CN109591824B - Safe driving assisting method - Google Patents

Safe driving assisting method Download PDF

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Publication number
CN109591824B
CN109591824B CN201811399606.1A CN201811399606A CN109591824B CN 109591824 B CN109591824 B CN 109591824B CN 201811399606 A CN201811399606 A CN 201811399606A CN 109591824 B CN109591824 B CN 109591824B
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driver
warning
vehicle
executing
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CN109591824A (en
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李丁
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Shanghai Wissen Automotive Sensing Technology Co Ltd
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Shanghai Wissen Automotive Sensing Technology Co Ltd
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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
    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • B60W40/08—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 drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

The invention relates to a safe driving assisting method, which comprises the following steps: s1, acquiring CAN bus data of a vehicle to judge whether the vehicle is static, and if not, acquiring a driving state monitoring result of a driver and a forward-looking ADAS result of the vehicle; s2, judging whether the driver is in a normal driving state or not according to the driving state monitoring result, if so, executing a step S3, and if not, executing a step S4; s3, judging whether the current driving state of the vehicle is safe or not according to the forward-looking ADAS result and a first threshold group, if so, executing a step S5, and if not, giving an alarm; s4, judging whether the driving state of the current vehicle is safe or not according to the forward-looking ADAS result and a second threshold group, if so, executing a step S5, and if not, sending a warning to the driver; s5, judging whether the fatigue time of the driver is greater than or equal to the first fatigue time, if so, giving a warning, otherwise, executing the step S6; s6, judging whether the distraction time of the driver is greater than or equal to the first distraction time, and if so, giving a warning.

Description

Safe driving assisting method
Technical Field
The invention relates to the field of vehicle control, in particular to a safe auxiliary driving method.
Background
With the development of social science and technology, automobiles are more and more popular in social life, so that the automobiles become a travel tool which people cannot leave in daily life. However, during long-distance driving, drivers often cause traffic accidents due to fatigue driving. With the rapid development of vehicle-mounted electronic technology, various automobile manufacturers and scientific research units begin to research the electronic technology of pre-fatigue driving.
The lane Departure warning system is an important component of a vehicle driving assistance system, and is used for judging the lane Departure behavior of a vehicle according to the relation between the front road environment and the position of the vehicle and timely reminding the driver so as to prevent the lane Departure accident caused by the carelessness of the driver, the lane Departure warning system is a vehicle driving safety assistance system which aims to help the driver to avoid or reduce the lane Departure accident, the lane Departure warning system acquires front road information through a sensor, and in combination with relevant parameters such as the driving state of the vehicle and warning time, judges whether the vehicle has a tendency to depart from the current lane, if the vehicle is about to depart, and if the driver does not turn a turn signal, the lane Departure warning system generally gives an alarm to the driver in a visual, auditory or acoustic manner, and if the vehicle is about to depart, and if the driver does not turn a turn signal, the lane Departure warning system also can give an alarm through a visual, auditory or acoustic or visual, or acoustic warning system, and if the driver has no warning information about a warning about a missing vehicle collision, a warning system can monitor the front driving environment, a warning system can give a warning signal, a warning signal indicating that the driver can be monitored by a driver can be monitored in a driver, and a warning system can be monitored in real-time, and a warning system can be monitored when a driver can be monitored, and a driver can be monitored in real-time.
Disclosure of Invention
The invention aims to provide a safe auxiliary driving method, which improves the safety of a vehicle in the driving process.
In order to achieve the above object, the present invention provides a safe driving assist method, including:
s1, acquiring CAN bus data of a vehicle to judge whether the vehicle is static, and if not, acquiring a driving state monitoring result of a driver and a forward-looking ADAS result of the vehicle;
s2, judging whether the driver is in a normal driving state or not according to the driving state monitoring result, if so, executing a step S3, and if not, executing a step S4;
s3, judging whether the current driving state of the vehicle is safe or not according to the forward-looking ADAS result and a first threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s4, judging whether the current driving state of the vehicle is safe or not according to the forward-looking ADAS result and a second threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s5, judging whether the fatigue time of the driver is greater than or equal to a first fatigue time, if so, sending a warning to the driver, otherwise, executing a step S6;
s6, judging whether the distraction time of the driver is greater than or equal to the first distraction time, and if so, sending a warning to the driver.
According to one aspect of the invention, in step S3, the driver is alerted if any of the forward looking ADAS results is less than or equal to a corresponding threshold in the first set of thresholds.
According to one aspect of the invention, the forward looking ADAS result includes a forward collision warning time TTC, a safe distance warning time HMW, a virtual bumper VB;
the first threshold group comprises a first early warning threshold T1 for comparison with the front collision early warning time TTC, a second early warning threshold T2 for comparison with the safe distance early warning time HMW, and a third early warning threshold S1 for comparison with the virtual bumper VB;
step S3 includes:
s31, if the TTC is less than or equal to T1, warning the driver, otherwise, executing the step S32;
s32, if the HMW is less than or equal to T2, warning the driver, otherwise, executing a step S33;
s33, if VB is less than or equal to S1, warning the driver, and otherwise, executing a step S34;
s34, acquiring the running speed V1 of the vehicle according to the CAN bus data, comparing the running speed V1 with a first speed threshold V2, and if V1 is not more than V2, executing a step S5.
According to one aspect of the invention, in step S34, if V1 > V2, an alarm of L DW is provided.
According to one aspect of the present invention, in step S34, if the vehicle is currently in a state of pressing the lane line and the turn signal corresponding to the lane line is not turned on, a warning is issued to the driver.
According to one aspect of the invention, in step S4, the driver is alerted if any of the forward looking ADAS results is less than or equal to a corresponding threshold in the second set of thresholds.
According to one aspect of the invention, the forward looking ADAS result includes a forward collision warning time TTC, a safe distance warning time HMW, a virtual bumper VB;
the second threshold group comprises a fourth warning threshold T3 for comparison with the front collision warning time TTC, a fifth warning threshold T4 for comparison with the safe distance warning time HMW, and a sixth warning threshold S2 for comparison with the virtual bumper VB;
step S4 includes:
s41, if the TTC is less than or equal to T3, warning the driver, otherwise, executing the step S42;
s42, if the HMW is less than or equal to T4, warning the driver, otherwise, executing a step S43;
s43, if VB is less than or equal to S2, warning the driver, otherwise, executing a step S44;
s44, acquiring the running speed V1 of the vehicle according to the CAN bus data, comparing the running speed V1 with a first speed threshold V2, and if V1 is not more than V2, executing a step S5.
According to one aspect of the invention, in step S44, if V1 > V2, an alarm of L DW is provided.
According to one aspect of the present invention, in step S44, it is determined whether the driver is currently in a tired state. If so, judging the driving state of the vehicle, if the vehicle has a lane line pressing trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, judging whether the driver is in a distraction state currently.
According to an aspect of the present invention, in step S44, if the driver is in a distracted state, the consistency between the line of sight direction of the driver and the direction of the lane line on which the vehicle is pressed is determined, and if the line of sight direction of the driver and the direction of the lane line on which the vehicle is pressed are consistent, step S5 is executed, otherwise, a warning is issued to the driver.
According to an aspect of the present invention, the step of determining the coincidence between the driver's sight line direction and the lane line direction on which the vehicle is pressed includes:
s441, if the line-of-sight yaw angle of the driver is less than A1, the line-of-sight pitch angle is greater than A3, and the line-of-sight pitch angle is less than A4, judging the driving state of the vehicle, if the vehicle has a trend of a right lane line and the distance from the vehicle to the lane line is less than or equal to a first distance S3, sending a warning to the driver, otherwise, executing the step S5;
s442, if the driver' S sight line yaw angle is greater than A2, the sight line pitch angle is greater than A3 and the sight line pitch angle is less than A4, judging the driving state of the vehicle, if the vehicle has a left lane line trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, executing the step S5;
s443, if the line-of-sight pitch angle of the driver is < A3 or > A4, judging the driving state of the vehicle, if the vehicle has a lane line pressing trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, sending a warning to the driver, and if not, executing a step S5;
where a1 denotes a yaw angle left boundary, a2 denotes a yaw angle right boundary, A3 denotes a pitch angle upper boundary, and a4 denotes a pitch angle lower boundary.
According to an aspect of the present invention, in step S5, if the fatigue time of the driver is greater than or equal to the first fatigue time T5, a warning is issued to the driver, otherwise, step S6 is performed.
According to an aspect of the present invention, in step S6, if the driver' S distraction time is greater than or equal to the first distraction time T6, a warning is issued to the driver.
According to one scheme of the invention, the normal driving state of the driver is evaluated and judged by acquiring the state monitoring result and the forward-looking ADAS result of the driver, so that the current driving state of the driver can be accurately judged, and the driver is reminded of safety under different driving states correspondingly matched based on the current driving state of the driver. The method and the device have the advantages that the loose early warning precision is adopted in the normal driving state of the driver, and the sensitive early warning precision is adopted in the abnormal driving state of the driver, so that the driving safety of the driver in different driving states is ensured, the comfort and the judgment precision in the auxiliary driving process are improved, the misjudgment on the safety of the driver in the driving process is avoided when the single early warning precision is adopted, and the good driving experience is brought to the driver.
According to one scheme of the invention, when a driver is in different driving states, the method of the invention needs to independently judge any one of forward-looking ADAS results, so that the auxiliary driving effect of the invention is improved, the safety of the current vehicle in the driving process can be comprehensively and fully judged, the hidden danger of accidents is avoided, and the method of the invention is more reliable.
According to one scheme of the invention, when a driver is in a normal driving state, if forward-looking ADAS results are all early warning signals generated, the current speed of the vehicle and whether the vehicle turns or not are judged, and if the steering lamp is not turned on in the steering process of the vehicle, a warning is given out, so that the driving safety of the vehicle is ensured, traffic accidents caused by misoperation or negligence of the driver are avoided, and the driving safety of other vehicles is indirectly ensured; if the turning side steering lamp is turned on or the sight looks at the turning side when the vehicle turns, the driver is judged to be actively behaving without alarming, and the driver is prevented from being interfered by excessive alarming.
According to one scheme of the invention, when a driver is in an abnormal state, if forward-looking ADAS results generate early warning signals, the current form state of the vehicle is judged, and particularly when the driver is in a fatigue state, potential safety hazards in the process of descending the vehicle in the fatigue state can be timely discovered by detecting whether the vehicle presses a lane line and the distance from the lane line, so that the driving safety of the driver in the fatigue state is ensured, and the method is more accurate and effective particularly under the conditions of good road conditions and less vehicles on the road. Similarly, if the driver is in the distraction state, the potential safety hazard in the distraction state in the driving process can be timely found by detecting whether the sight direction of the driver presses the lane line and the distance from the lane line to the vehicle, so that the driving safety of the driver in the distraction state is ensured, and the method is more accurate and effective under the conditions of good road conditions and fewer vehicles on the road.
According to one aspect of the invention, the warning thresholds of L DW and FCW can be dynamically modified according to the fatigue and distraction thresholds of the driver, so that the warning thresholds can be closer to the reaction time of the driver in different driving states.
Drawings
FIG. 1 schematically represents a block diagram of steps according to an embodiment of the present invention;
fig. 2 schematically shows a flow chart according to an embodiment of the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.
The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.
As shown in fig. 1, according to an embodiment of the present invention, a safety driving assistance method of the present invention includes:
s1, acquiring CAN bus data of a vehicle to judge whether the vehicle is static, and if not, acquiring a driving state monitoring result of a driver and a forward-looking ADAS result of the vehicle;
s2, judging whether the driver is in a normal driving state or not according to a driving state monitoring result, if so, executing a step S3, and if not, executing a step S4;
s3, judging whether the driving state of the current vehicle is safe or not according to the forward-looking ADAS result and the first threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s4, judging whether the driving state of the current vehicle is safe or not according to the forward-looking ADAS result and a second threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s5, judging whether the fatigue time of the driver is greater than or equal to the first fatigue time, if so, sending a warning to the driver, otherwise, executing the step S6;
and S6, judging whether the distraction time of the driver is greater than or equal to the first distraction time, and if so, sending a warning to the driver.
According to one embodiment of the invention, the safety assistant driving method combines a camera-based extra-cabin front collision warning (ECW) function, a lane line deviation warning (L DW) function, an in-cabin Driver Monitoring (DMS) function and vehicle body sensor information (including vehicle speed, steering angle, accelerator, brake and the like) to provide customized optimal driving assistant decision for different drivers.
As shown in fig. 2, according to one embodiment of the present invention, the CAN bus data acquired in step S1 includes vehicle speed, gear, steering wheel angle, and turn signal of the vehicle. In the embodiment, whether the vehicle is static or not is judged according to the CAN bus data, namely whether the current vehicle speed is zero or not is judged according to the vehicle speed data in the CAN bus data, and if the current vehicle speed is zero, an alarm is not needed according to the invention. And if the current vehicle speed is not zero, acquiring a driving state monitoring result of the driver and a forward looking ADAS result of the vehicle. In the present embodiment, the driving state monitoring result includes a distraction state value and a state quantity of the driver, and a fatigue state value and a state quantity. The forward-looking ADAS result comprises a front collision early warning time TTC, a safe distance early warning time HMW and a virtual bumper VB.
According to an embodiment of the present invention, in the step of determining whether the driver is in the normal driving state according to the driving state monitoring result, in step S2, it is determined whether the driver is in the distraction state according to the distraction state value and the state quantity of the driver in the driving state monitoring result, and it is determined whether the driver is in the fatigue state according to the fatigue state value and the state quantity. In the present embodiment, the normal driving state of the driver, that is, the driver is not in the distraction state or the fatigue state.
As shown in fig. 2, according to an embodiment of the present invention, if the driver is in the normal driving state according to the determination result of step S2, step S3 is performed to perform the assistant driving with respect to the normal driving state of the driver. In this embodiment, in step S3, if any of the forward looking ADAS results is less than or equal to the corresponding threshold in the first threshold group, a warning is issued to the driver. In this embodiment, the first threshold group includes a first warning threshold T1 for comparison determination with the forward collision warning time TTC, i.e., T1 is a normal driving collision time threshold in a normal driving state of the driver, a second warning threshold T2 for comparison determination with the safe distance warning time HMW, i.e., T2 is a normal driving safe distance warning time threshold in a normal driving state, and a third warning threshold S1 for comparison determination with the virtual bumper VB, i.e., S1 is a virtual bumper warning threshold in a normal driving state of the driver.
In the present embodiment, step S3 includes:
s31, if the TTC is less than or equal to T1, warning the driver, otherwise, executing the step S32;
s32, if the HMW is less than or equal to T2, warning the driver, otherwise, executing a step S33;
s33, if VB is less than or equal to S1, warning the driver, otherwise, executing a step S34;
s34, acquiring the running speed V1 of the vehicle according to the CAN bus data, comparing the running speed V1 with a first speed threshold V2, if V1 is less than or equal to V2, executing step S5. if V1 is greater than V2, an alarm of L DW is required to be provided to the driver, if not, L DW does not need the alarm.
As shown in fig. 2, according to an embodiment of the present invention, if the driver is in the abnormal driving state (i.e., distraction state or fatigue state) according to the determination result of step S2, step S4 is performed to perform driving assistance with respect to the abnormal driving state of the driver. In this embodiment, in step S4, if any of the forward looking ADAS results is less than or equal to the corresponding threshold in the second threshold group, a warning is issued to the driver. In this embodiment, the second threshold group includes a fourth warning threshold T3 for comparison determination with the front collision warning time TTC, i.e., T3 is an abnormal driving collision time threshold in an abnormal driving state of the driver, a fifth warning threshold T4 for comparison determination with the safe distance warning time HMW, i.e., T4 is an abnormal driving safe distance warning time threshold in an abnormal driving state, and a sixth warning threshold S2 for comparison determination with the virtual bumper VB, i.e., S2 is a virtual bumper warning threshold in an abnormal driving state of the driver. In the present embodiment, since the driver is in the abnormal driving state, the threshold values in the second threshold value group are set to be different from the threshold values in the first threshold value group. The threshold values in the second set of threshold values are more sensitive than the threshold values in the first set of threshold values, since the driver is in an abnormal state, which may cause a phenomenon such as reaction retardation.
In the present embodiment, step S4 includes:
s41, if the TTC is less than or equal to T3, a warning is sent to the driver, otherwise, the step S42 is executed;
s42, if the HMW is less than or equal to T4, warning the driver, otherwise, executing a step S43;
s43, if VB is less than or equal to S2, warning the driver, otherwise, executing a step S44;
s44, acquiring the driving speed V1 of the vehicle according to the CAN bus data, comparing the driving speed V1 with a first speed threshold V2, if V1 is not more than V2, executing step S5, if V1 is more than V2, providing an alarm of L DW to the driver, if not, providing L DW without alarm.
As shown in fig. 2, the step of determining the coincidence between the driver's sight line direction and the vehicle lane line pressing direction according to one embodiment of the present invention includes:
s441, if the line of sight yaw of the driver is less than A1 (namely the line of sight of the driver faces to the left side), the line of sight pitch angle is greater than A3 (namely the driver does not look up), and the line of sight pitch angle is less than A4 (namely the driver does not look down), judging the running state of the vehicle, if the vehicle has the trend of a right lane line and the distance between the vehicle and the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, executing the step S5;
s442, if the line of sight yaw of the driver is greater than A2 (namely the line of sight of the driver faces towards the right side), the line of sight pitch angle is greater than A3 (namely the driver does not look up), and the line of sight pitch angle is less than A4 (namely the driver does not look down), judging the running state of the vehicle, if the vehicle has a left lane line trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, executing the step S5;
and S443, if the line-of-sight pitch angle of the driver is less than A3 (namely the driver looks up) or the line-of-sight pitch angle is greater than A4 (namely the driver looks down), judging the running state of the vehicle, if the vehicle has a lane line pressing trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, executing the step S5.
In this embodiment, it should be noted that the sight line of the driver has a physical angle, and the sight line can be split into an upper dimension, a lower dimension, a left dimension and a right dimension, the upper direction and the lower direction are pitch angles, and the coordinate axis is downward; the left and right directions are yaw angles, and the coordinate axis direction is towards the right. Therefore, in the above steps, a1 represents the yaw angle left boundary, a2 represents the yaw angle right boundary, A3 represents the pitch angle upper boundary, and a4 represents the pitch angle lower boundary. Therefore, the view direction is toward the left side when the yaw angle is < a1, the view direction is toward the right side when the yaw angle is > a2, the pitch angle is < A3, and the pitch angle is > a4, which indicates a top view.
As shown in fig. 2, according to an embodiment of the present invention, in step S5, the time when the driver has been in the fatigue state is acquired according to the driving state monitoring result, and if the fatigue time of the driver is greater than or equal to the first fatigue time T5, a warning is issued to the driver, otherwise, step S6 is performed.
As shown in fig. 2, according to an embodiment of the present invention, in step S6, the time when the driver has been in the distraction state is acquired from the driving state monitoring result, and if the distraction time of the driver is greater than or equal to the first distraction time T6, a warning is issued to the driver, otherwise, no warning is given.
According to one embodiment of the invention, the driver can be warned by one or more of voice, text and image.
According to the method, the normal driving state of the driver is evaluated and judged by acquiring the state monitoring result and the forward-looking ADAS result of the driver, so that the current driving state of the driver can be accurately judged, and the driver is reminded of safety under the condition that different driving states are correspondingly matched based on the current driving state of the driver. The method and the device have the advantages that the lower early warning precision is adopted in the normal driving state of the driver, and the more sensitive early warning precision is adopted in the abnormal driving state of the driver, so that the driving safety of the driver in different driving states is ensured, the comfort and the judgment precision in the auxiliary driving process are improved, the misjudgment on the safety of the driver in the driving process is avoided when the single early warning precision is adopted, and the good driving experience is brought to the driver.
According to the method, when the driver is in different driving states, any one of forward-looking ADAS results needs to be judged independently, so that the auxiliary driving effect of the method is improved, the safety of the current vehicle in the driving process can be judged comprehensively and fully, the hidden danger of accidents is avoided, and the method is more reliable.
According to the method, when a driver is in a normal driving state, if forward-looking ADAS results generate early warning signals, the current speed of the vehicle and whether the vehicle turns or not are judged, and if the steering lamp is not turned on in the steering process of the vehicle, a warning is given out, so that the driving safety of the vehicle is ensured, traffic accidents caused by misoperation or negligence of the driver are avoided, and the driving safety of other vehicles is indirectly ensured
According to the method, when the driver is in an abnormal state, if the forward-looking ADAS results generate early warning signals, the current form state of the vehicle is judged, and particularly when the driver is in a fatigue state, potential safety hazards in the process of descending the vehicle in the fatigue state can be timely discovered by detecting whether the vehicle presses a lane line and the distance between the vehicle and the lane line, so that the driving safety of the driver in the fatigue state is ensured, and the method is more accurate and effective particularly under the conditions of good road conditions and less vehicles on the road. Similarly, if the driver is in the distraction state, the potential safety hazard in the distraction state in the driving process can be timely found by detecting whether the sight direction of the driver presses the lane line and the distance from the lane line to the vehicle, so that the driving safety of the driver in the distraction state is ensured, and the method is more accurate and effective under the conditions of good road conditions and fewer vehicles on the road.
The foregoing is merely exemplary of particular aspects of the present invention and devices and structures not specifically described herein are understood to be those of ordinary skill in the art and are intended to be implemented in such conventional ways.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A safety-assisted driving method, comprising:
s1, acquiring CAN bus data of a vehicle to judge whether the vehicle is static, and if not, acquiring a driving state monitoring result of a driver and a forward-looking ADAS result of the vehicle;
s2, judging whether the driver is in a normal driving state or not according to the driving state monitoring result, if so, executing a step S3, and if not, executing a step S4;
s3, judging whether the current driving state of the vehicle is safe or not according to the forward-looking ADAS result and a first threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s4, judging whether the current driving state of the vehicle is safe or not according to the forward-looking ADAS result and a second threshold group, if so, executing a step S5, and if not, sending a warning to the driver;
s5, judging whether the fatigue time of the driver is greater than or equal to a first fatigue time, if so, sending a warning to the driver, otherwise, executing a step S6;
s6, judging whether the distraction time of the driver is greater than or equal to a first distraction time or not, and if so, sending a warning to the driver;
the forward-looking ADAS result comprises a front collision early warning time TTC, a safe distance early warning time HMW and a virtual bumper VB;
the first threshold group comprises a first early warning threshold T1 for comparison with the front collision early warning time TTC, a second early warning threshold T2 for comparison with the safe distance early warning time HMW, and a third early warning threshold S1 for comparison with the virtual bumper VB;
step S3 includes:
s31, if the TTC is less than or equal to T1, warning the driver, otherwise, executing the step S32;
s32, if the HMW is less than or equal to T2, warning the driver, otherwise, executing a step S33;
s33, if VB is less than or equal to S1, warning the driver, and otherwise, executing a step S34;
s34, acquiring the running speed V1 of the vehicle according to the CAN bus data, comparing the running speed V1 with a first speed threshold V2, and if V1 is not more than V2, executing a step S5.
2. The safety-assisted driving method according to claim 1, characterized in that in step S3, a warning is issued to the driver if any of the forward-looking ADAS results is less than or equal to the corresponding threshold in the first threshold group.
3. The safety-aided driving method of claim 1, wherein in step S34, if V1 > V2, a warning of L DW is provided.
4. The safety-aided driving method according to claim 3, wherein in step S34, if the vehicle is currently in a state of pressing a lane line and a turn signal corresponding to the lane line is not turned on, a warning is issued to the driver.
5. The safety-assisted driving method according to claim 1, characterized in that in step S4, a warning is issued to the driver if any of the forward-looking ADAS results is less than or equal to the corresponding threshold value of the second threshold set.
6. The safety-aided driving method of claim 5, wherein the forward-looking ADAS result comprises a forward collision warning time TTC, a safe distance warning time H MW, a virtual bumper VB;
the second threshold group comprises a fourth warning threshold T3 for comparison with the front collision warning time TTC, a fifth warning threshold T4 for comparison with the safe distance warning time HMW, and a sixth warning threshold S2 for comparison with the virtual bumper VB;
step S4 includes:
s41, if the TTC is less than or equal to T3, warning the driver, otherwise, executing the step S42;
s42, if the HMW is less than or equal to T4, warning the driver, otherwise, executing a step S43;
s43, if VB is less than or equal to S2, warning the driver, otherwise, executing a step S44;
s44, acquiring the running speed V1 of the vehicle according to the CAN bus data, comparing the running speed V1 with a first speed threshold V2, and if V1 is not more than V2, executing a step S5.
7. The safety-aided driving method of claim 6, wherein in step S44, if V1 > V2, a warning of L DW is provided.
8. The safety-aided driving method of claim 7, wherein in step S44, it is determined whether the driver is currently in a tired state, if so, it is determined whether the vehicle is in a driving state, if the vehicle has a lane line trend and is less than or equal to a first distance from the lane line S3, it is alerted to the driver, otherwise, it is determined whether the driver is currently in a distraction state.
9. The safety-aided driving method according to claim 8, wherein in step S44, if the driver is in a distracted state, the consistency between the line of sight direction of the driver and the direction of the lane line on which the vehicle is pressed is determined, and if the line of sight direction of the driver and the direction of the lane line on which the vehicle is pressed are consistent, step S5 is executed, otherwise, a warning is issued to the driver.
10. The safety-aided driving method according to claim 9, wherein the step of determining the coincidence between the driver's sight line direction and the lane line direction on which the vehicle is pressed includes:
s441, if the line-of-sight yaw angle of the driver is less than A1, the line-of-sight pitch angle is greater than A3, and the line-of-sight pitch angle is less than A4, judging the driving state of the vehicle, if the vehicle has a trend of a right lane line and the distance from the vehicle to the lane line is less than or equal to a first distance S3, sending a warning to the driver, otherwise, executing the step S5;
s442, if the driver' S sight line yaw angle is greater than A2, the sight line pitch angle is greater than A3 and the sight line pitch angle is less than A4, judging the driving state of the vehicle, if the vehicle has a left lane line trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, giving a warning to the driver, and if not, executing the step S5;
s443, if the line-of-sight pitch angle of the driver is < A3 or > A4, judging the driving state of the vehicle, if the vehicle has a lane line pressing trend and the distance from the vehicle to the lane line is less than or equal to a first distance S3, sending a warning to the driver, and if not, executing a step S5;
where a1 denotes a yaw angle left boundary, a2 denotes a yaw angle right boundary, A3 denotes a pitch angle upper boundary, and a4 denotes a pitch angle lower boundary.
11. The safety-aided driving method of claim 10, wherein in step S5, if the fatigue time of the driver is greater than or equal to a first fatigue time T5, a warning is issued to the driver, otherwise, step S6 is performed.
12. The safety-aided driving method according to claim 11, wherein in step S6, if the driver' S distraction time is greater than or equal to a first distraction time T6, a warning is issued to the driver.
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