TW201924992A - Safe warning system for automatic driving takeover and method thereof - Google Patents

Abstract

A safe warning system for automatic driving takeover and a method thereof are proposed. The safe warning system for automatic driving takeover is disposed on a vehicle and used to warn a driver. The safe warning system for automatic driving takeover includes a sensing unit, a wireless communication unit, a driver detecting unit, a self-test unit, a computing unit and a warning unit. The sensing unit is disposed on the vehicle and configured to sense an external condition of the vehicle to generate an environmental status data. The wireless communication unit is disposed on the vehicle and configured to receive a cloud data and generate a field status data according to the cloud data. The driver detecting unit is disposed on the vehicle and corresponding to the driver. The driver detecting unit is configured to detect the driver to generate a driver control data. The self-test unit is disposed on the vehicle and signally connected to the sensing unit, the wireless communication unit and the driver detecting unit. The self-test unit is configured to detect the sensing unit, the wireless communication unit and the driver detecting unit to generate a self-test data. The computing unit is signally connected to the sensing unit, the wireless communication unit, the driver detecting unit and the self-test unit. The computing unit receives the environmental status data, the field status data, the driver control data and the self-test data and computes the environmental status data, the field status data, the driver control data and the self-test data to generate a driving takeover time margin and a driver takeover time. The computing unit compares the driving takeover time margin and the driver takeover time to generate an interface warning data. The warning unit is signally connected to the computing unit. The warning unit receives the interface warning data and shows a warning signal to the driver according to the interface warning data. Therefore, the proposed safe warning system for automatic driving takeover of the present disclosure may show the warning signal and output a control item to the driver by using data fusion and a specific algorithm, so that the driver can understand a feasible control step according to the warning signal and the control item.

Description

Safety warning system for automatic driving takeover method

The present invention relates to a safety alert system and method thereof, and more particularly to a safety alert system for an automatic driving takeover and a method thereof.

The Automatic Driving System (ADS) is one of the smart vehicle technologies actively developed by car manufacturers in recent years, in order to realize the technology that can reach the realm of unmanned fully-automobile vehicles in the future. The automatic driving system mainly helps the driver to control the vehicle through the control device and various sensors, thereby improving driving and road safety.

There are many automatic driving switching technologies on the market, one of which is to switch between the automatic driving mode and the manual driving mode through the paddle device. When the vehicle travels to the section with open autopilot function, the meter will inform the driver to enter the autopilot mode. If the driver presses the paddle for a while, the vehicle will enter the autopilot mode. In addition, if the automatic driving mode is to be released, the driver can press the paddle for a while, and then the vehicle switches to the manual driving mode. Although the driver can The vehicle is taken over by the switching method, but the conventional system does not inform the point of time of the takeover and the corresponding emergency level, that is, it is not proposed in the safe takeover strategy, so it is prone to false touches, insufficient safety and control errors after takeover. The problem. In addition, the driver of the conventional automatic driving system must touch the steering wheel with both hands at regular intervals to ensure the driver's attention, which often causes an invisible burden and trouble to the driver.

It can be seen that there is a lack of a safety warning system and a method for automatically driving the takeover that can reduce the trouble, safety and guide the driver to complete the takeover, and the relevant operators are seeking a solution.

Accordingly, it is an object of the present invention to provide a safety alert system for an automatic driving takeover and a method thereof, which combines the data of each system on the vehicle and lists the corresponding emergency levels, and then converts the results obtained by the specific algorithm into The output warning and control items are given to the driver to ensure that the driver can understand the subsequent feasible control steps and solve the problem that the driver of the current conventional system must touch the steering wheel with both hands at regular intervals.

One embodiment of the structural aspect of the present invention provides a safety alert system for an automatic driving take-over that is provided on a vehicle and is used to alert the driver. The safety warning system of the automatic driving takeover includes a sensing unit, a wireless transmission unit, a driving control detection unit, a system self-detection unit, a human-machine interaction calculation unit, and an interface warning unit, wherein the sensing unit is disposed in the vehicle and senses the vehicle. The surrounding environment to generate an environmental status data. wireless The transmitting unit is disposed in the vehicle and wirelessly receives the cloud data, and the wireless transmitting unit generates a domain status data according to the cloud data. Furthermore, the driving control detecting unit is disposed in the vehicle and corresponds to the driver, and the driving control detecting unit detects the driver to generate a driving control data. The system self-detection unit is disposed in the vehicle and is connected to the signal sensing unit, the wireless transmission unit and the driving control detection unit. The system self-detection unit detects the sensing unit, the wireless transmission unit and the driving control detection unit to generate a system detection data. In addition, the human-computer interaction calculation unit is connected to the sensing unit, the wireless transmission unit, the system self-detection unit and the driving control detection unit. The human-computer interaction calculation unit receives and calculates the field status data, the environmental status data, the system detection data and the driving control data to generate a driving takeover time margin and a driving takeover time, and the human-machine interaction calculation unit compares the driving takeover time. Degree and driving takeover time to generate an interface warning material. In addition, the interface warning unit signal is connected to the human-computer interaction calculation unit, and the interface warning unit receives the interface warning information and presents a corresponding warning message to the driver according to the interface warning data.

Thereby, the safety warning system of the automatic driving take-over of the present invention utilizes the driving takeover time margin, the driving takeover time and the emergency level to classify and construct the expected and expected control of the current and next time, and utilize the means of regulating the vehicle and the warning. Increase the driving takeover time margin or shorten the driving takeover time to improve the driver's understanding of the current situation and reduce the control errors that may occur when the driver takes over.

According to an embodiment of the invention, the human-machine interaction calculation unit can analyze the environmental state data, the field state data, the system detection data, and the driving control data to generate an emergency level, and set the emergency level to one. Non-emergency level, one low emergency level, one medium emergency level or one high emergency level.

According to an embodiment of the invention, the safety alert system of the automatic driving take-over may include a control unit, and the control unit signal is connected to the human-computer interaction calculation unit and regulates the vehicle according to the ratio of the driving take-over time margin to the driving take-over time. In addition, when the emergency level is a low emergency level, a medium emergency level or a high emergency level, and the driving takeover time margin is less than or equal to the driving takeover time, the human-machine interaction calculation unit transmits an adjusted vehicle speed message to the control unit, and the control unit adjusts the vehicle speed according to the adjustment. The message regulates the vehicle's braking, so that the speed of one of the vehicles is reduced.

According to an embodiment of the invention, the driving takeover time margin may include a driving takeover distance and a vehicle speed, the driving takeover distance is represented as D , and the vehicle speed is represented as V. The driving takeover time margin is expressed as T _T.B1 and conforms to the following formula: T _T.B1 = D / V .

According to an embodiment of the invention, the interface warning unit may store the first predetermined image frequency, the second predetermined image frequency, the first predetermined sound frequency, the second predetermined sound frequency, the first predetermined volume, and the second predetermined volume. The warning message of the interface warning unit includes image warning information and sound warning information, and the image warning information has an image warning frequency, and the sound warning information has an audible warning frequency and a warning volume. When the emergency level is a low emergency level, the image warning frequency is less than or equal to the first predetermined image frequency, the sound warning frequency is less than or equal to the first predetermined sound frequency, and the warning volume is less than or equal to the first predetermined volume. In addition, when the emergency level is medium emergency level, The image alert frequency is greater than the first predetermined image frequency and less than or equal to the second predetermined image frequency. The audible alert frequency is greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency. The alert volume is greater than the first predetermined volume and less than or equal to the second predetermined volume. In addition, when the emergency level is a high emergency level, the image warning frequency is greater than the second predetermined image frequency, the sound warning frequency is greater than the second predetermined sound frequency, and the warning volume is greater than the second predetermined volume. Furthermore, the first predetermined image frequency is less than the second predetermined image frequency, the first predetermined sound frequency is less than the second predetermined sound frequency, and the first predetermined sound volume is less than the second predetermined sound volume.

According to an embodiment of the invention, the interface warning unit can receive and display the driving takeover time margin and the driving takeover time from the human-machine interaction calculation unit.

According to an embodiment of the invention, the driving takeover time may include ambient traffic time, surrounding traffic weight, system familiarity time, system familiarity weight, driving state time, driving state weight, system driving control transfer time, and system driving Control transfer weights. The surrounding traffic time is expressed as T _TD , the surrounding traffic weight is expressed as W _TD , the system familiarity time is expressed as T _LE , the system familiarity weight is expressed as W _LE , the driving state time is expressed as T _EOR , and the driving state weight is expressed as W _EOR , the system driving control transfer time is expressed as T _CT , the system driving control transfer weight is expressed as W _CT , and the driving takeover time is expressed as T _T.B2 and conforms to the following formula: T _T.B2 = W _TD × T _TD + W _LE × T _LE + W _EOR × T _EOR + W _CT × T _CT .

One embodiment of the method according to the present invention provides a safety alert method for an automatic driving takeover for alerting a driver located in the vehicle. The safety alert method of the automatic driving takeover includes an environment sensing step, a wireless transmission step, a system self-detecting step, a driving control detecting step, a human-machine interaction calculation step, and a warning step, wherein the environment sensing step provides a sensing unit to An environmental status data is generated by sensing the surrounding environment of the vehicle. The wireless transmission step provides a wireless transmission unit to wirelessly receive a cloud data, and the wireless transmission unit generates a domain status data according to the cloud data. Furthermore, the driving control detection step provides a driving control detecting unit to detect the driver and generate a driving control data. The system self-testing step provides a system self-detecting unit to detect the sensing unit, the wireless transmitting unit and the driving control detecting unit to generate a system detecting data. In addition, the human-computer interaction calculation step provides a human-computer interaction calculation unit to receive and calculate the field status data, the environmental status data, the system detection data and the driving control data to generate a driving takeover time margin and a driving takeover time, and the person The machine interaction calculation unit compares the driving takeover time margin with the driving takeover time to generate an interface warning material. In addition, the warning step provides an interface warning unit to receive the interface warning information and present a corresponding warning message to the driver according to the interface warning data.

Thereby, the safety warning method of the automatic driving take-over of the present invention can not only enable the driver to understand the subsequent feasible control steps, but also solve the driver of the current conventional system. The problem caused by touching the steering wheel with both hands.

According to an embodiment of the present invention, in the foregoing human-computer interaction calculation step, the human-computer interaction calculation unit can analyze the environmental state data, the field state data, the system detection data, and the driving control data to generate an emergency level, and the emergency level Set to a non-emergency level, a low emergency level, a medium emergency level or a high emergency level.

According to an embodiment of the invention, the safety alert method of the aforementioned automatic driving takeover may include a step of regulating the vehicle, the step of regulating the vehicle providing the control unit to adjust the vehicle according to the ratio of the driving takeover time margin to the driving takeover time. In addition, when the emergency level is a low emergency level, a medium emergency level or a high emergency level, and the driving takeover time margin is less than or equal to the driving takeover time, the human-machine interaction calculation unit transmits an adjusted vehicle speed message to the control unit, and the control unit adjusts the vehicle speed according to the adjustment. The message regulates the vehicle's braking, so that the speed of one of the vehicles is reduced.

According to an embodiment of the invention, in the foregoing human-computer interaction calculation step, the driving take-over time margin includes a driving take-over distance and a vehicle speed, the driving take-over distance is represented as D , and the vehicle speed is expressed as V. The driving takeover time margin is expressed as T _T.B1 and conforms to the following formula: T _T.B1 = D / V .

According to an embodiment of the present invention, in the foregoing warning step, the interface warning unit may store the first predetermined image frequency, the second predetermined image frequency, the first predetermined sound frequency, the second predetermined sound frequency, the first predetermined sound volume, and Second predetermined volume. The warning message of the interface warning unit includes image warning information and sound warning information, and the image warning information has an image warning frequency, and the sound warning information has an audible warning frequency and an alarm volume. When tight When the emergency level is a low emergency level, the image warning frequency is less than or equal to the first predetermined image frequency, the sound warning frequency is less than or equal to the first predetermined sound frequency, and the warning volume is less than or equal to the first predetermined volume. In addition, when the emergency level is a medium emergency level, the image warning frequency is greater than the first predetermined image frequency and less than or equal to the second predetermined image frequency, and the sound warning frequency is greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency, The alert volume is greater than the first predetermined volume and less than or equal to the second predetermined volume. In addition, when the emergency level is a high emergency level, the image warning frequency is greater than the second predetermined image frequency, the sound warning frequency is greater than the second predetermined sound frequency, and the warning volume is greater than the second predetermined volume. Furthermore, the first predetermined image frequency is less than the second predetermined image frequency, the first predetermined sound frequency is less than the second predetermined sound frequency, and the first predetermined sound volume is less than the second predetermined sound volume.

According to an embodiment of the invention, in the foregoing warning step, the interface warning unit can receive and display the driving takeover time margin and the driving takeover time from the human-machine interaction calculation unit.

According to an embodiment of the invention, the driving takeover time may include ambient traffic time, surrounding traffic weight, system familiarity time, system familiarity weight, driving state time, driving state weight, system driving control transfer time, and system driving Control transfer weights. The surrounding traffic time is expressed as T _TD , the surrounding traffic weight is expressed as W _TD , the system familiarity time is expressed as T _LE , the system familiarity weight is expressed as W _LE , the driving state time is expressed as T _EOR , and the driving state weight is expressed as W _EOR , the system driving control transfer time is expressed as T _CT , the system driving control transfer weight is expressed as W _CT , and the driving takeover time is expressed as T _T.B2 and conforms to the following formula: T _T.B2 = W _TD × T _TD + W _LE × T _LE + W _EOR × T _EOR + W _CT × T _CT .

100‧‧‧Safety warning system for automatic driving takeover

110‧‧‧ Vehicles

200‧‧‧Sensor unit

300‧‧‧Wireless transmission unit

400‧‧‧Drive Control Detection Unit

500‧‧‧System Self-Test Unit

600‧‧‧ human-computer interaction calculation unit

700‧‧‧Interface warning unit

800‧‧‧Control unit

T _{T.B1 ‧‧‧Drive} takeover time margin

T _{T.B2 ‧‧‧Drive} takeover time

D ‧‧‧Driving takeover distance

V ‧‧‧speed

T _TD ‧‧‧ Traffic time around

W _TD ‧‧‧ Traffic weights around

900, 900a, 900b‧‧‧Safety warning method for automatic driving takeover

S12, S22‧‧‧ data acquisition steps

S14, S24‧‧‧ human-computer interaction calculation steps

S16, S26‧‧‧ Warning steps

S122‧‧‧Environmental Sensing Procedure

S1222‧‧‧Location map acquisition steps

S1224‧‧‧ Driving field data analysis steps

S1226‧‧‧Field Confirmation Procedure

S124‧‧‧Wire transmission steps

S1242‧‧‧Car Networking and Cloud Data Acquisition Steps

S1244‧‧‧Weather type analysis steps

S1246‧‧‧ weather conditions confirmation steps

T _LE ‧‧‧System familiarity time

W _LE ‧‧‧System familiarity weight

T _EOR ‧‧‧Driving status time

W _EOR ‧‧‧ Driving status weights

T _CT ‧‧‧System driving control transfer time

W _CT ‧‧‧System Driving Control Transfer Weight

S126‧‧‧Driving control detection steps

S128‧‧‧ system self-testing steps

S1282‧‧‧ Vehicle actuator feedback data acquisition steps

S1284‧‧‧ Feedback data analysis steps

S1286‧‧‧ Self-test abnormality confirmation step

S18‧‧‧Control vehicle steps

S242‧‧‧Drive takeover confirmation step

S244‧‧‧ Time Margin Analysis Step

S246‧‧‧Emergency Level Analysis Procedure

S262‧‧‧Low emergency warning procedure

Emergency warning steps in S264‧‧

S266‧‧‧High emergency warning procedure

S28‧‧‧Drive takeover steps

S282‧‧‧ Driving action confirmation procedure

S284‧‧‧Manual mode steps

1 is a block diagram showing a safety warning system for an automatic driving takeover according to an embodiment of the present invention.

Fig. 2 is a timing chart showing the safety warning system of the automatic driving takeover in Fig. 1.

FIG. 3 is a schematic flow chart showing a safety warning method of an automatic driving takeover according to an embodiment of the present invention.

FIG. 4 is a schematic flow chart showing an environmental sensing step according to an embodiment of the present invention.

FIG. 5 is a schematic flow chart showing a wireless transmission step according to an embodiment of the present invention.

Figure 6 is a flow chart showing the self-detection step of the system according to an embodiment of the present invention.

FIG. 7 is a schematic flow chart showing a safety warning method of an automatic driving takeover according to another embodiment of the present invention.

FIG. 8 is a schematic flow chart showing a safety warning method for an automatic driving takeover according to still another embodiment of the present invention.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. For the sake of clarity, many practical details will be explained in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not necessary. In addition, some of the conventional structures and elements are illustrated in the drawings in a simplified schematic manner, and the repeated elements may be represented by the same reference numerals.

Please refer to FIG. 1 and FIG. 2 together. FIG. 1 is a block diagram showing a safety warning system 100 for an automatic driving takeover according to an embodiment of the present invention. 2 is a timing diagram showing the safety alert system 100 of the automatic driving takeover of FIG. As shown in the figure, the automatic driving system 100 is provided on the vehicle 110 for alerting the driver, and the automatic driving system 100 includes the sensing unit 200, the wireless transmitting unit 300, and the driving control detecting unit. 400, system self-detection unit 500, human-computer interaction calculation unit 600, interface warning unit 700, and control unit 800.

The sensing unit 200 is disposed in the vehicle 110 and senses the surrounding environment of the vehicle 110 to generate environmental status data. The number of the sensing units 200 may be multiple, and the sensing unit 200 may be a two-dimensional camera, a three-dimensional camera, a radar sensor (RADAR), a light detection sensor (Light Detection and Ranging; LiDAR), inertial sensing Inertial Measurement Unit (IMU), Global Positioning System (GPS), Instant Dynamic Positioning Module (Real) Time Kinematic; RTK) or a combination of the above. The present invention transmits various environmental state data sensed by the sensing unit 200 to the human-machine interaction calculation unit 600 as a basis for the driver to take over the vehicle 110.

The wireless transmission unit 300 is disposed in the vehicle 110 and wirelessly receives the cloud data, and the wireless transmission unit 300 generates the field status data according to the cloud data. In addition, the wireless transmission unit 300 can download and present data of the cloud or the Internet of the Internet through wireless transmission, and the wireless transmission mode can be a conventional third-generation mobile communication (3G), fourth-generation mobile communication (4G), Five-generation mobile communications (5G) or other viable mobile communications.

The driving control detecting unit 400 is disposed in the vehicle 110 and corresponds to the driver. The driving control detecting unit 400 detects the driver and generates driving control data. The driving control detecting unit 400 can be a camera and an image recognition module, and the camera signal is connected to the image recognition module. The camera is used to capture the driver's facial expression, and the image recognition module receives and recognizes the facial expression to analyze the driver's mental state. Of course, the driving control detecting unit 400 can also be a variety of physiological signal capturing devices to accurately detect the mental and physiological state of the driver and as a basis for determining whether the driver can control the vehicle 110.

The system self-detection unit 500 is disposed in the vehicle 110 and the signal connection sensing unit 200, the wireless transmission unit 300, and the driving control detection unit 400. The system self-detection unit 500 detects the sensing unit 200, the wireless transmission unit 300, and the driving control detection unit. 400 to generate system test data. The system self-detecting unit 500 of the present invention continuously transmits the detection signal The signal is sent to the sensing unit 200, the wireless transmission unit 300, and the driving control detecting unit 400, and it is confirmed whether the signals returned by the units are normal.

The human-machine interaction calculation unit 600 is connected to the sensing unit 200, the wireless transmission unit 300, the driving control detection unit 400, and the system self-detecting unit 500. The human-machine interaction calculation unit 600 receives and calculates the field status data, the environmental status data, the system detection data, and the driving control data to generate a driving takeover time margin T _T.B1 and a driving takeover time T _T.B2 , and the human-machine interaction calculation The unit 600 compares the driving takeover time margin T _T.B1 with the driving takeover time T _T.B2 to generate interface warning information. In detail, the human-machine interaction calculation unit 600 can be a microprocessor, an electronic control unit (ECU), a computer, or other arithmetic processing unit. Furthermore, the driving takeover time margin T _T.B1 includes the driving takeover distance D and the vehicle speed V , and the driving takeover time margin T _T.B1 conforms to the following formula (1): T _T.B1 = D / V (1) The above-mentioned driving takeover time margin T _T.B1 represents the time margin of the remaining takeover vehicle 110 of the driver. The driving takeover time margin T _T.B1 should be as large as possible, and the larger the value, the more abundant time the driver can take over the vehicle 110. Furthermore, the driving takeover time T _T.B2 includes the surrounding traffic time T T _TD , the surrounding traffic condition weight W _TD , the system familiarity time T _LE , the system familiarity weight W _LE , the driving state time T _EOR , the driving state weight W _EOR , system driving control transfer time T _CT and system driving control transfer weight W _CT . The driving takeover time T _T.B2 conforms to the following formula (2): T _T.B2 = W _TD × T _TD + W _LE × T _LE + W _EOR × T _EOR + W _CT × T _CT (2); Time T _T.B2 represents the time required for the driver to safely take over the vehicle 110. The driving takeover time T _T.B2 should be as small as possible, and the smaller the value, the more the driver himself can take over the vehicle 110 in a shorter time. Generally, the normal driver's driving takeover time T _T.B2 is about 5-8 seconds. If the traffic condition around the vehicle 110 is better, the surrounding traffic time T _{TD is} smaller; if the driver is more familiar with the system, the system is familiar with the system. The smaller the time T _{LE is} ; if the driver's condition is better (for example, driving is focused and the spirit is good), the driving state time T _{EOR is} smaller; the system driving control transfer time T _CT is usually a certain value, if the system control is complicated The lower the degree, the smaller the system driving control transition time T _CT . Further, when the driving takeover time margin T _{T.B1 is} greater than the driving takeover time T _T.B2 , it represents that the driver has considerable time to perform the takeover of the vehicle 110. When the driving takeover time margin T _T.B1 is equal to the driving takeover time T _T.B2 , it represents that the driver has just the right time to perform the takeover of the vehicle 110 . When the driving takeover time margin T _{T.B1 is} less than the driving takeover time T _T.B2 , it means that the driver does not have enough time to perform the takeover of the vehicle 110. Regardless of any of the above situations, the present invention will give the driver a reference corresponding to the output warning message and the control item.

In addition, the human-machine interaction calculation unit 600 analyzes the environmental status data, the field status data, the system detection data, and the driving control data to generate an emergency level, and sets the emergency level to a non-emergency level, a low emergency level, a medium emergency level, or a high level. Emergency level. That is to say, the human-computer interaction calculation unit 600 lists the emergency level to be taken over according to the situation event, if the emergency layer The higher the level, the more critical the situation is and the urgent need to deal with it. The six implementations are shown in Table 1 below. Thereby, the human-machine interaction calculation unit 600 of the present invention can fuse various materials on the vehicle 110 and convert it into an output warning and control item to the driver via an algorithm operation to ensure that the driver can understand the subsequent corresponding manipulation steps and takeover treatment. .

The interface warning unit 700 is connected to the human-machine interaction calculation unit 600. The interface warning unit 700 receives the interface warning information and presents a corresponding warning message to the driver according to the interface warning data. In detail, the interface warning unit 700 stores a first predetermined image frequency, a second predetermined image frequency, a first predetermined sound frequency, a second predetermined sound frequency, a first predetermined volume, and a second predetermined volume. The warning message of the interface warning unit 700 includes image warning information and sound warning information, wherein the image warning information has an image warning frequency, and the image warning frequency represents the blinking frequency of the image. The audible warning message has an audible alert frequency and an alert volume. When the emergency level is a low emergency level, the image warning frequency is less than or equal to the first predetermined image frequency, the sound warning frequency is less than or equal to the first predetermined sound frequency, and the warning volume is less than or equal to the first predetermined volume. In addition, when the emergency level is a medium emergency level, the image warning frequency is greater than the first predetermined image frequency and less than or equal to the second predetermined image frequency, and the sound warning frequency is greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency. And the warning volume is greater than the first predetermined volume and less than or equal to the second predetermined volume. In addition, when the emergency level is a high emergency level, the image warning frequency is greater than the second predetermined image frequency, the sound warning frequency is greater than the second predetermined sound frequency, and the warning volume is greater than the second predetermined volume. The first predetermined image frequency is less than the second predetermined image frequency, the first predetermined sound frequency is less than the second predetermined sound frequency, and the first predetermined sound volume is less than the second predetermined sound volume. It is also worth mentioning that the interface warning unit 700 receives and displays the driving takeover time margin T _T.B1 and the driving takeover time T _T.B2 from the human-machine interaction calculation unit 600 for the driver to watch. The interface warning unit 700 of the embodiment may be an instrument module, an image display module, and a sound module. The instrument module and the image display module are used to display image warning information, and the sound module is used to generate sound. Warning message. Thereby, the interface warning unit 700 of the present invention uses the various image and sound warning changes to immediately notify the driver of the current state of the vehicle 110, so that the driver can perform corresponding takeover treatment.

The control unit 800 signals the human-machine interaction calculation unit 600 and regulates the vehicle 110 _{according to} the comparison of the driving take-over time margin T _T.B1 and the driving take-over time T _T.B2 . When the human-machine interaction calculation unit 600 compares the driving take-over time margin T _{T.B1 to the} driving take-over time T _T.B2 , the human-machine interaction calculation unit 600 transmits an adjustment vehicle speed message to the control unit 800, and the control unit 800 The vehicle speed information is adjusted to regulate the braking of the vehicle 110, thereby reducing the vehicle speed V of the vehicle 110. Further, the control unit 800 can control the vehicle 110 to switch lanes; in other words, the control unit 800 can control the steering angle of the steering wheel. Thereby, the control unit 800 of the present invention timely changes the traveling direction and speed of the vehicle 110 according to the comparison result of the human-machine interaction calculation unit 600 to prevent the vehicle 110 from being in a dangerous state.

Please refer to FIG. 1 and FIG. 3 together. FIG. 3 is a schematic flow chart of a safety warning method 900 for an automatic driving takeover according to an embodiment of the present invention. As shown in the figure, the automatic driving method 900 is used to alert the driver located in the vehicle 110, and the automatic driving method 900 includes a data capturing step S12, a human-computer interaction calculation step S14, and a warning step S16. .

The data capturing step S12 includes an environment sensing step S122, a wireless transmission step S124, a driving control detecting step S126, and a system self-detecting step S128, and an environment sensing step S122, a wireless transmission step S124, a driving control detecting step S126, and a system The self-detection step S128 can be performed simultaneously. The environment sensing step S122 provides the sensing unit 200 to generate environmental state data by sensing the surrounding environment of the vehicle 110. The wireless transmission step S124 provides the wireless transmission unit 300 to wirelessly receive a cloud data, and the wireless transmission unit 300 generates a field state data according to the cloud data. The driving control detecting step S126 provides the driving control detecting unit 400 to detect the driver and generate driving control data. The system self-detecting step S128 is to provide the system self-detecting unit 500 to detect the sensing unit 200, the wireless transmitting unit 300, and the driving control detecting unit 400 to generate system detection data.

The human-computer interaction calculation step S14 provides a human-machine interaction calculation unit 600 for receiving and calculating the field-state status data, the environmental status data, the system detection data, and the driving control data from the data acquisition step S12 to generate a driving take-over time margin T _{T .B1} and driving takeover time T _T.B2 , and the human-machine interaction calculation unit 600 compares the driving take-over time margin T _T.B1 with the driving take-over time T _T.B2 to generate interface warning data. In detail, the driving takeover time margin T _T.B1 includes the driving takeover distance D and the vehicle speed V , and the driving takeover time margin T _T.B1 conforms to the above formula (1). The driving takeover time T _T.B2 includes the surrounding traffic time T _TD , the surrounding traffic weight W _TD , the system familiarity time T _LE , the system familiarity weight W _LE , the driving state time T _EOR , the driving state weight W _EOR , the system The driving control transfer time T _CT and the system driving control transfer weight W _CT . The surrounding traffic condition weight W _TD , system familiarity weight W _LE , driving state weight W _EOR and system driving control transfer weight W _CT are between 0 and 1, and the driving takeover time T _T.B2 conforms to the above formula ( 2). Furthermore, the human-machine interaction calculation unit 600 analyzes the environmental status data, the field status data, the system detection data, and the driving control data to generate an emergency level, and sets the emergency level to a non-emergency level, a low emergency level, and a medium emergency level. Or high emergency level. In other words, the human-computer interaction calculation unit 600 lists the emergency levels to be taken over according to the situational events. If the emergency level is lower, the more moderate the situation is, the more time is processed.

The warning step S16 provides an interface warning unit 700 to receive the interface warning information and present a corresponding warning message to the driver according to the interface warning data. In detail, in the warning step S16, the interface warning unit 700 stores the first predetermined image frequency, the second predetermined image frequency, the first predetermined sound frequency, the second predetermined sound frequency, the first predetermined volume, and the second predetermined volume. . The warning message of the interface warning unit 700 includes image warning information and sound warning information, and the image warning information has an image warning frequency, and the sound warning information has an audible warning frequency and an alarm volume. When the emergency level is a low emergency level, the image warning frequency is less than or equal to the first predetermined image frequency, the sound warning frequency is less than or equal to the first predetermined sound frequency, and the warning volume is less than or equal to the first predetermined volume. In addition, when the emergency level is a medium emergency level, the image warning frequency is greater than the first predetermined image frequency and less than or equal to the second predetermined image frequency, and the sound warning frequency is greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency. The alert volume is greater than the first predetermined volume and less than or equal to the second predetermined volume. Moreover, when the emergency level is a high emergency level, the image warning frequency is greater than the second predetermined image frequency, the sound warning frequency is greater than the second predetermined sound frequency, and the warning volume is greater than the second predetermined volume. The first predetermined image frequency is less than the second predetermined image frequency, the first predetermined sound frequency being less than the second predetermined sound frequency, and the first predetermined sound volume being less than the second predetermined sound volume. In addition, the interface warning unit 700 receives and displays the driving takeover time margin T _T.B1 and the driving takeover time T _T.B2 from the human-machine interaction calculation unit 600 for the driver's reference. Therefore, the warning step S16 of the present invention is combined with the interface warning unit 700 to promptly notify the driver of the current state of the vehicle 110 by utilizing various warning changes of images and sounds, so that the driver can perform corresponding takeover treatment, thereby improving The safety and smoothness of the driving takeover.

Please refer to FIG. 1, FIG. 3 and FIG. 4 together. FIG. 4 is a schematic flow chart of the environment sensing step S122 according to an embodiment of the present invention. As shown in the figure, the environment sensing step S122 includes a positioning map resource extraction step S1222, a driving field data analysis step S1224, and a field confirmation step S1226. First, the positioning map resource extraction step S1222 extracts the positioning map of the corresponding vehicle 110 by using the sensing unit 200 (for example, an instant dynamic positioning module (RTK)). Next, the driving field data analysis step S1224 analyzes possible driving field data of the vehicle 110 by using the positioning map (for example, the driving field is a highway, a plane road or a fast road, etc.). Then, the field confirmation step S1226 confirms whether or not the driving field of the vehicle 110 is changed. If the driving field of the vehicle 110 is changed, the representative vehicle 110 is about to fail to meet the field. At this time, the system needs to enter the human-computer interaction calculation step S14 and the warning step S16 for subsequent calculation, analysis and warning, and inform the driver that the vehicle is not present. How to take over the vehicle 110 in accordance with the conditions of the field.

Please refer to FIG. 1 , FIG. 3 and FIG. 5 together. FIG. 5 is a schematic flow chart of the wireless transmission step S124 according to an embodiment of the present invention. As shown in the figure, the wireless transmission step S124 includes a car network and cloud data acquisition step S1242, a weather pattern analysis step S1244, and a weather condition confirmation step S1246. First, the car network and cloud data acquisition step S1242 extracts the positioning coordinates of the corresponding vehicle 110 by using the wireless transmission unit 300 (for example, a fourth generation mobile communication (4G) device). Next, the weather type analysis step S1244 analyzes the weather pattern of a distance range (for example, 3 to 5 km) in front of the vehicle 110 according to the positioning coordinates of the vehicle 110. Then, the weather condition confirmation step S1246 is to confirm the weather pattern of a distance range in front of the vehicle 110. Is there a change? If the weather pattern in front of the vehicle 110 changes, the representative vehicle 110 is about to enter an area that does not meet the weather condition. At this time, the system needs to enter the human-machine interaction calculation step S14 and the warning step S16 for subsequent calculation, analysis and warning, and inform How the driver should take over the vehicle 110 if it does not meet the weather conditions.

Please refer to FIG. 1 , FIG. 3 and FIG. 6 . FIG. 6 is a schematic flow chart of the system self-detecting step S128 according to an embodiment of the present invention. As shown, the system self-detection step S128 includes a vehicle actuator feedback data extraction step S1282, a feedback data analysis step S1284, and a self-detection abnormality confirmation step S1286. First, the vehicle actuator feedback data extraction step S1282 uses the system self-detection unit 500 to extract the detection data of the vehicle actuator provided on the vehicle 110, and the detection data is the vehicle actuator feedback data. Next, the feedback data analysis step S1284 analyzes whether the angular difference of the vehicle 110 is excessive according to the vehicle actuator feedback data. Then, the self-detection abnormality confirmation step S1286 confirms whether or not the actuator is abnormal. If the actuator is abnormal, an abnormal phenomenon may occur in the state of the automatic driving system of the vehicle 110. At this time, the system needs to enter the human-computer interaction calculation step S14 and the warning step S16 for subsequent calculation, analysis and warning, and inform the driver that How to take over the vehicle 110 under abnormal conditions.

Please refer to FIG. 1 , FIG. 3 and FIG. 7 together. FIG. 7 is a schematic flow chart of the safety warning method 900 a of the automatic driving take-over according to another embodiment of the present invention. As shown, the automatic driving method 900a of the automatic driving takeover includes a data capturing step S22, a human-machine interaction calculation step S24, a warning step S26, and a driving take-off step S28.

The data extraction step S22 is the same as the block of the data extraction step S12 in the third figure, and will not be described again. The human-machine interaction calculation step S24 includes a driving take-over confirmation step S242, a time margin analysis step S244, and an emergency level analysis step S246. The driving take-over confirmation step S242 is to confirm whether the system requires driving to take over. If the confirmation is "No", the system will continue to perform automatic driving without requiring the driver to take over. If the confirmation is "Yes", the representative system determines that the driver cannot be driven automatically and requests to take over. Next, the time margin analysis step S244 analyzes and outputs the driving takeover time margin T _T.B1 and the driving takeover time T _T.B2 . Then, the emergency level analysis step S246 analyzes the emergency level of the current situation in which the vehicle 110 is located, and the emergency level can be classified into a non-emergency level, a low emergency level, a medium emergency level, and a high emergency level. If the emergency level is a non-emergency level, the system re-executes the time margin analysis step S244; if the emergency level is a low emergency level, a medium emergency level, or a high emergency level, the system proceeds to the execution warning step S26. In addition, the warning step S26 includes a low emergency warning step S262, a medium emergency warning step S264, and a high emergency warning step S266, the low emergency warning step S262, the medium emergency warning step S264 and the high emergency warning step S266, and the warning step S16 of the third figure. The warning of the intermediary warning unit 700 is the same. In other words, in the low emergency alert step S262, the image alert information and the audible alert information of the alert message are more moderate and weak, and the system controls the vehicle 110 to switch to the slow lane. In the medium emergency warning step S264, the image warning information and the audible warning information of the warning message are gradually increased and accelerated, and the system reduces the vehicle speed V of the vehicle 110 to the minimum speed limit of the road. In the high emergency warning step S266, the image warning information and the audible warning information of the warning message are rushed and strong, and the system controls the vehicle 110 to enter the safe mode, for example, the vehicle 110 is driven to a safe environment (roadside) and parked. . In addition, the driving take-off step S28 includes a driving action confirming step S282 and a manual mode confirming step S284, wherein the driving action confirming step S282 is to confirm whether the driver is operating, that is, the system confirms whether the driver can take over. If the confirmation is "No", the driver does not have any action, and the system can only continue to drive automatically and re-execute the time margin analysis step S244; if the confirmation is "Yes", the driver is ready to take over the vehicle 110, The system will execute the manual mode step S284. As for the manual mode step S284, the system interrupts the intervention to operate the vehicle 110, allowing the master to return to the driver. Thereby, the safety alert method 900a of the automatic driving takeover of the present invention can fuse various data on the vehicle 110 and convert it into an output warning and control item to the driver through an algorithm operation to ensure that the driver can understand the subsequent corresponding control steps and Take over the disposal, which in turn reduces possible control errors when the driver returns to control.

Please refer to FIG. 1, FIG. 3 and FIG. 8 together. FIG. 8 is a schematic flow chart of a safety warning method 900b for an automatic driving takeover according to still another embodiment of the present invention. As shown, the automatic driving method 900b of the automatic driving takeover includes a data capturing step S12, a human-machine interaction calculation step S14, a warning step S16, and a vehicle regulation step S18. The data extraction step S12, the human-computer interaction calculation step S14, and the warning step S16 are the same as the corresponding steps in the third figure, and are not described again. In particular, the safety warning method autopilot to take over the regulation of the vehicle 900b further comprises step S18, this step S18, the vehicle-control system providing control according to the driving unit 800 to take over the time margin _T T.B1 time and take over the driving of the ratio T _T.B2 As a result, the vehicle 110 is regulated. In addition, when the emergency level of the human-machine interaction calculation unit 600 is a low emergency level, a medium emergency level or a high emergency level, and the driving takeover time margin T _{T.B1 is} less than or equal to the driving takeover time T _T.B2 , the human-computer interaction calculation The unit 600 transmits an adjusted vehicle speed message to the control unit 800, and the control unit 800 regulates the braking of the vehicle 110 according to the adjusted vehicle speed information, thereby reducing the vehicle speed V of the vehicle 110.

In addition, for each of the three different emergency levels, one embodiment is illustrated herein. The situation of the first embodiment is "departure from the driving field", that is, the vehicle 110 is prepared by the expressway under the interchange, and the emergency level of the situation belongs to the "low emergency level", as shown in Table 1. In this case, assuming that the vehicle speed V of the automatic driving is 120 km/hr and the driving take-over distance D is 2 km, the driving takeover time margin T _T.B1 can be known as 60 seconds according to the formula (1). If the driver's state is clear and the driving takeover time T _T.B2 is 15 seconds according to the formula (2), the system can make the driving takeover time margin T _T.B1 greater than the driving takeover time T _T.B2 The vehicle 110 advances at the original vehicle speed V and is expected to notify the driver to take over the vehicle 110 15 seconds before the next exchange. In addition, if the driver's state is distracted and the driving takeover time T _T.B2 is 30 seconds according to the formula (2), the driving takeover time margin T _{T.B1 is} still greater than the driving takeover time T _T.B2. The system can still cause the vehicle 110 to advance at the original vehicle speed V , and it is expected to notify the driver to take over the vehicle 110 30 seconds before the next exchange. In addition, if the driver is in a state of drowsiness and the driving takeover time T _T.B2 is 90 seconds according to the formula (2), at this time, since the driving takeover time margin T _{T.B1 is} smaller than the driving takeover time T _T.B2 , the system The driving must be notified in a low emergency level to shorten the driving takeover time T _T.B2 . Moreover, the system can increase the driving takeover time margin T _T.B1 by lowering the vehicle speed V until the driving takeover time margin T _{T.B1 is} greater than the driving takeover time T _T.B2 .

The situation of the second embodiment is "single sensor failure", that is, the system self-detection unit 500 has detected a certain sensor failure on the vehicle 110, and the emergency level of the situation belongs to the "medium emergency level". As shown in Table 1. In this case, assuming that the vehicle speed V of the automatic driving is 50 km/hr and the driving take-over distance D is 100 m, the driving takeover time margin T _T.B1 is 7.2 seconds according to the formula (1). If the driver's state is clear and the driving takeover time T _T.B2 is 7.2 seconds according to the formula (2), the system can make the driving takeover time margin T _T.B1 equal to the driving takeover time T _T.B2 The vehicle speed V of the vehicle 110 is slightly lowered, and the driver is immediately notified to take over the vehicle 110. In addition, if the driver is distracted and the driving takeover time T _T.B2 is 10 seconds according to the formula (2), at this time, since the driving takeover time margin T _{T.B1 is} smaller than the driving takeover time T _T.B2 , the system must inform the driver to the level of urgency of the way, the driver took the time T _T.B2 shortened, while allowing the driver to take over the time margin _T T.B1 increased by lowering the speed V. The normal driver while driving the shortest time T _T.B2 took about 5 seconds, to inform the driver even if the driver takes over the emergency level to shorten the time T _T.B2, the remaining driving time margin taking over _T T.B1 (e.g. : 3 seconds left) is not enough for the driver to safely take over the vehicle 110, so in the context of this embodiment, the system will control the vehicle 110 to enter a safe mode, for example, after the vehicle 110 is operated to a safe environment (roadside) Stop and let the vehicle 110 activate a double yellow light.

The scenario of the third embodiment is "multiple sensor failures", that is, the system self-detection unit 500 has detected a plurality of sensor failures located on the vehicle 110, and the emergency level of the situation belongs to "high emergency level". As shown in Table 1. In this case, assuming that the vehicle speed V of the automatic driving is 50 km/hr and the driving take-over distance D is 40 m, the driving takeover time margin T _T.B1 can be known to be 3 seconds according to the formula (1). Since the normal driver's shortest driving takeover time T _{T.B2 is} about 5 seconds, and the driving takeover time margin T _{T.B1 is} smaller than the driving takeover time T _T.B2 , even if the driver is notified with a high emergency level, the driving takeover time is shortened. T _T.B2 , the remaining driving takeover time margin T _T.B1 (for example, 2 seconds remaining) is also insufficient for the driver to safely take over the vehicle 110, so in the context of this embodiment, the system controls the vehicle 110. Entering the safe mode, for example, the vehicle 110 is driven to a safe environment (roadside) to stop, and the vehicle 110 is activated to activate a double yellow light.

It can be seen from the above embodiments that the present invention has the following advantages: First, the various materials on the vehicle are merged and converted into output warning and control items by the algorithm operation to the driver, so as to ensure that the driver can understand the subsequent corresponding control steps and takeovers. Dispose of, thereby reducing possible control errors when the driver returns to control. Second, use the driving takeover time margin, driving takeover time and emergency level to classify the expected control of the current and next time, and use the means of regulating vehicles and warnings to increase the driving takeover time margin or shorten the driving takeover. Time to improve the driver's understanding of the current situation and reduce the control errors that may occur when the driver takes over. Third, through the presentation of multiple warning and control projects, not only can the driver understand the subsequent feasible control steps, but also solve the current conventional system. The driver must touch the steering wheel with both hands at intervals.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and the present invention can be modified and modified without departing from the spirit and scope of the present invention. The scope is subject to the definition of the scope of the patent application attached.

Claims (14)

A safety warning system for an automatic driving take-over is provided on a vehicle for alerting a driver. The safety warning system of the automatic driving takeover includes: a sensing unit disposed on the vehicle and sensing the surrounding environment of the vehicle to generate An environmental status data; a wireless transmission unit, disposed in the vehicle and wirelessly receiving a cloud data, the wireless transmission unit generates a domain status data according to the cloud data; a driving control detection unit is disposed in the vehicle and corresponds to driving The driving control detecting unit detects the driver to generate a driving control data; a system self-detecting unit is disposed in the vehicle and the signal is connected to the sensing unit, the wireless transmitting unit and the driving control detecting unit, The system self-detection unit detects the sensing unit, the wireless transmission unit and the driving control detection unit to generate a system detection data; a human-machine interaction calculation unit, the signal is connected to the sensing unit, the wireless transmission unit, and the system self a detecting unit and the driving control detecting unit, the human-computer interaction calculating unit receives and calculates the environment State data, the field state data, the driving control data and the system detection data to generate a driving takeover time margin and a driving takeover time, and the human-machine interaction calculation unit compares the driving takeover time margin with the driving Take over time to generate an interface warning material; An interface warning unit is connected to the human-computer interaction calculation unit, and the interface warning unit receives the interface warning data and presents a corresponding warning message to the driver according to the interface warning data. The safety warning system for the automatic driving takeover according to claim 1, wherein the human-computer interaction calculation unit analyzes the environmental status data, the field status data, the system detection data, and the driving control data to generate an emergency. Level, and set the emergency level to a non-emergency level, a low emergency level, a medium emergency level, or a high emergency level. The safety warning system of the automatic driving takeover as described in claim 2, further comprising: a control unit, the signal is connected to the human-computer interaction calculation unit and based on the comparison between the driving takeover time margin and the driving takeover time Adjusting the vehicle; wherein the emergency level is the low emergency level, the medium emergency level or the high emergency level, and the driving takeover time margin is less than or equal to the driving takeover time, the human-machine interaction calculation unit transmits an adjusted vehicle speed The message is sent to the control unit, and the control unit adjusts the braking of the vehicle according to the adjusted vehicle speed message, so that the speed of one of the vehicles is reduced. The safety warning system of the automatic driving takeover according to claim 1, wherein the driving takeover time margin comprises a driving takeover distance and a vehicle speed, the driving takeover distance is represented as D , and the speed is expressed as V , the driving The takeover time margin is expressed as T _T.B1 and conforms to the following formula: T _T.B1 = D / V . The safety alert system of the automatic driving takeover according to claim 2, wherein the interface warning unit stores a first predetermined image frequency, a second predetermined image frequency, a first predetermined sound frequency, and a first a predetermined sound frequency, a first predetermined volume, and a second predetermined volume. The warning message of the interface warning unit includes an image warning message and an audible warning message, the image warning message having an image warning frequency, The audible alert information has an audible alert frequency and a warning volume; wherein, when the emergency tier is the low urgency level, the image alert frequency is less than or equal to the first predetermined image frequency, and the audible alert frequency is less than or equal to the first a predetermined sound frequency, the warning volume being less than or equal to the first predetermined volume; wherein, when the emergency level is the medium emergency level, the image warning frequency is greater than the first predetermined image frequency and less than or equal to the second predetermined image a frequency, the audible alert frequency being greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency, the alert volume being greater than The first predetermined volume is less than or equal to the second predetermined volume; wherein, when the emergency level is the high emergency level, the image alert frequency is greater than the second predetermined image frequency, the sound alert frequency being greater than the second predetermined a sound frequency, the warning volume is greater than the second predetermined volume; wherein the first predetermined image frequency is less than the second predetermined image frequency, the first predetermined sound frequency being less than the second predetermined sound frequency, the first predetermined volume Less than the second predetermined volume. The safety alert system of the automatic driving takeover according to claim 1, wherein the interface warning unit receives and displays the driving takeover time margin and the driving takeover time from the human-machine interaction calculation unit. The safety warning system of the automatic driving takeover as described in claim 1, wherein the driving takeover time includes a surrounding traffic time, a surrounding traffic weight, a system familiarity time, a system familiarity weight, and a driving State time, a driving state weight, a system driving control transition time, and a system driving control transfer weight, the surrounding traffic condition time is represented as T _TD , the surrounding traffic condition weight is expressed as W _TD , and the system familiarity time is expressed as T _LE , the system familiarity weight is expressed as W _LE , the driving state time is expressed as T _EOR , the driving state weight is expressed as W _EOR , the system driving control transition time is represented as T _CT , and the driving control transfer weight of the system is expressed as W _CT , the driving takeover time is expressed as T _T.B2 and conforms to the following formula: T _T.B2 = W _TD × T _TD + W _LE × T _LE + W _EOR × T _EOR + W _CT × T _CT . A safety warning method for an automatic driving takeover for alerting a driver located in a vehicle, the safety warning method of the automatic driving takeover includes the following steps: an environmental sensing step, providing a sensing unit to sense the vehicle Generate environmental status data in the surrounding environment; a wireless transmission step is to provide a wireless transmission unit to wirelessly receive a cloud data, the wireless transmission unit generates a domain state data according to the cloud data; and a driving control detection step provides a driving control detection unit to detect The driver generates a driving control data; a system self-detecting step provides a system self-detecting unit to detect the sensing unit, the wireless transmitting unit and the driving control detecting unit to generate a system detection data; The interactive calculation step provides a human-computer interaction calculation unit to receive and calculate the field status data, the environmental status data, the system detection data, and the driving control data to generate a driving takeover time margin and a driving takeover time, and The human-computer interaction calculation unit generates an interface warning data according to the driving take-over time margin and the driving take-over time; and a warning step, providing an interface warning unit to receive the interface warning information and presenting according to the interface warning data Corresponding to one of the warning messages to the driver. For example, in the human-machine interaction calculation unit, the human-computer interaction calculation unit analyzes the environmental status data, the field status data, and the system detection method. The data and the driving control data generate an emergency level, and the emergency level is set to a non-emergency level, a low emergency level, a medium emergency level or a high emergency level. The method for safety warning of the automatic driving takeover as described in claim 9 further includes: a step of regulating the vehicle, providing a control unit to adjust the vehicle according to a ratio of the driving takeover time margin to the driving takeover time Wherein, when the emergency level is the low emergency level, the medium emergency level or the high emergency level, and the driving takeover time margin is less than or equal to the driving takeover time, the human-machine interaction calculation unit transmits an adjustment speed message to The control unit controls the braking of the vehicle according to the adjusted vehicle speed message, so that the speed of one of the vehicles is reduced. The safety warning method of the automatic driving takeover according to claim 8, wherein in the man-machine interaction calculation step, the driving takeover time margin includes a driving take-over distance and a vehicle speed, and the driving take-over distance is expressed as D , the vehicle speed is expressed as V , and the driving takeover time margin is expressed as T _T.B1 and conforms to the following formula: T _T.B1 = D / V . The security warning method of the automatic driving takeover according to claim 9, wherein in the warning step, the interface warning unit stores a first predetermined image frequency, a second predetermined image frequency, and a first a predetermined sound frequency, a second predetermined sound frequency, a first predetermined sound volume, and a second predetermined volume. The warning message of the interface warning unit includes an image warning message and a sound The alert information has an image alert frequency, the audible alert message having an audible alert frequency and an alert volume; wherein, when the emergency tier is the low urgency level, the image alert frequency is less than or equal to The first predetermined image frequency, the sound alert frequency is less than or equal to the first predetermined sound frequency, and the alert volume is less than or equal to the first predetermined volume; wherein, when the emergency level is the middle emergency level, the image alert frequency And greater than the first predetermined image frequency and less than or equal to the second predetermined image frequency, the sound alert frequency is greater than the first predetermined sound frequency and less than or equal to the second predetermined sound frequency, the alert volume is greater than the first predetermined volume and Is less than or equal to the second predetermined volume; wherein, when the emergency level is the high emergency level, the image alert frequency is greater than the second predetermined image frequency, the sound alert frequency is greater than the second predetermined sound frequency, the alert volume Greater than the second predetermined volume; wherein the first predetermined image frequency is less than the second predetermined image frequency, the first pre- Sound frequency sound less than the second predetermined frequency, the first predetermined volume is less than the second predetermined volume. The safety alert method of the automatic driving takeover according to claim 8 , wherein in the warning step, the interface warning unit receives and displays the driving takeover time margin from the human-machine interaction calculation unit and the driving Take over time. The safety warning method for the automatic driving takeover as described in claim 8, wherein the driving takeover time includes a surrounding traffic time, a surrounding traffic weight, a system familiarity time, a system familiarity weight, and a driving State time, a driving state weight, a system driving control transition time, and a system driving control transfer weight, the surrounding traffic condition time is represented as T _TD , the surrounding traffic condition weight is expressed as W _TD , and the system familiarity time is expressed as T _LE , the system familiarity weight is expressed as W _LE , the driving state time is expressed as T _EOR , the driving state weight is expressed as W _EOR , the system driving control transition time is represented as T _CT , and the driving control transfer weight of the system is expressed as W _CT , the driving takeover time is expressed as T _T.B2 and conforms to the following formula: T _T.B2 = W _TD × T _TD + W _LE × T _LE + W _EOR × T _EOR + W _CT × T _CT .