CN110271561B - Automatic driving warning method and device and vehicle - Google Patents
Automatic driving warning method and device and vehicle Download PDFInfo
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- CN110271561B CN110271561B CN201910491013.6A CN201910491013A CN110271561B CN 110271561 B CN110271561 B CN 110271561B CN 201910491013 A CN201910491013 A CN 201910491013A CN 110271561 B CN110271561 B CN 110271561B
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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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- 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
Abstract
The invention discloses an automatic driving warning method, an automatic driving warning device and a vehicle, wherein the automatic driving warning method comprises the following steps: judging whether an automatic driving function is started, if so, acquiring abnormal road condition information in front of the vehicle and attention information of a driver in real time, wherein the attention information of the driver is effective time when the attention of the driver is not on a front road; judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value; if yes, executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road; if not, the warning reminding is directly executed. According to the invention, through a combined warning strategy, the requirement of high-level automatic driving can be met from the aspect of functional safety, and the driver can be really and effectively reminded to clearly realize the action required to be taken at present, so that the harm caused by the high-level automatic driving function is avoided.
Description
Technical Field
The invention relates to the field of automatic driving safety, in particular to an automatic driving warning method, an automatic driving warning device and a vehicle.
Background
With the rapid development of the automatic driving technology, particularly the application of the automatic driving technology of the L3 and L4 grades, a human-computer interaction strategy is more and more important, how to effectively warn the driver, so that the driver cannot generate excessive trust on the automatic driving function, and the method is particularly important for avoiding harm. At present, most of the warning devices in the market only use instrument panel display and vehicle sound reminding, cannot effectively attract drivers for a high-level automatic driving function, and cannot meet the high-level functional safety requirements, so that the combined warning strategy is very important.
Along with the improvement of the level of the automatic driving function, the two hands and the two feet of a driver are gradually released, the driver does not need to control a steering wheel and a brake accelerator pedal, if no proper driver warning strategy exists, the attention of the driver is not concentrated, the function is over-trusted, the vehicle cannot be taken over in time in an emergency situation, and the damage is caused, as is well known, the updating frequency of the current high-precision map is too slow, most of the high-precision map is the updating frequency of 4 to 6 times in 1 year, the actual road situation often appears in a construction area, the frequency is far more than 4 to 6 times in 1 year, the road construction area is constructed by people, the temporary construction area blocking mark is not obvious, the existing sensor of the automatic driving vehicle is difficult to detect and avoid the construction mark, the vehicle enters the construction area, and the constructors or the collision lanes are injured, therefore, it is very important to avoid the road construction area in the process of starting the automatic driving function. Most of the current warning strategies are single, only the warning is performed through the display of an instrument panel and the sound, the requirements of functional safety level ASIL C or ASIL D cannot be met, the driver cannot be really and effectively reminded, the driver is prevented from misunderstanding, and therefore a new technical scheme is urgently needed to solve the current problems.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide an automatic driving warning method, device and vehicle, which can remind the driver through a combined warning strategy, so that the driver can clearly recognize the action required to be taken at present to meet the functional safety requirement.
In order to solve the technical problems, the specific technical scheme of the invention is as follows:
in one aspect, the invention provides an automatic driving warning method, which comprises the following steps:
judging whether an automatic driving function is started, if so, acquiring abnormal road condition information in front of the vehicle and attention information of a driver in real time, wherein the attention information of the driver is effective time when the attention of the driver is not on a front road;
judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
if yes, executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road;
if not, the warning reminding is directly executed.
Further, the information about abnormal road conditions in front of the vehicle includes one or more of the following: the front construction area, the road surface is wet and smooth, the road surface is frozen, the road surface has pits and the front accident happens.
Further, the acquiring the attention information of the driver in real time comprises:
acquiring face information of a driver in real time;
acquiring the attention direction of the driver according to the facial information of the driver;
judging whether the attention of the driver is on a front road or not according to the attention direction of the driver;
if not, calculating an effective time when the driver attention is not on the front road, wherein the effective time is recalculated when the time when the driver attention is on the front road reaches a fifth threshold.
Specifically, the warning prompt comprises a first-level warning, a second-level warning, a third-level warning and a fourth-level warning;
the first-level warning comprises the steps that a vehicle instrument panel displays that a driver needs to concentrate on a front road and the vehicle makes a sound for reminding;
the secondary warning comprises a vehicle instrument panel displaying that a driver needs to concentrate on a front road, a vehicle makes a sound for reminding and a driver safety belt vibration and contraction reminding;
the three-level warning comprises that a vehicle instrument panel displays that a driver needs to concentrate on a front road, the vehicle makes a sound for reminding, the driver reminds of the vibration and the contraction of a safety belt, and the vehicle reminds of inching;
the four-level warning comprises that the vehicle is safely parked.
Further, when the distance between the vehicle and the front abnormal road condition is greater than a distance threshold, executing the warning mode of the corresponding level according to the effective time when the attention of the driver is not on the front road comprises:
judging whether the effective time of the driver attention on the road in front reaches a first threshold value or not, and if so, executing primary warning;
judging whether the effective time of the driver attention on the road in front reaches a second threshold value or not, if so, executing secondary warning;
judging whether the effective time of the driver with attention not on the road ahead reaches a third threshold value, if so, executing three-level warning;
and judging whether the effective time of the driver attention on the road in front reaches a fourth threshold value, and if so, executing four-level warning.
Further, when the distance between the vehicle and the front abnormal road condition is not greater than the distance threshold, directly executing the warning prompt comprises:
executing a first-level warning;
judging whether the effective time of the driver's attention on the road in front reaches a sixth threshold, if so, executing secondary warning, wherein the sixth threshold is the difference between the second threshold and the first threshold;
judging whether the effective time of the driver attention on the road without the front reaches a seventh threshold value, if so, executing three-level warning, wherein the seventh threshold value is the difference between the third threshold value and the first threshold value;
and judging whether the effective time of the driver attention on the road without the front reaches an eighth threshold, if so, executing four-level warning, wherein the eighth threshold is the difference between the fourth threshold and the first threshold.
In another aspect, the present invention further provides an automatic driving warning device, which executes the automatic driving warning method described above, and the device includes:
the first judgment module is used for judging whether the automatic driving function of the vehicle is started or not;
the road information acquisition module is used for acquiring the information of abnormal road conditions in front of the vehicle in real time after the automatic driving function is started;
the attention information acquisition module is used for acquiring the attention information of a driver in real time after the automatic driving function is started, wherein the attention information of the driver is the effective time when the attention of the driver is not on the front road;
the second judgment module is used for judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
the first warning execution module is used for executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road when the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
and the second warning execution module is used for directly executing warning reminding when the distance between the vehicle and the front abnormal road condition is not greater than the distance threshold value.
Further, the attention information acquiring module includes:
the image acquisition unit is used for acquiring the facial information of the driver in real time;
the image processing unit is used for acquiring the attention direction of the driver according to the facial information of the driver;
an attention judging unit for judging whether the attention of the driver is on the front road according to the attention direction of the driver;
a time recording unit for calculating a valid time when the driver's attention is not on the road ahead when the driver's attention direction is not on the road ahead, wherein the valid time is recalculated when the time when the driver's attention is on the road ahead reaches a fifth threshold.
Further, the first alarm execution module comprises:
the primary execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a first threshold value or not, and if so, executing primary warning;
the secondary execution unit is used for judging whether the effective time that the attention of the driver is not on the front road reaches a second threshold value or not, and if yes, secondary warning is executed;
the third-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a third threshold value or not, and if so, executing third-level warning;
and the four-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a fourth threshold value or not, and if so, executing four-level warning.
Further, the second alarm execution module includes:
the five-stage execution unit is used for directly executing the first-stage warning when the distance between the vehicle and the front abnormal road condition is not more than a distance threshold value;
a sixth-level execution unit, configured to determine whether an effective time during which the driver's attention is not on the road ahead reaches a sixth threshold, and if so, execute a second-level warning, where the sixth threshold is a difference between the second threshold and the first threshold;
the seventh-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a seventh threshold value, and if so, executing third-level warning, wherein the seventh threshold value is the difference between the third threshold value and the first threshold value;
and the eight-level execution unit is used for judging whether the effective time of the driver's attention on the road without the front reaches an eighth threshold, and if so, executing four-level warning, wherein the eighth threshold is the difference between the fourth threshold and the first threshold.
In a third aspect of the present invention, a vehicle having an automatic driving function is further provided, wherein the vehicle is provided with the automatic driving warning device.
By adopting the technical scheme, the automatic driving warning method, the automatic driving warning device and the vehicle have the following beneficial effects:
1. according to the automatic driving warning method, the automatic driving warning device and the vehicle, the reminding strategies in different combinations are set, so that the high-level functional safety requirements can be met, and the driver can be ensured to make correct driving behaviors.
2. According to the automatic driving warning method, the automatic driving warning device and the vehicle, different reminding modes belong to different devices to be executed, so that mutual independence of the devices is guaranteed, simultaneous failure is avoided, and effective functional safety decomposition is performed.
3. According to the automatic driving warning method, the automatic driving warning device and the vehicle, the warning strength of the device is increased step by step according to the attention condition of the driver, the decomposition reasonability is guaranteed to the maximum extent, and the driver can be effectively reminded.
4. According to the automatic driving warning method, the automatic driving warning device and the vehicle, the function safety requirements can be met through a reasonable combined warning reminding strategy, and the condition that the high-level automatic driving function generates danger is avoided.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art 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.
FIG. 1 is a diagram of steps of an automatic driving alert method according to the present invention;
FIG. 2 is a flow chart of the automated driving alert method of FIG. 1;
FIG. 3 is a block diagram of an attention information acquisition module of an automatic driving warning device according to the present invention;
FIG. 4 is a diagram illustrating a first warning executing module of the automatic driving warning device according to the present invention;
FIG. 5 is a diagram of a second warning execution module of the automatic driving warning device according to the present invention;
FIG. 6 illustrates a decomposition scheme for the driver alert strategy of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Example 1
With the improvement of the automatic driving function level, hands and feet of a driver are gradually released, the driver does not need to control a steering wheel and a brake accelerator pedal, if a proper driver warning strategy does not exist, the attention of the driver is not concentrated, the driver has excessive trust on the function, and the driver cannot take over the vehicle in time in an emergency situation, so that the damage is caused. Most of the existing warning strategies are single, only the warning is performed through the display of an instrument panel and the sound, the requirement of high functional safety level cannot be met, the driver cannot be really and effectively reminded, and the misunderstanding of the driver is prevented.
In an embodiment of the present disclosure, an automatic driving warning method is provided, as shown in fig. 1 and fig. 2, which are a step diagram and a flowchart of the method, as shown in fig. 6, wherein a combined warning strategy adopted in the method may include information display of an instrument panel, sound warning of a vehicle, vibration and tightening of a safety belt of a driver, and inching warning of the vehicle, and certainly, a safe parking may be performed when the apparatus detects that there is a certain risk to the driver, so as to ensure the safety of the driver.
The method in the embodiment specifically includes:
judging whether an automatic driving function is started, if so, acquiring abnormal road condition information in front of the vehicle and attention information of a driver in real time, wherein the attention information of the driver is effective time when the attention of the driver is not on a front road;
judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
if yes, executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road;
if not, the warning reminding is directly executed.
After the vehicle is started, the vehicle can be manually switched to enter an automatic driving mode, then the vehicle controller detects whether the automatic driving function is successfully started, certainly, other detection units can also be used for judging, after the vehicle enters an automatic driving state, the vehicle detects the attention information of the driver in real time, wherein the attention information can be the facial information of the driver, the detected equipment can be vehicle-mounted camera shooting or third-party detection equipment, after the facial information of the driver is obtained, the face orientation and the eye attention direction of the driver are analyzed through a preset algorithm, and the attention direction of the driver is obtained by combining the analysis result.
As is well known, the update frequency of the current high-precision map is too slow, most of the high-precision map is the update frequency of 4 to 6 times in 1 year, the actual road condition often appears in a construction area, the frequency is far greater than 4 to 6 times in 1 year, the road construction area is often constructed by people, the temporary construction area blocking mark is not obvious, the existing sensor of the automatic driving vehicle hardly detects the construction mark and avoids the construction mark, so that the vehicle enters the construction area, the constructors or the collision lanes are bruised, and the abnormal road information also includes the following conditions: the road surface is slippery, the road surface is icy, the road surface has pits, the accident happens in the front, etc., in order to better and timely update the information of the road in the front, the real-time tracking and judgment are needed in the automatic driving process, the road information can be updated in real time, the prompt is updated according to map software such as vehicle-mounted GPS, Beidou, etc., certainly, the tracking can also be carried out through road cooperation and vehicle networking technology (V2V), for example, the actual condition of the road in the front is obtained by installing a transceiver of V2V on the vehicle, the special attention is needed to be improved by presetting certain receiving distance of the road in the front, for example, presetting 5 kilometers in the front as the receiving distance, when the information of the vehicle in the front is received 5 kilometers in the front, the road in the front is known to be abnormal, the instrument panel of the vehicle can display the character pattern that the driver can watch the road in the front, and, if the driver gazes the road ahead again for more than 5 seconds in the period, the instrument panel display and the sound prompt disappear, and the device starts monitoring again; when the driver does not realize the prompt of the vehicle, the vehicle can continuously record the effective time that the attention of the driver is not more than the front road, if the effective time that the attention of the driver is not more than 120 seconds, the safety belt of the driver of the vehicle can vibrate and contract on the basis of the display of the instrument panel and the sound prompt of the vehicle, and the time that the driver does not watch the road is increased, the prompting frequency of the sound is slowly accelerated, if the driver watches the front road again for more than 5 seconds in the period, the display of the instrument panel, the sound prompt and the vibration contraction of the safety belt disappear, and the device starts monitoring again; if the effective time of the driver's attention not being on the front road is accumulated for more than 210 seconds, the vehicle can be braked in a certain frequency on the basis of instrument panel display, sound reminding and safety belt vibration and contraction, and if the driver gazes the front road again for more than 5 seconds in the period, the instrument panel display, sound reminding, safety belt vibration and contraction and the vehicle is braked and disappears, the device starts to monitor again; if the effective time of the driver not paying attention to the road ahead is accumulated for more than 230 seconds, the vehicle automatically and safely stops, the function is closed, the function cannot be turned on again in the driving period, and the driver can be ensured to pay attention to the front and control the vehicle before entering the current road section through the strategy.
On the other hand, when the front road has no abnormal road condition, it is required to determine that the attention direction of the driver is not on the front road, the vehicle calculates the effective time that the attention of the driver is not on the front road through the arranged time recording unit, the vehicle can analyze and judge the effective time that the attention of the driver is not on the front road in real time, if the effective time that the attention of the driver is not on the front road exceeds 60 seconds, at the moment, an instrument panel of the vehicle can display characters enabling the driver to watch the front road, and meanwhile, the vehicle sends slow dripping sound to remind the driver, in order to improve the practicability of the warning method, if the driver watches the front road again for more than 5 seconds in the period, the instrument panel display and the sound reminding disappear, and the device restarts monitoring; if the effective time of the driver's attention not being on the front road is accumulated for more than 180 seconds, on the basis of instrument panel display and vehicle sound reminding, the safety belt of the vehicle driver can vibrate and contract, and the time that the driver does not watch the road is prolonged at any time, the reminding frequency of the sound can be slowly accelerated, and if the driver watches the front road again for more than 5 seconds in the period, the instrument panel display, sound reminding and the safety belt vibration contraction disappear, and the device starts monitoring again; if the effective time of the driver's attention not being on the front road is accumulated for more than 270 seconds, the vehicle can perform inching brake at a certain frequency on the basis of instrument panel display, sound reminding and safety belt vibration and contraction, and if the driver gazes the front road again for more than 5 seconds in the period, the instrument panel display, sound reminding, safety belt vibration and contraction and the vehicle inching brake disappear, the device starts monitoring again; if the effective time of the driver without attention on the front road is accumulated to exceed 290 seconds, the vehicle automatically carries out safe parking, the function is closed, and the function cannot be turned on again in the driving period.
In one embodiment of the description, the attention degree of the driver in the automatic driving process is gradually strengthened to warn and remind the driver, and different warning strategies belong to different devices of the vehicle to be controlled and executed, so that the mutual independence of the warning strategies can be ensured, the execution of other strategies is not influenced under the condition that one strategy is invalid, and the effectiveness of warning is improved.
Based on the above-mentioned automatic driving warning method, an embodiment of the present specification further provides an automatic driving warning device, and the device may include a system (including a distributed system), software (application), a module, a component, a server, a client, and the like, which use the method described in the embodiment of the present specification, and incorporate necessary devices for implementing hardware. Based on the same innovative conception, embodiments of the present specification provide an apparatus as described in the following embodiments. Since the implementation scheme of the apparatus for solving the problem is similar to that of the method, the specific apparatus implementation in the embodiment of the present specification may participate in the implementation of the foregoing method, and repeated details are not described herein. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Specifically, an embodiment of the present specification provides an automatic driving warning device, including:
the first judgment module is used for judging whether the automatic driving function of the vehicle is started or not;
the road information acquisition module is used for acquiring the information of abnormal road conditions in front of the vehicle in real time after the automatic driving function is started;
the attention information acquisition module is used for acquiring the attention information of a driver in real time after the automatic driving function is started, wherein the attention information of the driver is the effective time when the attention of the driver is not on the front road;
the second judgment module is used for judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
the first warning execution module is used for executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road when the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
and the second warning execution module is used for directly executing warning reminding when the distance between the vehicle and the front abnormal road condition is not greater than the distance threshold value.
Further, as shown in fig. 3, the attention information acquiring module includes:
the image acquisition unit is used for acquiring the facial information of the driver in real time;
the image processing unit is used for acquiring the attention direction of the driver according to the facial information of the driver;
an attention judging unit for judging whether the attention of the driver is on the front road according to the attention direction of the driver;
a time recording unit for calculating a valid time when the driver's attention is not on the road ahead when the driver's attention direction is not on the road ahead, wherein the valid time is recalculated when the time when the driver's attention is on the road ahead reaches a fifth threshold.
On the basis of the above embodiments, in an embodiment of this specification, as shown in fig. 4, the first alert execution module specifically includes:
the primary execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a first threshold value or not, and if so, executing primary warning;
the secondary execution unit is used for judging whether the effective time that the attention of the driver is not on the front road reaches a second threshold value or not, and if yes, secondary warning is executed;
the third-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a third threshold value or not, and if so, executing third-level warning;
and the four-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a fourth threshold value or not, and if so, executing four-level warning.
On the basis of the above embodiments, in an embodiment of the present specification, as shown in fig. 5, the second alarm execution module includes:
the five-stage execution unit is used for directly executing the first-stage warning when the distance between the vehicle and the front abnormal road condition is not more than a distance threshold value;
a sixth-level execution unit, configured to determine whether an effective time during which the driver's attention is not on the road ahead reaches a sixth threshold, and if so, execute a second-level warning, where the sixth threshold is a difference between the second threshold and the first threshold;
the seventh-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a seventh threshold value, and if so, executing third-level warning, wherein the seventh threshold value is the difference between the third threshold value and the first threshold value;
and the eight-level execution unit is used for judging whether the effective time of the driver's attention on the road without the front reaches an eighth threshold, and if so, executing four-level warning, wherein the eighth threshold is the difference between the fourth threshold and the first threshold.
In one embodiment of the present description, the driver is alerted to focus on the road or take over the vehicle and meet functional safety requirements by adopting a combined warning strategy.
It should be noted that the above-mentioned apparatus may also include other embodiments according to the description of the embodiment of the automatic driving warning method. The specific implementation manner may refer to the description of the related method embodiment, and is not described in detail herein.
On the basis of the provided automatic driving warning method and device, one embodiment of the specification further provides a vehicle, the vehicle has an automatic driving function, the vehicle is provided with the automatic driving warning device, and the scientific and technological sense and the use experience sense of the vehicle are improved by the automatic driving warning device.
The embodiments of the present specification are described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The method or apparatus provided by the present specification and described in the foregoing embodiments may implement service logic through a computer program and record the service logic on a storage medium, where the storage medium may be read and executed by a computer, so as to implement the effect of the solution described in the embodiments of the present specification.
It should be noted that descriptions of the apparatus and the vehicle described above according to the related method embodiments in the specification may also include other embodiments, and specific implementation manners may refer to descriptions of corresponding method embodiments, which are not described in detail herein.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts in the embodiments may be joined together, and each embodiment focuses on the differences from the other embodiments. In particular, for the hardware + program class embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and relevant points may be referred to as part of the description of the method embodiment.
While the invention has been described with reference to specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the invention can be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. An automatic driving warning method is characterized by comprising the following steps:
judging whether an automatic driving function is started, if so, acquiring abnormal road condition information in front of the vehicle and attention information of a driver in real time, wherein the attention information of the driver is effective time when the attention of the driver is not on a front road;
judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
if yes, executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road;
if not, directly executing warning reminding;
the warning reminding comprises a first-level warning, a second-level warning, a third-level warning and a fourth-level warning;
the first-level warning comprises the steps that a vehicle instrument panel displays that a driver needs to concentrate on a front road and the vehicle makes a sound for reminding;
the secondary warning comprises a vehicle instrument panel displaying that a driver needs to concentrate on a front road, a vehicle makes a sound for reminding and a driver safety belt vibration and contraction reminding;
the three-level warning comprises displaying that a driver needs to concentrate on a front road by a vehicle instrument panel, reminding by a vehicle by sound, reminding by vibration and contraction of a driver safety belt and reminding by inching of the vehicle;
the four-level warning comprises that the vehicle is safely parked.
2. The automatic driving warning method according to claim 1, wherein the obtaining the attention information of the driver in real time comprises:
acquiring face information of a driver in real time;
acquiring the attention direction of the driver according to the facial information of the driver;
judging whether the attention of the driver is on a front road or not according to the attention direction of the driver;
if not, calculating an effective time when the driver attention is not on the front road, wherein the effective time is recalculated when the time when the driver attention is on the front road reaches a fifth threshold.
3. The automatic driving warning method of claim 1, wherein if yes, executing the warning mode of the corresponding level according to the effective time when the driver's attention is not on the road ahead comprises:
judging whether the effective time of the driver attention on the road in front reaches a first threshold value or not, and if so, executing primary warning;
judging whether the effective time of the driver attention on the road in front reaches a second threshold value or not, if so, executing secondary warning;
judging whether the effective time of the driver with attention not on the road ahead reaches a third threshold value, if so, executing three-level warning;
and judging whether the effective time of the driver attention on the road in front reaches a fourth threshold value, and if so, executing four-level warning.
4. The automatic driving warning method of claim 3, wherein if not, directly executing the warning reminder comprises:
executing a first-level warning;
judging whether the effective time of the driver's attention on the road in front reaches a sixth threshold, if so, executing secondary warning, wherein the sixth threshold is the difference between the second threshold and the first threshold;
judging whether the effective time of the driver attention on the road without the front reaches a seventh threshold value, if so, executing three-level warning, wherein the seventh threshold value is the difference between the third threshold value and the first threshold value;
and judging whether the effective time of the driver attention on the road without the front reaches an eighth threshold, if so, executing four-level warning, wherein the eighth threshold is the difference between the fourth threshold and the first threshold.
5. An automatic driving warning apparatus characterized by performing the automatic driving warning method according to any one of claims 1 to 4, the apparatus comprising:
the first judgment module is used for judging whether the automatic driving function of the vehicle is started or not;
the road information acquisition module is used for acquiring the information of abnormal road conditions in front of the vehicle in real time after the automatic driving function is started;
the attention information acquisition module is used for acquiring the attention information of a driver in real time after the automatic driving function is started, wherein the attention information of the driver is the effective time when the attention of the driver is not on the front road;
the second judgment module is used for judging whether the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
the first warning execution module is used for executing warning reminding of a corresponding level according to the effective time that the attention of the driver is not on the road when the distance between the vehicle and the front abnormal road condition is greater than a distance threshold value;
the second warning execution module is used for directly executing warning reminding when the distance between the vehicle and the front abnormal road condition is not more than a distance threshold value;
the warning reminding comprises a first-level warning, a second-level warning, a third-level warning and a fourth-level warning;
the first-level warning comprises the steps that a vehicle instrument panel displays that a driver needs to concentrate on a front road and the vehicle makes a sound for reminding;
the secondary warning comprises a vehicle instrument panel displaying that a driver needs to concentrate on a front road, a vehicle makes a sound for reminding and a driver safety belt vibration and contraction reminding;
the three-level warning comprises that a vehicle instrument panel displays that a driver needs to concentrate on a front road, the vehicle makes a sound for reminding, the driver reminds of the vibration and the contraction of a safety belt, and the vehicle reminds of inching;
the four-level warning comprises that the vehicle is safely parked.
6. The automatic driving warning device according to claim 5, wherein the attention information acquiring module comprises:
the image acquisition unit is used for acquiring the facial information of the driver in real time;
the image processing unit is used for acquiring the attention direction of the driver according to the facial information of the driver;
an attention judging unit for judging whether the attention of the driver is on the front road according to the attention direction of the driver;
a time recording unit for calculating a valid time when the driver's attention is not on the road ahead when the driver's attention direction is not on the road ahead, wherein the valid time is recalculated when the time when the driver's attention is on the road ahead reaches a fifth threshold.
7. The automatic driving warning device of claim 5, wherein the first warning execution module comprises:
the primary execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a first threshold value or not, and if so, executing primary warning;
the secondary execution unit is used for judging whether the effective time that the attention of the driver is not on the front road reaches a second threshold value or not, and if yes, secondary warning is executed;
the third-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a third threshold value or not, and if so, executing third-level warning;
and the four-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the front road, reaches a fourth threshold value or not, and if so, executing four-level warning.
8. The automatic driving warning device of claim 7, wherein the second warning performing module comprises:
the five-stage execution unit is used for directly executing the first-stage warning when the distance between the vehicle and the front abnormal road condition is not more than a distance threshold value;
a sixth-level execution unit, configured to determine whether an effective time during which the driver's attention is not on the road ahead reaches a sixth threshold, and if so, execute a second-level warning, where the sixth threshold is a difference between the second threshold and the first threshold;
the seventh-level execution unit is used for judging whether the effective time of the driver, the attention of which is not on the road ahead, reaches a seventh threshold value, and if so, executing third-level warning, wherein the seventh threshold value is the difference between the third threshold value and the first threshold value;
and the eight-level execution unit is used for judging whether the effective time of the driver's attention on the road without the front reaches an eighth threshold, and if so, executing four-level warning, wherein the eighth threshold is the difference between the fourth threshold and the first threshold.
9. A vehicle having an automatic driving function, characterized in that the vehicle is provided with an automatic driving warning device according to any one of claims 5 to 8.
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| CN111775960A (en) * | 2020-07-14 | 2020-10-16 | 吴昌旭 | Multi-channel warning device and method for automatically driving vehicle |
| CN111959519B (en) * | 2020-08-20 | 2021-12-28 | 中国第一汽车股份有限公司 | Driving assistance function setting method, device, equipment and medium |
| CN112654547A (en) * | 2020-09-25 | 2021-04-13 | 华为技术有限公司 | Driving reminding method, device and system |
| CN112489425A (en) * | 2020-11-25 | 2021-03-12 | 平安科技（深圳）有限公司 | Vehicle anti-collision early warning method and device, vehicle-mounted terminal equipment and storage medium |
| CN113173168A (en) * | 2021-04-30 | 2021-07-27 | 重庆工程职业技术学院 | Intelligent driving control system and method for vehicle |
| CN113830082A (en) * | 2021-09-30 | 2021-12-24 | 中汽创智科技有限公司 | Automatic following distance warning method and device |
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