes one, two or three of a driver gaze direction, a driver facial expression, and a driver mental state. In another exemplary method S100, said assessing a hesitation risk value based on said vehicle-related information and/or driver-related information comprises: outputting a score to the vehicle-related information and the driver-related information, respectively, based on the same criterion, and summing the output scores to obtain a hesitation risk value. In yet another exemplary method S100, the summing of the scores of the outputs is performed by a weighted sum, wherein the vehicle-related information and the driver-related information are assigned the same or different weighted values. In yet another exemplary method S100, a higher weighting value is assigned to the driver' S gaze direction relative to the other information. In still another exemplary method S100, said issuing a safety reminder upon determining that said hesitation risk value is greater than a preset threshold value comprises: and sending an external prompt and/or an internal prompt when the hesitation risk value is judged to be larger than the set threshold value.
In a fourth aspect of the invention, a computer-readable storage medium is provided, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to the third aspect. For example, the computer program, when executed by a processor, is capable of instructing the processor and/or the respective component to carry out the steps of: collecting vehicle-related information and/or driver-related information; evaluating a hesitation risk value based on the vehicle-related information and/or driver-related information; judging whether the hesitation risk value is larger than a preset threshold value or not; and sending a safety prompt when the hesitation risk value is judged to be larger than a preset threshold value.
In addition, it should be understood that the various units described above for use in the vehicle safety driving assistance system 100 may be implemented in whole or in part by software, hardware, and combinations thereof. The units can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the units.
In an embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the method in any of the above embodiments when executing the computer program. The computer device may be a server or a vehicle-mounted terminal. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the control method for assisting safe driving of the present invention.
Those skilled in the art will appreciate that the schematic diagram of the vehicle safety-assisted driving system 100 and related components shown in fig. 2 is merely a schematic block diagram of a portion of the structure associated with the present application, and does not constitute a limitation on the system to which the present application is applied, and a particular system may include more or less components than shown, or combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the steps in implementing the methods according to the above embodiments of the present invention may be instructed to be performed by the relevant hardware by a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, when executed, may include the steps of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the present invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (14)
1. A vehicle safety-assisted driving system, characterized in that the system comprises:
an information acquisition unit configured to acquire vehicle-related information and/or driver-related information;
a hesitation risk evaluation unit configured to evaluate a hesitation risk value based on the vehicle-related information and/or the driver-related information;
a determining unit configured to determine whether the hesitation risk value is greater than a preset threshold; and
and the safety reminding unit is configured to send out a safety reminding when the hesitation risk value is judged to be larger than a preset threshold value.
2. The system of claim 1, wherein the vehicle-related information includes one or two of a distance between the vehicle and the intersection and a vehicle driving state, and the driver-related information includes one, two or three of a driver gaze direction, a driver facial expression, and a driver mental state.
3. The system according to claim 1 or 2, characterized in that the hesitation risk evaluating unit is configured to output a score to the vehicle-related information and the driver-related information, respectively, based on the same criterion, and sum the output scores to obtain the hesitation risk value.
4. The system of claim 3, wherein the summing of the output scores is performed by means of a weighted sum, wherein the vehicle-related information and the driver-related information are assigned the same or different weighting values.
5. The system of claim 4, wherein a higher weighting value is assigned to the driver's gaze direction relative to the other information.
6. The system according to claim 1 or 2, wherein the safety alert unit is configured to issue an external alert and/or an internal alert when the hesitation risk value is determined to be greater than a set threshold.
7. A vehicle comprising a vehicle safety-assisted driving system according to any one of claims 1 to 6.
8. A control method for assisting safe driving, characterized by comprising the steps of:
collecting vehicle-related information and/or driver-related information;
evaluating a hesitation risk value based on the vehicle-related information and/or driver-related information;
judging whether the hesitation risk value is larger than a preset threshold value or not; and
and sending a safety prompt when the hesitation risk value is judged to be larger than a preset threshold value.
9. The method of claim 8, wherein the vehicle-related information includes one or two of a distance between the vehicle and the intersection and a vehicle driving state, and the driver-related information includes one, two or three of a driver gaze direction, a driver facial expression, and a driver mental state.
10. The method according to claim 8 or 9, wherein said assessing a hesitation risk value based on said vehicle-related information and/or driver-related information comprises: outputting a score to the vehicle-related information and the driver-related information, respectively, based on the same criterion, and summing the output scores to obtain a hesitation risk value.
11. The method according to claim 10, characterized in that said summing of the assigned scores is performed by means of a weighted sum, wherein the vehicle-related information and the driver-related information are assigned the same or different weighting values.
12. The method of claim 11, wherein a higher weighting value is assigned to the driver's gaze direction relative to the other information.
13. The method according to claim 8 or 9, wherein the issuing of the safety alert when the hesitation risk value is judged to be greater than the preset threshold value comprises: and sending out an external prompt and/or an internal prompt when the hesitation risk value is judged to be larger than the set threshold value.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 8 to 13.
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