CN106585640B - A kind of alarm method of ADAS product in solid line deviation - Google Patents

A kind of alarm method of ADAS product in solid line deviation Download PDF

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Publication number
CN106585640B
CN106585640B CN201611014006.XA CN201611014006A CN106585640B CN 106585640 B CN106585640 B CN 106585640B CN 201611014006 A CN201611014006 A CN 201611014006A CN 106585640 B CN106585640 B CN 106585640B
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alarm
ttlc
vehicle
time
alarm sound
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CN106585640A (en
Inventor
曹曙烽
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Drive Science And Technology Ltd Carefully In Hangzhou
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Drive Science And Technology Ltd Carefully In Hangzhou
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

Abstract

The invention discloses a kind of implementation method of vehicle safety travel, in particular to a kind of solutions of the auditory tone cues strategy using vehicle-mounted ADAS product when realizing early warning event representation.The present invention is by being equipped with ADAS product on vehicle, and wherein the consecutive variations of intelligent measure entrance angle θ and deviation time TTLC carry out, wherein TTLC=d/Vsin θ；Secure threshold is concurrently set as reference, reminds the operation of driver in time in such a way that reminder alerting sound is set.It is an advantage of the invention that effectively improving the user experience of alarm strategy, driver can be guided to make more rationally effective manipulation reaction for operating condition at that time, to avoid major accident etc. from making more advantageous early warning.

Description

A kind of alarm method of ADAS product in solid line deviation
Technical field
The present invention relates to a kind of implementation methods of vehicle safety travel, in particular to a kind of vehicle-mounted ADAS product of use in reality The solution of auditory tone cues strategy when existing early warning event representation.
Background technique
The audible alarm strategy of existing ADAS product is directly related with the output of alert event, correspondence some or certain Alert event, one sound of corresponding output, be essentially all choose a time cross-section in certain vehicle operation into Row judgement, does not react the variation tendency near this time point.In order to obtain preferably alarm experience, need to make alarm sound defeated It is related with the evolution process of event out.
In addition, domestic pavement of road not start information and networking, the identification positioning of network road pavement is not based on The signal that vehicle detection positioning inductor provides is installed on road surface, but is identified and positioned by GPS and map.Road itself is simultaneously Network communication is not added, the road and road surface public domain resource on map are substantially general length and width, precision It is very low, it is impossible to be used in the navigation of high-precision required by automobile unmanned automatic driving, accurate positioning and the instant of road traffic move The software implementation management of state, i.e. pavement of road are entered data by network not in a manner of information and give unmanned automatic driving vapour Vehicle, for Intelligent unattended autonomous driving vehicle calculation and programming.
In order to realize the safe driving of automobile, in the case where pavement of road does not fully achieve informatization and network, need Automobile itself has the function of intelligent recognition, with the deviation for helping driver to occur in driving procedure；Such as evade pedestrian, preceding Vehicle distance etc. such as is observed traffic rules and regulations at the movement.
Summary of the invention
The present invention aiming at the shortcomings in the prior art, provides a kind of method for facilitating and reminding driver's safe driving, It by way of voice prompting, is prompted, is travelled to ensure safety afterwards in different situations.
The present invention is achieved by following proposal:
A kind of alarm method of ADAS product in solid line deviation, it is characterised in that:
ADAS product is installed on vehicle, wherein the consecutive variations of entrance angle θ and deviation time TTLC carry out, wherein TTLC=d/Vsin θ；
D is the nearest lane line distance of wheel tracks, and V is vehicle current vehicle speed, and t0 is safe interval of setting aside some time；Due to ADAS Product can be commercially available in market, and wherein the Hangzhou product that driving Science and Technology Ltd. is developed carefully can provide accordingly Technical support；
A passes through alarm in advance: as TTLC<t0, while when vehicle velocity V>V0, entrance angle θ<θ 0, exporting an alarm sound；
B passes through alarm: when TTLC is less than t1, and t1 < t0, while away from lane line distance d to the derivative (d (d)/dt) < 0 of t When, it exports and continues alarm sound, the duration of alarm sound is synchronous with the decision content of (d (d)/dt) < 0；
C does not pass through alarm: when TTLC is less than t1, and t1 < t0, while away from lane line distance d to the derivative (d (d)/dt) of t >0；Continue alarm sound to release；
D has passed through alarm: when having passed through lane line, d < d0；This time deviation terminates, and alarm sound terminates；
T0 refers to the presetting TTLC threshold value of user driving habits；The starting speed of V0 expression early warning；θ 0 indicates intentional urgency Entrance angle when fast lane change or steering, θ 0 are greater than 15 °.
As the prompt effect under distinguishing among differing cases, a kind of alarm method of the above-mentioned ADAS product in solid line deviation In the pre- alarm sound frequency for passing through alarm, passing through alarm, not passing through in alarm procedure it is not identical, this can in time, effectively be mentioned Different phase locating for awake driver, takes different measures to facilitate.
The utility model has the advantages that the present invention can effectively improve the user experience of alarm strategy, driver can be guided to be directed to and worked as When operating condition make more rationally effective manipulation reaction, to avoid major accident etc. from making more advantageous early warning.
Detailed description of the invention
Implementation process diagram Fig. 1 of the invention
Specific embodiment
With reference to the accompanying drawing, implementation of the invention is illustrated:
Embodiment 1
One ADAS product is installed on vehicle first, is configured according to the profile of driver with habit, wherein Including t0, refer to the presetting TTLC threshold value of user driving habits；V0 indicates the starting speed of early warning；θ 0, expression rapidly become intentionally Entrance angle when road or steering, θ 0 are set as 15 °.
A kind of ADAS product is in the alarm method of solid line deviation, and wherein implementation process is as follows:
ADAS product is installed on vehicle, wherein the consecutive variations of entrance angle θ and deviation time TTLC carry out, wherein TTLC=d/Vsin θ；
D is the nearest lane line distance of wheel tracks, and V is vehicle current vehicle speed, and t0 is safe interval of setting aside some time；
A passes through alarm in advance: as TTLC<t0, while when vehicle velocity V>V0, entrance angle θ<θ 0, exporting an alarm sound；
B passes through alarm: when TTLC is less than t1, and t1 < t0, while away from lane line distance d to the derivative (d (d)/dt) < 0 of t When, it exports and continues alarm sound, the duration of alarm sound is synchronous with the decision content of (d (d)/dt) < 0；
C does not pass through alarm: when TTLC is less than t1, and t1 < t0, while away from lane line distance d to the derivative (d (d)/dt) of t >0；Continue alarm sound to release；
D has passed through alarm: when having passed through lane line, d < d0；This time deviation terminates, and alarm sound terminates；
T0 refers to the presetting TTLC threshold value of user driving habits；The starting speed of V0 expression early warning；θ 0 indicates intentional urgency Entrance angle when fast lane change or steering, θ 0 are greater than 15 °.
The situation locating for oneself is understood for convenience of driver, will be passed through alarm in advance, and be passed through alarm, do not pass through alarm procedure In alarm sound frequency it is not identical.

Claims (1)

1. a kind of ADAS product is in the alarm method of solid line deviation, it is characterised in that:
ADAS product is installed, wherein the consecutive variations of entrance angle θ and deviation time TTLC carry out, wherein TTLC on vehicle =d/Vsin θ；
D is the nearest lane line distance of wheel tracks, and V is vehicle current vehicle speed, and t0 is safe interval of setting aside some time；
A passes through alarm in advance: as TTLC<t0, while when vehicle velocity V>V0, entrance angle θ<θ 0, exporting an alarm sound；
B passes through alarm: when TTLC is less than t1, and t1 < t0, while when away from lane line distance d to derivative (d (d)/dt) < 0 of t, It exports and continues alarm sound, the duration of alarm sound is synchronous with the decision content of (d (d)/dt) < 0；
C does not pass through alarm: when TTLC is less than t1, and t1<t0, while away from lane line distance d to the derivative (d (d)/dt)>0 of t； Continue alarm sound to release；
D has passed through alarm: when having passed through lane line, d < d0；This time deviation terminates, and alarm sound terminates；
T0 refers to the presetting TTLC threshold value of user driving habits；The starting speed of V0 expression early warning；θ 0 indicates rapidly to become intentionally Entrance angle when road or steering, θ 0 are greater than 15 °；
The pre- alarm sound frequency for passing through alarm, passing through alarm, not passing through in alarm procedure is not identical.
CN201611014006.XA 2016-11-18 2016-11-18 A kind of alarm method of ADAS product in solid line deviation Active CN106585640B (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN106585640B true CN106585640B (en) 2019-02-01

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Publication number Priority date Publication date Assignee Title
CN109383371A (en) * 2018-09-19 2019-02-26 行为科技(北京)有限公司 A kind of ADAS product driveway deviation alarming system
CN111497870A (en) * 2019-01-14 2020-08-07 厦门歌乐电子企业有限公司 Device and method for reminding vehicle of driving beyond lane line

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CN101596903B (en) * 2009-07-07 2012-02-15 清华大学 Assisting method for transverse driving of multipurpose automobile and assisting system therefor

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Denomination of invention: Solid-line lane departure warning method through ADAS product

Effective date of registration: 20191108

Granted publication date: 20190201

Pledgee: Hangzhou Yuhang sub branch of China Construction Bank Co., Ltd

Pledgor: Drive Science and Technology Ltd. carefully in Hangzhou

Registration number: Y2019330000179