CN109334666B - Lane changing assisting method and system and vehicle with system - Google Patents
Lane changing assisting method and system and vehicle with system Download PDFInfo
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- CN109334666B CN109334666B CN201810903444.4A CN201810903444A CN109334666B CN 109334666 B CN109334666 B CN 109334666B CN 201810903444 A CN201810903444 A CN 201810903444A CN 109334666 B CN109334666 B CN 109334666B
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- 238000001514 detection method Methods 0.000 claims description 29
- 230000010365 information processing Effects 0.000 claims description 22
- 238000012806 monitoring device Methods 0.000 claims description 21
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The embodiment of the invention discloses a lane change assisting method and system and a vehicle with the system, wherein the method comprises the following steps: when the vehicle changes lanes and the vehicle does not send alarm information, acquiring driver monitoring information of the vehicle; and judging whether the driver is frightened or not in the lane changing process of the driver according to the driver monitoring information. According to the embodiment of the invention, the reaction of the driver is monitored when the vehicle changes the lane, so that the adaptability of the driver to the danger can be obtained, and a basis is provided for further improving the alarm threshold value and improving the use experience of the user.
Description
Technical Field
The invention relates to a driving assisting technology, in particular to a lane changing assisting method and system and a vehicle with the system.
Background
With the development of automobile technology and the popularization of automobiles, people have higher and higher requirements on the use safety of automobiles, and the safety performance of automobiles can be obviously improved by the wide application of various driving assistance systems in automobiles. The lane change auxiliary system is an auxiliary driving system commonly used in automobiles at present, and can help people to avoid danger caused by a visual field blind area generated by an automobile C column when the automobile changes lanes.
The conventional lane change assisting system usually gives an alarm when it is detected that an incoming vehicle on the rear side may affect the lane change of the vehicle and the lane change of the vehicle may cause danger. The existing lane change auxiliary system is generally provided with an alarm threshold value when judging whether the lane change of the vehicle is dangerous or not, wherein the alarm threshold value is determined according to a standard and is not changed after the debugging is finished.
We found in practice: because danger experience can be different because of individual difference of drivers, the same alarm threshold value can bring different danger experiences to different drivers, and the existing lane change auxiliary system does not consider the adaptability of different drivers to danger, and the use experience of users is poor.
Disclosure of Invention
The embodiment of the invention provides a lane change assisting method and system and a vehicle with the system.
According to an aspect of an embodiment of the present invention, there is provided a lane change assisting method including:
when the vehicle changes lanes and the vehicle does not send alarm information, acquiring driver monitoring information of the vehicle;
and judging whether the driver is frightened or not in the lane changing process of the driver according to the driver monitoring information.
Optionally, in the above method embodiment of the present invention, before the acquiring the driver monitoring information of the host vehicle, the method further includes:
and judging whether to send alarm information or not when the vehicle changes lanes.
Optionally, in any one of the method embodiments of the present invention, the determining whether to send out alarm information includes:
judging whether the lane change information of the vehicle is smaller than a preset alarm threshold value or not;
if the lane change information of the vehicle is smaller than a preset alarm threshold value, sending alarm information;
if the lane change information of the vehicle is larger than or equal to the preset alarm threshold value, no alarm information is sent out, and the driver monitoring information of the vehicle is collected.
Optionally, in any one of the method embodiments of the present invention, before determining whether the lane change information of the host vehicle is smaller than a preset alarm threshold, the method further includes:
when the vehicle changes lanes, acquiring information of vehicles behind the lane changing side and the vehicle information;
and obtaining lane change information of the vehicle according to the information of the vehicle behind the lane change side and the vehicle information.
Optionally, in any one of the method embodiments of the present invention, the preset alarm threshold includes: a preset time threshold; the lane change information of the host vehicle includes: predicted collision time of the host vehicle with a vehicle behind the lane-change side; the information of the lane-change side rear vehicle includes: the distance between the lane-changing side rear vehicle and the vehicle; the own vehicle information includes: the speed of the host vehicle.
Optionally, in any one of the method embodiments of the present invention, before determining whether to send out the alarm information, the method further includes:
whether the vehicle changes lanes or not is detected.
Optionally, in any one of the method embodiments of the present invention, before detecting whether the host vehicle changes lanes, the method further includes:
collecting steering wheel corner information and turn lamp lighting information of the vehicle;
the detecting whether the vehicle changes lanes comprises the following steps:
judging whether the steering wheel turning angle information and the turn light lightening information point to the same side of the vehicle or not;
if the steering wheel corner information and the turn lamp lighting information point to the same side of the vehicle, the vehicle changes the lane and judges whether to send out alarm information or not;
if the steering wheel corner information and the turn lamp lighting information do not point to the same side of the vehicle, the vehicle does not change lanes, and the steering wheel corner information and the turn lamp lighting information of the vehicle are collected.
Optionally, in any one of the method embodiments of the present invention, after the sending the alarm information, the method further includes:
collecting lane monitoring information in front of the vehicle;
judging whether the vehicle completes lane change or not according to the lane monitoring information;
if the vehicle finishes lane changing, reducing the preset alarm threshold value, and taking the reduced alarm threshold value as a new preset alarm threshold value;
and if the vehicle does not complete lane changing, keeping the preset alarm threshold unchanged.
Optionally, in any one of the above method embodiments of the present invention, the driver monitoring information includes: heartbeat monitoring information;
the judging whether the driver is scared or not in the lane changing process of the driver according to the driver monitoring information comprises the following steps:
judging whether the heartbeat of the driver is suddenly accelerated or not according to the heartbeat monitoring information;
if the heartbeat of the driver is suddenly accelerated, the driver is frightened in the lane changing process of the vehicle;
if the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle.
Optionally, in any one of the method embodiments of the present invention, after determining whether the driver is startled or not in the lane change process of the vehicle according to the driver monitoring information, the method further includes
If the driver is scared during the lane changing process of the vehicle, increasing the preset alarm threshold value, and taking the increased alarm threshold value as a new preset alarm threshold value;
and if the driver is not frightened in the lane changing process of the vehicle, keeping the preset alarm threshold value unchanged.
Optionally, in any one of the method embodiments of the present invention, after increasing the preset alarm threshold as a new preset alarm threshold, the method further includes:
and iteratively executing the operation of increasing the preset alarm threshold value and taking the increased alarm threshold value as a new preset alarm threshold value to obtain a preset target alarm threshold value.
According to another aspect of an embodiment of the present invention, there is provided a lane change assist system including:
the driver monitoring equipment is used for acquiring the driver monitoring information of the vehicle when the vehicle changes lanes and the vehicle does not send alarm information;
and the processor is used for judging whether the driver is scared or not in the lane changing process of the driver according to the driver monitoring information.
Optionally, in the foregoing system embodiment of the present invention, the processor includes an alarm calculating unit, and the alarm calculating unit is configured to determine whether to send out alarm information when the vehicle changes lanes.
Optionally, in any system embodiment of the present invention, the alarm calculating unit is configured to determine whether lane change information of the vehicle is smaller than a preset alarm threshold;
the system further comprises: the human-computer interaction equipment is used for responding to the situation that the lane change information of the vehicle is smaller than a preset alarm threshold value according to the judgment result of the alarm calculation unit and sending out alarm information;
and the driver monitoring equipment is used for responding to the situation that the lane change information of the vehicle is larger than or equal to a preset alarm threshold value according to the judgment result of the alarm calculation unit, not sending alarm information and collecting the driver monitoring information of the vehicle.
Optionally, in any of the system embodiments of the present invention, the method further includes:
the left target vehicle detection equipment and the right target vehicle detection equipment are used for acquiring information of vehicles behind the lane changing side when the vehicle changes lanes;
the vehicle information acquisition equipment is used for acquiring vehicle information when the vehicle changes lanes;
the alarm calculation unit is further used for obtaining lane change information of the vehicle according to the information of the vehicle behind the lane change side and the vehicle information.
Optionally, in any embodiment of the above system of the present invention, the preset alarm threshold includes: a preset time threshold; the lane change information of the host vehicle includes: predicted collision time of the host vehicle with a vehicle behind the lane-change side; the information of the lane-change side rear vehicle includes: the distance between the lane-changing side rear vehicle and the vehicle; the own vehicle information includes: the speed of the host vehicle.
Optionally, in any system embodiment of the present invention, the alarm calculating unit is further configured to detect whether the vehicle changes lanes.
Optionally, in any of the system embodiments of the present invention, the method further includes:
the steering wheel detection equipment is used for acquiring steering wheel corner information of the vehicle;
the turn signal detection device is used for acquiring turn signal lighting information of the vehicle;
the alarm calculation unit is used for judging whether the steering wheel angle information and the turn signal lamp lighting information point to the same side of the vehicle; if the steering wheel corner information and the turn lamp lighting information point to the same side of the vehicle, the vehicle changes the lane and judges whether to send alarm information or not;
the steering wheel detection equipment is also used for responding to the situation that the steering wheel corner information and the turn lamp lighting information do not point to the same side of the vehicle and the vehicle does not change the lane according to the judgment result of the alarm calculation unit and acquiring the steering wheel corner information of the vehicle;
the turn signal lamp detection device is also used for responding to the situation that the steering wheel corner information and the turn signal lamp lighting information do not point to the same side of the vehicle and the vehicle does not change the lane according to the judgment result of the alarm calculation unit, and collecting the turn signal lamp lighting information of the vehicle.
Optionally, in any of the system embodiments of the present invention, the method further includes:
the lane monitoring equipment is used for acquiring lane monitoring information in front of the vehicle;
the processor also comprises an external information processing unit, wherein the external information processing unit is used for judging whether the vehicle finishes lane change or not according to the lane monitoring information;
the alarm calculation unit is also used for responding to the fact that the vehicle finishes lane changing according to the judgment result of the vehicle external information processing unit, reducing the preset alarm threshold value and taking the reduced alarm threshold value as a new preset alarm threshold value; and responding to the completion of lane change of the vehicle, and keeping the preset alarm threshold unchanged.
Optionally, in any one of the above system embodiments of the invention, the driver monitoring device includes: a heartbeat monitoring device; the heartbeat monitoring equipment is used for acquiring heartbeat monitoring information of a driver of the vehicle;
the processor comprises a driver information processing unit, and the driver information processing unit is used for judging whether the heartbeat of the driver is suddenly accelerated or not according to the heartbeat monitoring information; if the heartbeat of the driver is suddenly accelerated, the driver is frightened in the lane changing process of the vehicle; if the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle.
Optionally, in any system embodiment of the present invention, the alarm calculating unit is further configured to respond to a sudden acceleration of the heartbeat of the driver according to a determination result of the driver information processing unit, where the driver is scared during the lane changing process of the vehicle, increase the preset alarm threshold, and use the increased alarm threshold as a new preset alarm threshold; and in response to the heartbeat of the driver not being suddenly accelerated, the driver is not scared during the lane change of the vehicle, and keeping the preset alarm threshold constant.
Optionally, in any system embodiment of the present invention, the alarm calculating unit is further configured to iteratively perform the operation of increasing the preset alarm threshold, and using the increased alarm threshold as a new preset alarm threshold, so as to obtain a preset target alarm threshold.
According to still another aspect of an embodiment of the present invention, there is provided a vehicle including: the system of any of the above embodiments.
Based on the lane change assisting method and system provided by the embodiments of the present invention and the vehicle provided with the system, when the vehicle changes lanes and the vehicle does not send alarm information, the driver monitoring information of the vehicle is collected, whether the driver is scared or not in the lane changing process of the vehicle is judged according to the driver monitoring information, and the driver monitoring information collected in the normal lane changing process of the vehicle is used for monitoring the reflection of the driver in the lane changing process of the vehicle, so that the adaptability of the driver to danger can be obtained, the danger sensitivity of the warning threshold value of the vehicle lane changing can be further improved, and the use experience of the user can be improved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a lane change assist method according to some embodiments of the invention;
FIG. 2 is a flow chart of determining whether to send alarm information in accordance with some embodiments of the present invention;
FIG. 3 is a flow chart of detecting whether a host vehicle has changed lanes according to some embodiments of the present invention;
FIG. 4 is a flow chart of adjusting a preset warning threshold based on lane monitoring information in accordance with some embodiments of the present invention;
FIG. 5 is a flowchart illustrating the adjustment of a preset warning threshold according to some embodiments of the present invention after determining whether the driver is startled during the lane change process according to the driver monitoring information;
FIG. 6 is a schematic diagram of a lane-change assist system according to some embodiments of the present invention;
FIG. 7 is a schematic structural diagram of a lane-change assist system in accordance with further embodiments of the present invention;
FIG. 8 is a schematic diagram of a lane-change assist system in accordance with still further embodiments of the present invention;
FIG. 9 is a schematic diagram of a lane-change assist system in accordance with still other embodiments of the present invention;
fig. 10 is a schematic structural diagram of a lane-change assisting system according to still other embodiments of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
FIG. 1 is a flow chart of a lane change assist method according to some embodiments of the invention. As shown in fig. 1, the method includes:
and 102, when the vehicle changes the lane and the vehicle does not send alarm information, acquiring the driver monitoring information of the vehicle.
And 104, judging whether the driver is scared or not in the lane changing process of the driver according to the driver monitoring information.
In this embodiment, driver monitoring equipment can be set up in the vehicle, also can wear driver monitoring equipment on one's body at the driver, through driver monitoring equipment acquisition driver monitoring information, for example: driver monitoring facilities is for wearing the wireless bracelet on one's body at the driver, and driver monitoring facilities is heartbeat monitoring facilities, and then driver monitoring information that driver monitoring facilities gathered is heartbeat monitoring information, and this embodiment does not do the restriction to driver monitoring facilities's the mode of setting up and type. The driver monitoring device can be connected with the processor, and the processor judges whether the driver is scared or not in the lane changing process according to the driver monitoring information. In an optional example, the driver monitoring information is heartbeat monitoring information, and it may be determined whether the heartbeat of the driver is suddenly accelerated according to the heartbeat monitoring information, if the heartbeat of the driver is suddenly accelerated, it indicates that the driver is scared during the lane changing process of the vehicle, and if the heartbeat of the driver is not suddenly accelerated, it indicates that the driver is not scared during the lane changing process of the vehicle.
The lane change assisting method provided by this embodiment collects driver monitoring information of the vehicle when the vehicle changes lanes and the vehicle does not send alarm information, judges whether the driver is scared or not in the lane change process of the vehicle according to the driver monitoring information, and monitors the reflection of the driver when the vehicle changes lanes by using the driver monitoring information collected when the vehicle changes lanes normally, so as to obtain the adaptability of the driver to the danger, thereby providing a basis for further improving the danger sensitivity of the alarm threshold value of the vehicle changing lanes and improving the use experience of the user.
In some embodiments of the present invention, before collecting the driver monitoring information of the host vehicle, it may also be determined whether to send out an alarm message when the host vehicle changes lanes, and a flow of determining whether to send out an alarm message in some embodiments of the present invention will be described in detail below with reference to fig. 2.
As shown in fig. 2, the method includes:
and 202, judging whether the lane change information of the vehicle is smaller than a preset alarm threshold value.
If the lane change information of the vehicle is smaller than the preset alarm threshold value, executing operation 204; otherwise, if the lane change information of the vehicle is greater than or equal to the preset alarm threshold, operation 206 is performed.
And 204, sending alarm information.
206, no alarm information is sent out, and the monitoring information of the driver of the vehicle is collected.
In this embodiment, before determining whether the lane change information of the host vehicle is smaller than the preset alarm threshold, the information of the vehicle behind the lane change side and the host vehicle information may be collected when the host vehicle changes lanes, and the lane change information of the host vehicle may be obtained according to the information of the vehicle behind the lane change side and the host vehicle information.
In an alternative example, the preset alarm threshold may include: the preset time threshold TTCL, the lane change information of the host vehicle may include: the Time To Collision (TTC) of the host vehicle with the lane-change-side rear vehicle, the information of the lane-change-side rear vehicle may include: the distance S between the lane-change-side rear vehicle and the host vehicle, and the host vehicle information may include: the method comprises the steps that the speed of a vehicle is obtained according to the speed of the vehicle and the distance S between the vehicle behind the lane change side and the vehicle, the relative speed V between the vehicle behind the lane change side and the vehicle is obtained, the predicted collision time TTC can be obtained according to the result that the TTC is S/V, when the TTC is smaller than TTCL, the lane change of the vehicle is in collision with the vehicle behind the lane change side, alarm information is sent, when the TTC is larger than or equal to the TTCL, the lane change of the vehicle is not in collision with the vehicle behind the lane change side, the alarm information is not sent, and the driver monitoring information of the vehicle is collected.
Alternatively, the distance between the lane change side rear vehicle and the host vehicle may be acquired by installing a set of detection devices at each of the left and right rear sides of the vehicle, for example: the detection device may include a radar, a camera, and the like, and may acquire the speed of the host vehicle through a speed sensor provided in the vehicle, and the present embodiment is not limited to the method of obtaining the distance between the vehicle behind the lane change side and the host vehicle and the speed of the host vehicle.
In some embodiments of the present invention, before determining whether to send out the warning information, whether the host vehicle changes lanes may also be detected. The following describes in detail a process of detecting whether the host vehicle changes lanes according to some embodiments of the present invention with reference to fig. 3.
As shown in fig. 3, the method includes:
302, steering wheel angle information and turn signal lamp lighting information of the vehicle are collected.
And 304, judging whether the steering wheel angle information and the turn signal lamp lighting information point to the same side of the vehicle.
If the steering wheel angle information and the turn signal lighting information point to the same side of the vehicle, performing operation 306; otherwise, if the steering wheel angle information and the turn signal lighting information are not directed to the same side of the vehicle, the vehicle does not change lanes, and operation 302 is performed.
And 306, changing the lane of the vehicle and judging whether to send alarm information or not.
In the present embodiment, a steering wheel detecting device that can acquire steering wheel angle information of the own vehicle and a turn lamp detecting device that can acquire turn lamp lighting information of the own vehicle may be provided in the vehicle, whether the vehicle changes lane or not can be detected by judging whether the steering wheel angle information and the turn light lighting information point to the same side of the vehicle or not according to the steering wheel angle information and the turn light lighting information, if the steering wheel angle information and the turn light lighting information point to the same side of the vehicle, the vehicle changes lane to the side at the moment, can further judge whether to send out alarm information, if the steering wheel angle information and the turn signal light lightening information do not point to the same side of the vehicle, the vehicle does not change the lane at the moment, whether the vehicle changes lanes can be detected by continuously acquiring steering wheel turning angle information and turn lamp lighting information of the vehicle.
In some embodiments of the present invention, after the lane change information of the host vehicle is smaller than the preset alarm threshold and the alarm information is sent, the preset alarm threshold may be further adjusted by collecting the lane monitoring information in front of the host vehicle. The flow of adjusting the preset alarm threshold according to the lane monitoring information according to some embodiments of the present invention will be described in detail below with reference to fig. 4.
As shown in fig. 4, the method includes:
402, collecting lane monitoring information in front of the vehicle.
And 404, judging whether the vehicle completes lane change or not according to the lane monitoring information.
If the vehicle has completed lane changing, operation 406 is performed; otherwise, if the vehicle does not complete lane changing, operation 408 is performed.
And 406, reducing the preset alarm threshold value, and taking the reduced alarm threshold value as a new preset alarm threshold value.
And 408, keeping the preset alarm threshold value unchanged.
In this embodiment, a lane detection device may be disposed in front of the vehicle, and collects lane monitoring information in front of the vehicle, for example: the lane detection equipment is a vehicle-mounted forward-looking camera which can collect images in front of the vehicle to serve as lane monitoring information, the processor can judge whether the vehicle completes lane changing or not according to the lane monitoring information, if the vehicle completes the lane changing, it is indicated that a driver still has sufficient time to complete the lane changing under the condition of alarming, the significance of the alarming is not large, the preset alarming threshold is too loose, the preset alarming threshold can be reduced, the reduced alarming threshold is used as a new preset alarming threshold, therefore, the alarming effect can be improved by using the new preset alarming threshold when the vehicle performs the next alarming, if the vehicle changes lanes, the alarming is indicated to be effective, and the preset alarming threshold can be kept unchanged.
Optionally, after the preset alarm threshold is decreased, the decreased alarm threshold is used as a new preset alarm threshold, or the preset alarm threshold is kept unchanged, corresponding operations may be performed, for example: the corresponding operation may be to detect whether the vehicle changes lanes by collecting steering wheel angle information and turn signal lighting information of the vehicle.
According to the lane changing auxiliary method provided by the embodiment, when the vehicle changes the lane and sends alarm information, the preset alarm threshold value is adjusted according to the lane monitoring information by collecting the lane monitoring information in front of the vehicle, so that the danger sensitivity of the preset alarm threshold value is more reasonable.
In some embodiments of the present invention, after determining whether the driver is scared during the lane changing process of the vehicle according to the driver monitoring information, the preset alarm threshold may be further adjusted. The following describes in detail a procedure of adjusting the preset alarm threshold according to some embodiments of the present invention after determining whether the driver is startled or not during the lane change process of the vehicle according to the driver monitoring information, with reference to fig. 5.
As shown in fig. 5, the method includes:
502, when the vehicle changes the lane and the vehicle does not send alarm information, collecting the driver monitoring information of the vehicle.
And 504, judging whether the driver is scared or not in the lane changing process of the vehicle according to the driver monitoring information.
If the driver is scared during the lane change, operation 506 is performed; otherwise, if the driver is not scared during the lane change, operation 508 is performed.
And 506, increasing the preset alarm threshold value, and taking the increased alarm threshold value as a new preset alarm threshold value.
And 508, keeping the preset alarm threshold value unchanged.
In this embodiment, the processor may determine whether the driver is scared during the lane change of the vehicle according to the driver monitoring information, and if the driver is scared during the lane change of the vehicle, the processor may determine that the alarm does not work, and the driver may determine that the situation is dangerous but does not generate an alarm.
Optionally, after increasing the preset alarm threshold, taking the increased alarm threshold as a new preset alarm threshold, or keeping the preset alarm threshold unchanged, corresponding operations may be performed, for example: the corresponding operation may be to detect whether the vehicle changes lanes by collecting steering wheel angle information and turn signal lighting information of the vehicle.
Optionally, after the operation of increasing the preset alarm threshold value and using the increased alarm threshold value as a new preset alarm threshold value is performed through multiple iterations, the preset alarm threshold value tends to be stable, and a preset target alarm threshold value capable of ensuring the driving comfort of the driver can be obtained.
The lane change auxiliary method provided by the embodiment monitors the reflection of the driver by collecting the monitoring information of the driver when the vehicle changes the lane and does not send alarm information, can obtain the adaptability of the driver to danger, can judge whether the danger sensitivity of the current preset alarm threshold value is suitable for the driver according to the adaptability of the driver to the danger, and can perform self-adaptive dynamic regulation on the danger sensitivity of the preset alarm threshold value, so that the self-adaptive capacity of the lane change auxiliary system can be improved, the comfort and the effectiveness of the lane change auxiliary system are improved, the individual requirements of different drivers on alarm perception are met, and the auxiliary degree of the lane change auxiliary system to the driver is improved.
Fig. 6 is a schematic structural diagram of a lane-change assist system according to some embodiments of the invention. As shown in fig. 6, the system includes: a driver monitoring device 610 and a processor 620. Wherein the content of the first and second substances,
the driver monitoring device 610 is configured to collect driver monitoring information of the host vehicle when the host vehicle changes lanes and the host vehicle does not send alarm information.
And the processor 620 is configured to determine whether the driver is scared during the lane change process according to the driver monitoring information.
In this embodiment, the driver monitoring device 610 may be disposed in the vehicle, or the driver monitoring device 610 may be worn on the driver, and the driver monitoring information is collected by the driver monitoring device 610, for example: the driver monitoring equipment 610 is a wireless bracelet worn on the body of the driver, the driver monitoring equipment 610 is heartbeat monitoring equipment, and the driver monitoring information acquired by the driver monitoring equipment 610 is heartbeat monitoring information, and the setting mode and the type of the driver monitoring equipment 610 are not limited in the embodiment. The driver monitoring device 610 may be connected to the processor 620, and the processor 620 may determine whether the driver is scared during the lane changing process according to the driver monitoring information. In an alternative example, the driver monitoring device 610 is a heartbeat monitoring device, the heartbeat monitoring device is configured to acquire heartbeat monitoring information of a driver of the host vehicle, and the processor 620 is configured to determine whether the heartbeat of the driver is suddenly accelerated according to the heartbeat monitoring information, indicate that the driver is scared during the lane changing process of the host vehicle if the heartbeat of the driver is suddenly accelerated, and indicate that the driver is not scared during the lane changing process of the host vehicle if the heartbeat of the driver is not suddenly accelerated.
The lane change assisting system provided by this embodiment collects driver monitoring information of the vehicle through the driver monitoring device 610 when the vehicle changes lanes and the vehicle does not send alarm information, and the processor 620 judges whether the driver is scared during the lane change of the vehicle according to the driver monitoring information, and monitors the reflection of the driver during the lane change of the vehicle by using the driver monitoring information collected during the normal lane change of the vehicle, so as to obtain the adaptability of the driver to danger, further improve the danger sensitivity of the alarm threshold value of the vehicle lane change, and improve the use experience of the user.
Fig. 7 is a schematic structural diagram of a lane change assisting system according to another embodiment of the present invention. As shown in fig. 7, compared with the embodiment shown in fig. 6, the difference between the two embodiments is that the processor 720 of the embodiment further includes an alarm calculation unit 721, and the alarm calculation unit 721 is used for judging whether to send out alarm information when the host vehicle changes lanes. Wherein the content of the first and second substances,
the alarm calculating unit 721 is specifically configured to determine whether the lane change information of the host vehicle is smaller than a preset alarm threshold.
The system further comprises: and the human-computer interaction device 731, where the human-computer interaction device 731 is configured to send out alarm information in response to that the lane change information of the host vehicle is smaller than a preset alarm threshold according to the determination result of the alarm calculation unit 721.
The driver monitoring device 710 is configured to, according to the determination result of the alarm calculation unit 721, respond to that the lane change information of the host vehicle is greater than or equal to a preset alarm threshold value, not send out alarm information, and collect driver monitoring information of the host vehicle.
Optionally, the system may further include: left and right target vehicle detection devices 741 and 742 for acquiring information of a vehicle behind a lane change side when the host vehicle changes lanes; and a vehicle information acquisition device 732 for acquiring the own vehicle information when the own vehicle changes lanes; the alarm calculating unit 721 is further configured to obtain lane change information of the host vehicle according to the information of the vehicle behind the lane change side and the host vehicle information.
In an alternative example, the preset alarm threshold may include a preset time threshold, the lane change information of the host vehicle may include a predicted time of collision between the host vehicle and the lane-change-side rear vehicle, the left and right target vehicle detection devices 741 and 742 may be installed at left and right rear of the vehicle, respectively, and collect distances between the lane-change-side rear vehicle and the host vehicle, for example: the detection device may include a radar, a camera, and the like, and the vehicle information acquisition device 732 may be a vehicle speed sensor disposed in the vehicle and acquires the vehicle speed of the host vehicle, but the present embodiment is not limited to the method of obtaining the distance between the vehicle behind the lane change side and the host vehicle and the vehicle speed of the host vehicle.
Fig. 8 is a schematic structural diagram of a lane change assisting system according to still other embodiments of the present invention. As shown in fig. 8, the difference between the embodiments is that the warning calculation unit 821 of this embodiment is also used to detect whether the host vehicle changes lanes, as compared with the embodiment shown in fig. 7. Wherein the content of the first and second substances,
the system further comprises: the steering wheel detection device 833 is used for acquiring steering wheel turning angle information of the vehicle, and the turn signal detection device 834 is used for acquiring turn signal lighting information of the vehicle.
An alarm calculating unit 821, which is specifically configured to determine whether the steering wheel angle information and the turn signal lighting information point to the same side of the vehicle; if the steering wheel corner information and the turn lamp lighting information point to the same side of the vehicle, and the vehicle changes the lane, whether alarm information is sent out is judged.
The steering wheel detecting device 833 is further configured to collect steering wheel turning angle information of the vehicle in response to the fact that the steering wheel turning angle information and the turn signal lighting information do not point to the same side of the vehicle and the vehicle does not turn according to the determination result of the alarm calculating unit 821.
The turn signal detecting device 834 is further configured to collect turn signal lighting information of the vehicle in response to that the steering wheel angle information and the turn signal lighting information do not point to the same side of the vehicle and the vehicle does not change lanes according to the determination result of the alarm calculating unit 821.
In the present embodiment, a steering wheel detection device 833 and a turn signal detection device 834 may be provided in the vehicle, the steering wheel detection device 833 may collect steering wheel angle information of the vehicle, the turn signal detection device 834 may collect turn signal lighting information of the vehicle, whether the vehicle changes lane or not can be detected by judging whether the steering wheel angle information and the turn light lighting information point to the same side of the vehicle or not according to the steering wheel angle information and the turn light lighting information, if the steering wheel angle information and the turn light lighting information point to the same side of the vehicle, the vehicle changes lane to the side at the moment, can further judge whether to send out alarm information, if the steering wheel angle information and the turn signal light lightening information do not point to the same side of the vehicle, the vehicle does not change the lane at the moment, whether the vehicle changes lanes can be detected by continuously acquiring steering wheel turning angle information and turn lamp lighting information of the vehicle.
Fig. 9 is a schematic structural diagram of a lane-change assisting system according to still other embodiments of the present invention. As shown in fig. 9, compared with the embodiment shown in fig. 8, the difference between the two is that the system further includes a lane monitoring device 943, and the lane monitoring device 943 is used for collecting lane monitoring information in front of the host vehicle. Wherein the content of the first and second substances,
the processor 920 further includes an external information processing unit 922, and the external information processing unit 922 is configured to determine whether the vehicle has completed lane change according to the lane monitoring information.
The alarm calculating unit 921 is further configured to reduce the preset alarm threshold value in response to the vehicle completing lane change according to the determination result of the vehicle exterior information processing unit 922, and use the reduced alarm threshold value as a new preset alarm threshold value; and responding to the completion of lane change of the vehicle, and keeping the preset alarm threshold unchanged.
In this embodiment, a lane detection device 943 may be disposed in front of the vehicle, and collects lane monitoring information in front of the vehicle, such as: the lane detection device 943 is a vehicle-mounted forward-looking camera, which can collect an image in front of the vehicle as lane monitoring information, and the vehicle-external information processing unit 922 of the processor 920 can judge whether the vehicle has completed lane change according to the lane monitoring information, and if the vehicle has completed lane change, it indicates that the driver still has sufficient time to complete lane change under the alarm condition, and it is considered that the alarm of this time has little significance, and the preset alarm threshold is set too loose, so that the preset alarm threshold can be reduced, and the reduced alarm threshold is used as a new preset alarm threshold, so that the alarm effect can be improved by using the new preset alarm threshold when the vehicle gives an alarm next time, and if the vehicle has not completed lane change, it indicates that the alarm is effective, and the preset alarm threshold can be kept unchanged.
Optionally, the off-board information processing unit 922 of the processor 920 may also process information collected by other off-board devices, such as: the vehicle exterior information processing unit 922 may further process steering wheel angle information and turn signal lighting information collected by the steering wheel detection device 933 and the turn signal detection device 934, send the processed steering wheel angle information and turn signal lighting information to the alarm calculation unit 921, and the alarm calculation unit 921 detects whether the vehicle changes lanes according to the processed steering wheel angle information and turn signal lighting information.
The lane change auxiliary system that this embodiment provided, when the vehicle lane change and send alarm information, through gathering the lane monitoring information in vehicle the place ahead, adjust warning threshold value according to lane monitoring information to predetermineeing, can make warning threshold value's danger sensitivity predetermine more reasonable.
Fig. 10 is a schematic structural diagram of a lane-change assisting system according to still other embodiments of the present invention. As shown in fig. 10, compared with the embodiment shown in fig. 8, the difference between the two embodiments is that the driver monitoring device 1010 of the embodiment is a heartbeat monitoring device, the heartbeat monitoring device is used for collecting the driver heartbeat monitoring information of the own vehicle, the processor 1020 further includes a driver information processing unit 1023, and the driver information processing unit 1023 is used for judging whether the heartbeat of the driver is suddenly accelerated according to the heartbeat monitoring information; if the heartbeat of the driver is suddenly accelerated, the driver is frightened in the lane changing process of the vehicle; if the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle.
The alarm calculating unit 1021, configured to respond to a sudden acceleration of the heartbeat of the driver according to the determination result of the driver information processing unit 1023, so that the driver is scared during the lane changing process of the vehicle, increase the preset alarm threshold, and use the increased alarm threshold as a new preset alarm threshold; and responding to the condition that the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle, and keeping the preset alarm threshold unchanged.
In this embodiment, the driver information processing unit 1023 of the processor 1020 may determine whether the driver is scared during the lane change of the vehicle according to the driver monitoring information, and if the driver is scared during the lane change of the vehicle, it may be determined that the alarm is not in effect, and the driver determines that the situation is dangerous but does not generate an alarm, and the preset alarm threshold is set too narrow, so that the preset alarm threshold may be increased, and the increased alarm threshold is used as a new preset alarm threshold, so that the alarm range may be increased by using the new preset alarm threshold during the next alarm, and if the driver is not scared during the lane change of the vehicle, it may be determined that the alarm belongs to a normal situation, and the preset alarm threshold may be kept unchanged.
Optionally, after the alarm calculation unit 1021 performs the operation of increasing the preset alarm threshold value through multiple iterations and using the increased alarm threshold value as a new preset alarm threshold value, the preset alarm threshold value tends to be stable, and a preset target alarm threshold value capable of ensuring the driving comfort of the driver can be obtained.
The lane change auxiliary system that this embodiment provided, when the vehicle lane change and not send alarm information, monitor driver's reflection through gathering driver monitoring information, can obtain driver to dangerous adaptability, thereby can be according to driver to dangerous adaptability, judge and predetermine at present whether the danger sensitivity of warning threshold value is fit for this driver, and carry out self-adaptation dynamic adjustment to the danger sensitivity of predetermineeing the warning threshold value, can improve lane change auxiliary system's self-adaptation ability, improve lane change auxiliary system travelling comfort and validity, satisfy different drivers to the individualized demand of warning perception, improve lane change auxiliary system to driver's aided degree.
The embodiment of the invention also provides a vehicle, and the lane change auxiliary system of any one of the embodiments is arranged in the vehicle.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The method and apparatus of the present invention may be implemented in a number of ways. For example, the methods and apparatus of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (23)
1. A lane change assist method, comprising:
when the vehicle changes lanes and the vehicle does not send alarm information, acquiring driver monitoring information of the vehicle;
and judging whether the driver is frightened or not in the lane changing process of the vehicle according to the driver monitoring information.
2. The method of claim 1, wherein prior to collecting driver monitoring information for the host vehicle, further comprising:
and judging whether to send alarm information or not when the vehicle changes lanes.
3. The method of claim 2, wherein said determining whether to send an alert message comprises:
judging whether the lane change information of the vehicle is smaller than a preset alarm threshold value or not;
if the lane change information of the vehicle is smaller than a preset alarm threshold value, sending alarm information;
if the lane change information of the vehicle is larger than or equal to the preset alarm threshold value, no alarm information is sent out, and the driver monitoring information of the vehicle is collected.
4. The method of claim 3, wherein before determining whether the lane change information of the host vehicle is less than a preset alarm threshold, further comprising:
when the vehicle changes lanes, acquiring information of vehicles behind the lane changing side and the vehicle information;
and obtaining lane change information of the vehicle according to the information of the vehicle behind the lane change side and the vehicle information.
5. The method of claim 4, wherein the pre-set alarm threshold comprises: a preset time threshold; the lane change information of the host vehicle includes: predicted collision time of the host vehicle with a vehicle behind the lane-change side; the information of the lane-change side rear vehicle includes: the distance between the lane-changing side rear vehicle and the vehicle; the own vehicle information includes: the speed of the host vehicle.
6. The method according to any one of claims 2 to 5, wherein before the determining whether to send out the alarm information, the method further comprises:
whether the vehicle changes lanes or not is detected.
7. The method of claim 6, wherein prior to detecting whether the host vehicle has changed lanes, further comprising:
collecting steering wheel corner information and turn lamp lighting information of the vehicle;
the detecting whether the vehicle changes lanes comprises the following steps:
judging whether the steering wheel turning angle information and the turn light lightening information point to the same side of the vehicle or not;
if the steering wheel corner information and the turn lamp lighting information point to the same side of the vehicle, the vehicle changes the lane and judges whether to send out alarm information or not;
if the steering wheel corner information and the turn lamp lighting information do not point to the same side of the vehicle, the vehicle does not change lanes, and the steering wheel corner information and the turn lamp lighting information of the vehicle are collected.
8. The method according to any one of claims 3 to 5, characterized in that after the sending out the alarm information, the method further comprises:
collecting lane monitoring information in front of the vehicle;
judging whether the vehicle completes lane change or not according to the lane monitoring information;
if the vehicle finishes lane changing, reducing the preset alarm threshold value, and taking the reduced preset alarm threshold value as a new preset alarm threshold value;
and if the vehicle does not complete lane changing, keeping the preset alarm threshold unchanged.
9. The method of claim 8, wherein the driver monitoring information comprises: heartbeat monitoring information;
the judging whether the driver is scared or not in the lane changing process of the driver according to the driver monitoring information comprises the following steps:
judging whether the heartbeat of the driver is suddenly accelerated or not according to the heartbeat monitoring information;
if the heartbeat of the driver is suddenly accelerated, the driver is frightened in the lane changing process of the vehicle;
if the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle.
10. The method of claim 9, wherein said determining whether the driver is startled during the lane change of the driver according to the driver monitoring information further comprises
If the driver is scared during the lane changing process of the vehicle, increasing the preset alarm threshold value, and taking the increased preset alarm threshold value as a new preset alarm threshold value;
and if the driver is not frightened in the lane changing process of the vehicle, keeping the preset alarm threshold value unchanged.
11. The method of claim 10, wherein after the step of using the increased preset alarm threshold as the new preset alarm threshold, further comprising:
and iteratively executing the operation of increasing the preset alarm threshold value and taking the increased preset alarm threshold value as a new preset alarm threshold value to obtain a preset target alarm threshold value.
12. A lane change assist system, comprising:
the driver monitoring equipment is used for acquiring the driver monitoring information of the vehicle when the vehicle changes lanes and the vehicle does not send alarm information;
and the processor is used for judging whether the driver is scared or not in the lane changing process of the vehicle according to the driver monitoring information.
13. The lane-changing support system of claim 12, wherein the processor comprises an alarm calculation unit, and the alarm calculation unit is configured to determine whether to send out an alarm message when the vehicle changes lanes.
14. The lane-change support system according to claim 13, wherein the warning calculation unit is configured to determine whether lane-change information of the host vehicle is smaller than a preset warning threshold;
the lane change assist system further includes: the human-computer interaction equipment is used for responding to the situation that the lane change information of the vehicle is smaller than a preset alarm threshold value according to the judgment result of the alarm calculation unit and sending out alarm information;
and the driver monitoring equipment is used for responding to the situation that the lane change information of the vehicle is larger than or equal to a preset alarm threshold value according to the judgment result of the alarm calculation unit, not sending alarm information and collecting the driver monitoring information of the vehicle.
15. The lane change assist system of claim 14, further comprising:
the left target vehicle detection equipment and the right target vehicle detection equipment are used for acquiring information of vehicles behind the lane changing side when the vehicle changes lanes;
the vehicle information acquisition equipment is used for acquiring vehicle information when the vehicle changes lanes;
the alarm calculation unit is further used for obtaining lane change information of the vehicle according to the information of the vehicle behind the lane change side and the vehicle information.
16. The lane-change assist system of claim 15, wherein the preset alarm threshold comprises: a preset time threshold; the lane change information of the host vehicle includes: predicted collision time of the host vehicle with a vehicle behind the lane-change side; the information of the lane-change side rear vehicle includes: the distance between the lane-changing side rear vehicle and the vehicle; the own vehicle information includes: the speed of the host vehicle.
17. The lane-change support system according to any one of claims 13 to 16, wherein the warning calculation unit is further configured to detect whether the host vehicle changes lanes.
18. The lane change assist system of claim 17, further comprising:
the steering wheel detection equipment is used for acquiring steering wheel corner information of the vehicle;
the turn signal detection device is used for acquiring turn signal lighting information of the vehicle;
the alarm calculation unit is used for judging whether the steering wheel angle information and the turn signal lamp lighting information point to the same side of the vehicle; if the steering wheel corner information and the turn lamp lighting information point to the same side of the vehicle, the vehicle changes the lane and judges whether to send alarm information or not;
the steering wheel detection equipment is also used for responding to the situation that the steering wheel corner information and the turn lamp lighting information do not point to the same side of the vehicle and the vehicle does not change the lane according to the judgment result of the alarm calculation unit and acquiring the steering wheel corner information of the vehicle;
the turn signal lamp detection device is also used for responding to the situation that the steering wheel corner information and the turn signal lamp lighting information do not point to the same side of the vehicle and the vehicle does not change the lane according to the judgment result of the alarm calculation unit, and collecting the turn signal lamp lighting information of the vehicle.
19. The lane change assist system of any of claims 14 to 16, further comprising:
the lane monitoring equipment is used for acquiring lane monitoring information in front of the vehicle;
the processor also comprises an external information processing unit, wherein the external information processing unit is used for judging whether the vehicle finishes lane change or not according to the lane monitoring information;
the alarm calculation unit is also used for responding to the fact that the vehicle finishes lane changing according to the judgment result of the vehicle external information processing unit, reducing the preset alarm threshold value, and taking the reduced preset alarm threshold value as a new preset alarm threshold value; and responding to the completion of lane change of the vehicle, and keeping the preset alarm threshold unchanged.
20. The lane change assist system of claim 19, wherein the driver monitoring device comprises: a heartbeat monitoring device; the heartbeat monitoring equipment is used for acquiring heartbeat monitoring information of a driver of the vehicle;
the processor comprises a driver information processing unit, and the driver information processing unit is used for judging whether the heartbeat of the driver is suddenly accelerated or not according to the heartbeat monitoring information; if the heartbeat of the driver is suddenly accelerated, the driver is frightened in the lane changing process of the vehicle; if the heartbeat of the driver is not suddenly accelerated, the driver is not frightened in the lane changing process of the vehicle.
21. The lane-changing support system according to claim 20, wherein the alarm calculating unit is further configured to respond to a sudden increase in heartbeat of the driver, which is scared during the lane changing process of the driver, according to the judgment result of the driver information processing unit, increase the preset alarm threshold, and use the increased preset alarm threshold as a new preset alarm threshold; and in response to the heartbeat of the driver not being suddenly accelerated, the driver is not scared during the lane change of the vehicle, and keeping the preset alarm threshold constant.
22. The lane-change assisting system of claim 21, wherein the alarm calculating unit is further configured to iteratively perform the operation of increasing the preset alarm threshold value, and using the increased preset alarm threshold value as a new preset alarm threshold value, so as to obtain a preset target alarm threshold value.
23. A vehicle, characterized by comprising: the lane-change assist system of any of claims 12 to 22.
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