CN110843764A - Auxiliary system for promoting safe driving of driver - Google Patents

Auxiliary system for promoting safe driving of driver Download PDF

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Publication number
CN110843764A
CN110843764A CN201911203699.0A CN201911203699A CN110843764A CN 110843764 A CN110843764 A CN 110843764A CN 201911203699 A CN201911203699 A CN 201911203699A CN 110843764 A CN110843764 A CN 110843764A
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vehicle
processing unit
central processing
ecu central
driver
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CN110843764B (en
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李文娟
王鑫
韩杰尧
罗慧冉
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Changan University
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Changan University
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • 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 auxiliary system for promoting a driver to drive safely, which comprises an ECU central processing unit, and a data acquisition module, an execution module and a vehicle-mounted navigation system which are respectively connected with the ECU central processing unit; the method of the invention acquires traffic conditions and self-vehicle information, judges and sends out instructions through the ECU central processing unit, and reminds a driver of prudent driving through voice warning; after the voice warning times exceed a preset value, the ECU central processing unit instructs the vehicle-mounted navigation system to automatically search and navigate the parking area and control the vehicle to drive to the parking area; meanwhile, unsafe driving information of the driver is sent to a mobile receiving end; when an accident occurs, the ECU central processing unit sends an accident photo and vehicle GPS information to the mobile receiving end in time, and the mobile receiving end automatically asks for help, so that the loss of the accident is reduced. The invention can effectively assist safe driving through auxiliary measures of different levels.

Description

Auxiliary system for promoting safe driving of driver
Technical Field
The invention belongs to the technical field of safe driving of automobiles, and particularly relates to an auxiliary system for promoting safe driving of a driver.
Background
The driving work needs the input of the whole body and mind of the driver, and long-time concentrated driving can cause fatigue, so that the psychophysiology of the driver changes, thereby generating driving distraction and causing adverse effects on driving behaviors. With the development of mobile internet and vehicle-mounted equipment, the driving distraction phenomenon is more common. For example, in the driving process, when the driver receives a call and sends a short message, the attention of the driver is occupied due to the fact that a secondary task irrelevant to driving is inevitable, the attention of a main task for driving is reduced, and abnormal driving of the vehicle, such as direction deviation, speed and speed, incapability of keeping a safe distance and the like, is easily caused. Meanwhile, if the driver is ill or has a certain uncomfortable feeling, the driver can be adversely affected on the mental state of the driver, so that the driver cannot timely and effectively process traffic information, and potential safety hazards are generated. The traffic accidents caused by distracted driving occupy the head of the accident types, and how to assist the driver to carry out effective driving operation is avoided; how to timely rethread to abandon unsafe driving habits or make safe preparation before driving when the potential safety hazard of distraction exists; and how to timely acquire rescue after an accident, which is of great significance for avoiding the accident and reducing the accident loss to be lower.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides an auxiliary system for promoting safe driving of a driver, and overcomes the defect of potential safety hazard caused by unsafe driving of the driver.
The invention is realized by the following technical scheme:
an auxiliary system for promoting safe driving of a driver comprises an ECU central processing unit, a data acquisition module, an execution module and a vehicle-mounted navigation system which are respectively connected with the ECU central processing unit, an image processor connected with the ECU central processing unit, and a mobile receiving end connected with the ECU central processing unit;
the image processor is connected with a camera; the data acquisition module comprises a lane recognition sensor, a vehicle speed sensor, an acceleration sensor, a steering wheel corner sensor, a GPS and a vehicle-mounted radar; the execution module comprises a vehicle-mounted broadcast, a driving system and a steering wheel.
Furthermore, the data acquisition module, the execution module and the vehicle-mounted navigation system are respectively connected with the ECU central processing unit through a CAN bus.
Further, the image processor is connected with the ECU central processing unit through serial port communication.
Further, the mobile receiving end is connected with the ECU central processing unit through 4G communication.
Further, the image processor is connected with the camera through serial port communication, and the camera is installed on the outer side of the vehicle body.
A method of operating an assistance system for promoting safe driving by a driver, comprising the steps of:
s1, acquiring the lane, the speed, the acceleration, the steering wheel angle, the position and the relative distance from the obstacle of the vehicle by using the data acquisition module, and transmitting the acquired information to the ECU central processing unit; the image processor receives and processes the traffic scene information collected by the camera, detects traffic flow and traffic events based on image processing, and transmits the traffic flow and the traffic events to the ECU central processing unit;
s2, the ECU central processing unit receives the information of the data acquisition module and the image processor and judges whether the traffic is smooth, whether the vehicle is unsafe to drive and whether an accident happens;
s3, if the traffic is smooth and the driver has unsafe driving behavior, the ECU central processing unit instructs the vehicle-mounted broadcast to carry out voice warning; when the warning times m exceed the preset value m0The ECU central processing unit instructs the vehicle-mounted navigation system to search nearby parking areas and simultaneously navigate, and controls the steering wheel to turn and the driving system to drive the vehicle to drive the parking areas; meanwhile, the ECU central processing unit also sends unsafe driving information of a driver to the mobile receiving end through 4G communication;
and if the ECU central processing unit judges that a traffic accident occurs, the accident scene picture and the vehicle GPS position information are sent to the mobile receiving end through 4G communication.
Further, in S1, the lane recognition sensor acquires the distance between the vehicle and the lane lines on the left and right sides in real time, the vehicle speed sensor acquires the driving speed of the vehicle in real time, the vehicle-mounted radar measures the distance between the vehicle and the obstacle in front of the vehicle in real time, the acceleration sensor acquires the real-time acceleration of the vehicle, the steering wheel angle sensor acquires the steering wheel angle of the vehicle in real time, and the GPS acquires the position information of the vehicle; the camera collects traffic scenes outside the vehicle.
Further, in S2, when the formula I and/or the formula II are/is satisfied, the ECU central processing unit determines that the driver has unsafe driving;
when the vehicle deviates:
max{lleft side of，lRight sideIs } > l, and | θ(t)Theta is less than theta;
when the vehicle does not maintain the longitudinal safe distance:
Figure BDA0002296490010000031
wherein:
lleft side of，lRight sideThe distance between the vehicle and the lane lines on the left side and the right side at the moment t;
k is a lane departure threshold;
θ(t)the steering wheel angle of the vehicle at the moment t;
theta is a steering wheel angle deviation threshold;
s is vehicle running (t + t)1+t2) The distance required for the safe stop at that moment;
V(t)is the speed of the vehicle at time t;
a(t)acceleration at time t;
t1coordinating time for the brakes;
t2increasing the time for braking acceleration;
S0for vehicle reservationFull spacing;
Figure BDA0002296490010000032
is a vehicle (t + t)1+t2) The distance from the obstacle in front of the moment.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the auxiliary system for safe driving of the driver acquires traffic conditions and self-vehicle information, judges and sends out instructions through the ECU central processing unit, and reminds the driver of cautious driving through voice warning; after the voice warning times exceed a preset value, the ECU central processing unit instructs the vehicle-mounted navigation system to automatically search and navigate the parking area, and instructs the driving system and the steering wheel to control the vehicle to drive to the parking area; meanwhile, unsafe driving information of the driver is sent to a mobile receiving end, such as a mobile phone of family members or a management communication center of a transport company, and the driver is supervised and countersaved by the family members or the management communication center after the driving task is finished, so that the hidden danger of unsafe driving is corrected in time;
2. the method effectively assists safe driving by using auxiliary measures of different levels, and when an accident occurs, the ECU central processing unit sends an accident picture and vehicle GPS information to the mobile receiving end in time, so that the accident is automatically asked for help, and the loss of the accident is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the auxiliary system of the present invention;
FIG. 2 is a schematic diagram of the processing method for unsafe driving in the working method of the present invention;
FIG. 3 is a schematic diagram of a method for handling an accident in the working method of the present invention;
wherein: the system comprises an ECU central processing unit 1, a data acquisition module 2, an execution module 3, an image processor 4, a mobile receiving end 5, a vehicle-mounted navigation system 6, a lane recognition sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, a steering wheel angle sensor 24, a GPS25, a vehicle-mounted radar 26, a vehicle-mounted broadcast 31, a driving system 32, a steering wheel 33 and a camera 41.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
As shown in fig. 1, an auxiliary system for promoting safe driving of a driver comprises an ECU central processing unit 1, a data acquisition module 2, an execution module 3 and a vehicle-mounted navigation system 6 which are respectively connected with the ECU central processing unit 1 through a CAN bus, an image processor 4 connected with the ECU central processing unit 1 through serial port communication, and a mobile receiving end 5 connected with the ECU central processing unit 1 through 4G communication; the image processor 4 is connected with a camera 41 through serial port communication, the camera 41 is installed on the outer side of the vehicle body, and the image processor 4 receives and processes traffic scene information collected by the camera 41 and sends the traffic scene information to the ECU central processing unit 1 through serial port communication; the data acquisition module 2 comprises a lane recognition sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, a steering wheel corner sensor 24, a GPS25 and a vehicle-mounted radar 26, is used for acquiring the lane, the vehicle speed, the acceleration, the steering wheel corner, the position and the relative distance from an obstacle of a vehicle, and transmitting the relative distance to the ECU central processing unit 1 through a CAN bus; the execution module 3 includes an in-vehicle broadcast 31, a drive system 32, and a steering wheel 33.
As shown in fig. 2 and 3, a method for operating the assistance system for promoting safe driving of the driver comprises the following steps:
s1, acquiring the lane, the speed, the acceleration, the steering wheel angle, the position and the relative distance from the obstacle of the vehicle by using the data acquisition module 2, and transmitting the acquired information to the ECU central processing unit 1; the image processor 4 receives and processes the traffic scene information collected by the camera 41 and transmits the traffic scene information to the ECU central processing unit 1;
s2, the ECU central processing unit 1 receives the information of the data acquisition module 2 and the image processor 4, and judges whether the traffic is smooth, whether the vehicle is unsafe to drive and whether an accident happens;
s3, if the traffic is smooth and the driver has unsafe driving behavior, the ECU central processing unit 1 instructs the vehicle-mounted broadcast 31 to carry out voice warning; when the warning times m exceed the preset value m0The ECU central processing unit 1 instructs the in-vehicle navigation system 26 to search for a nearby parking area while navigating, and controls the steering wheel 33 to turn and controls the drive system 32 to drive the vehicle to travel to the parking area; meanwhile, the ECU central processing unit 1 also sends unsafe driving information of a driver to the mobile receiving end 5 through 4G communication; if the ECU central processing unit 1 judges that a traffic accident occurs, the accident scene picture and the vehicle GPS position information are sent to the mobile receiving end 5 through 4G communication.
Further, in S1, the lane recognition sensor 21 is used to collect the distance l between the vehicle and the lane lines on the left and right sides in real timeLeft side of，lRight sideThe vehicle speed sensor 22 collects the running speed V of the vehicle in real time(t)The vehicle-mounted radar 26 measures the distance S of the vehicle from the obstacle in front in real time(t)The acceleration sensor 23 acquires the real-time acceleration a of the vehicle(t)The steering wheel angle sensor 24 collects the steering wheel angle theta of the vehicle in real time(t)The GPS25 collects position information of the vehicle; the camera 41 captures traffic scenes outside the vehicle.
Further, in S2, when the formula one and/or the formula two are satisfied, the ECU central processing unit 1 determines that the driver is driving unsafe;
when the vehicle deviates:
max{lleft side of，lRight sideIs } > l, and | θ(t)Theta is less than theta;
when the vehicle does not maintain the longitudinal safe distance:
Figure BDA0002296490010000061
wherein:
lleft side of，lRight sideThe distance between the vehicle and the lane lines on the left side and the right side at the moment t;
l is a lane departure threshold;
θ(t)the steering wheel angle of the vehicle at the moment t;
theta is a steering wheel angle deviation threshold;
s is vehicle running (t + t)1+t2) The distance required for the safe stop at that moment;
V(t)is the speed of the vehicle at time t;
a(t)acceleration at time t;
t1coordinating time for the brakes;
t2increasing the time for braking acceleration;
S0reserving a safety interval for the vehicle;
Figure BDA0002296490010000071
is a vehicle (t + t)1+t2) The distance from the obstacle in front of the moment.
The ECU central processing unit 1 adopts a Freescale I.MX6 series microprocessor which stores a voice warning frequency threshold m0Lane departure threshold l, steering wheel departure threshold θ0Reserve a safety space S0Brake coordination time t1Acceleration of braking increase time t2. The mobile receiving end 5 is a mobile phone of a driver family or a management communication center of a transport company; the image processor 4 adopts a Cascade 9S12 series single chip microcomputer, and the camera 41 is arranged at the outer end of the vehicle body and can clearly shoot a traffic scene; the vehicle speed sensor 22 is a hall-type vehicle speed sensor. The vehicle-mounted radar 26 is a 77GHz Cascade millimeter wave radar, is arranged at the front end of the vehicle body and is used for acquiring the relative distance from the obstacle.
The basic principle of the invention is as follows: the information synchronously acquired by the lane recognition sensor 21, the vehicle speed sensor 22, the vehicle-mounted radar 26, the acceleration sensor 23, the GPS25 and the steering wheel angle sensor 24 in real time and the traffic scene collected by the camera 41 are processed by the image processor 4 and then input into the ECU central processing unit 1 to judge whether the vehicle normally runs or not so as to decide whether to adopt voice warning or not. When the number of times of voice warning reaches a preset value, the ECU central processing unit 1 instructs the vehicle-mounted navigation system 6 to search and navigate nearby parking areas, and controls the steering wheel 33 and the driving system 32 to drive to the parking areas; meanwhile, the information of unsafe driving of the driver is sent to a mobile receiving end 5, such as a mobile phone of family members or a management center of a transport company, and the driver is supervised and countersaved by the family members or the management center after the driving task is finished, so that the hidden danger of unsafe driving is corrected in time. If the data acquisition module 2 and the image processor 4 input the information of the ECU central processing unit 1 and judge that an accident occurs, the ECU central processing unit 1 sends the vehicle GPS position information and the accident picture transmitted by the image processor 4 to a mobile receiving end to ask for help in time.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (8)

1. An auxiliary system for promoting safe driving of a driver is characterized by comprising an ECU central processing unit (1), a data acquisition module (2), an execution module (3) and a vehicle-mounted navigation system (6) which are respectively connected with the ECU central processing unit (1), an image processor (4) connected with the ECU central processing unit (1), and a mobile receiving end (5) connected with the ECU central processing unit (1);
the image processor (4) is connected with a camera (41); the data acquisition module (2) comprises a lane recognition sensor (21), a vehicle speed sensor (22), an acceleration sensor (23), a steering wheel corner sensor (24), a GPS (25) and a vehicle-mounted radar (26); the execution module (3) comprises an on-board broadcast (31), a drive system (32) and a steering wheel (33).
2. An auxiliary system for promoting safe driving of a driver as claimed in claim 1, wherein the data acquisition module (2), the execution module (3) and the vehicle navigation system (6) are respectively connected with the ECU central processing unit (1) through CAN buses.
3. An assistance system for promoting safe driving of a driver according to claim 1, wherein said image processor (4) is connected to the ECU central processor (1) by serial port communication.
4. An assistance system for promoting safe driving of a driver according to claim 1, characterized in that said mobile receiving end (5) is connected to the ECU central processor (1) through 4G communication.
5. An assistance system for promoting safe driving of a driver according to claim 1, wherein said image processor (4) is connected with a camera (41) through serial port communication, said camera (41) being installed outside the vehicle body.
6. A method of operating an assistance system for promoting safe driving of a driver according to any one of claims 1 to 5, comprising the steps of:
s1, acquiring the lane, the speed, the acceleration, the steering wheel angle, the position and the relative distance from the obstacle of the vehicle by using the data acquisition module (2), and transmitting the acquired information to the ECU central processing unit (1); the image processor (4) receives and processes the traffic scene information collected by the camera (41), detects traffic flow and traffic events based on image processing, and transmits the traffic flow and the traffic events to the ECU central processing unit (1);
s2, the ECU central processing unit (1) receives the information of the data acquisition module (2) and the image processor (4) and judges whether the traffic is smooth, whether the vehicle is unsafe to drive and whether an accident happens;
and S3, if the traffic is smooth,when the driver has unsafe driving behavior, the ECU central processing unit (1) instructs the vehicle-mounted broadcast (31) to carry out voice warning; when the warning times m exceed the preset value m0The ECU central processing unit (1) instructs a vehicle-mounted navigation system (26) to search nearby parking areas and simultaneously navigate, and controls a steering wheel (33) to steer and a driving system (32) to drive the vehicle to drive the parking areas; meanwhile, the ECU central processing unit (1) also sends unsafe driving information of a driver to the mobile receiving end (5) through 4G communication;
if the ECU central processing unit (1) judges that a traffic accident occurs, the accident scene picture and the vehicle GPS position information are sent to the mobile receiving end (5) through 4G communication.
7. The working method according to claim 6, characterized in that in S1, the distance l between the vehicle and the lane lines on the left and right sides is collected in real time by using the lane recognition sensor (21)Left side of，lRight sideThe vehicle speed sensor (22) collects the running speed V of the vehicle in real time(t)The vehicle-mounted radar (26) measures the distance S of the vehicle from the obstacle in front in real time(t)The acceleration sensor (23) collects the real-time acceleration a of the vehicle(t)The steering wheel angle sensor (24) collects the steering wheel angle theta of the vehicle in real time(t)The GPS (25) collects the position information of the vehicle; the camera (41) collects traffic scenes outside the vehicle.
8. The operating method according to claim 6, characterized in that in S2, when the formula I and/or the formula II are/is satisfied, the ECU central processing unit (1) determines that unsafe driving exists for the driver;
when the vehicle deviates:
max{lleft side of，lRight sideIs } > l, and | θ(t)Theta is less than theta;
when the vehicle does not maintain the longitudinal safe distance:
Figure FDA0002296484000000021
wherein:
1left side of，lRight sideThe distance between the vehicle and the lane lines on the left side and the right side at the moment t;
is a lane departure threshold;
θ(t)the steering wheel angle of the vehicle at the moment t;
theta is a steering wheel angle deviation threshold;
s is vehicle running (t + t)1+t2) The distance required for the safe stop at that moment;
V(t)is the speed of the vehicle at time t;
a(t)acceleration at time t;
t1coordinating time for the brakes;
t2increasing the time for braking acceleration;
S0reserving a safety interval for the vehicle;
is a vehicle (t + t)1+t2) The distance from the obstacle in front of the moment.
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