CN111231862B - Device and method for recognizing take-over state of vehicle driver - Google Patents
Device and method for recognizing take-over state of vehicle driver Download PDFInfo
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- CN111231862B CN111231862B CN201811445847.5A CN201811445847A CN111231862B CN 111231862 B CN111231862 B CN 111231862B CN 201811445847 A CN201811445847 A CN 201811445847A CN 111231862 B CN111231862 B CN 111231862B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
Abstract
The invention discloses a method for identifying the takeover state of a vehicle driver, which comprises the following steps: the method comprises the steps of obtaining an instruction that a driver needs to take over a vehicle, transmitting first vibration to a steering wheel, obtaining a first moment fed back by the steering wheel, and if the first moment is larger than a preset threshold value, outputting a signal that the driver takes over the vehicle, otherwise, outputting a signal that the driver does not take over the vehicle. The defect that whether the vehicle is successfully taken over by a driver or not can not be accurately identified by the vehicle under some special conditions is overcome, and the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a device and a method for recognizing the takeover state of a vehicle driver.
Background
Along with the rapid development of the automatic driving technology of the vehicle, the degree of automation of the vehicle is higher and higher, and some vehicles have the capability of no longer needing drivers to supervise the traffic environment and independently drive the vehicle, and only need the driver to have the timely capability when the system reminds the drivers to take over. When the vehicle is in a working condition that the driver needs to take over, in the process of handing over the driving task, it is crucial that how the system accurately judges that the driver takes over the vehicle again, otherwise, the driver does not take over the vehicle, and the system considers that the driver takes over the vehicle, so that the vehicle is in an unattended state and an accident occurs. And the current automatic driving system can not cover all driving conditions, and the switching of the driving tasks is inevitable.
The current means for determining whether the driver takes over the vehicle include: 1. detecting whether a brake pedal is stepped down; 2. detecting whether an accelerator/electric door pedal is pressed down; 3. detecting whether the steering wheel is held; 4. detecting whether a driver looks ahead or not; 5. it is detected whether the driver has other operating mechanisms on the vehicle, such as a gear lever. The steering wheel is one of the most critical control mechanisms of the driver, so when the driver receives a take-over request of the system, or when the system does not request take-over but the driver actively wants to take-over, the first reaction is to control the steering wheel, and then the driver steps on a brake pedal or an accelerator pedal. The detection of the driver's sight line or the operation of other operating mechanisms is relative, the taking over intention of the driver cannot be sufficiently confirmed, and the comprehensive judgment is usually required to be combined with other information.
For detecting whether the steering wheel is held, the current common methods are as follows: and two modes of detecting steering wheel torque and capacitive sensing are adopted. The existing method for detecting the torque of the steering wheel can possibly enable the steering wheel to generate certain extra torque when a mobile phone support is additionally arranged on the steering wheel or a steering wheel sleeve is arranged on the steering wheel, so that the vehicle can be mistakenly considered as a driver to take over the vehicle. The capacitance sensing detection mode needs additional hardware, so that the cost is increased, and meanwhile, the defect that the vehicle is mistakenly considered as a driver to take over the vehicle due to the fact that the conductive products such as liquid or metal touch the capacitance sensing module by mistake is likely to occur.
Disclosure of Invention
In order to solve the problem that the vehicle possibly misjudges the state of the vehicle taken over by the driver in the prior art, the invention provides a device for identifying the state of the vehicle taken over by the driver, which comprises:
the vehicle taking-over information acquisition module is used for sending a vibration instruction to the vibration module when a signal that a driver needs to take over the vehicle is acquired;
the vibration module is used for generating and transmitting first vibration to a steering wheel when the vibration instruction is acquired;
the moment acquisition module is used for acquiring a first moment fed back by the steering wheel under the first vibration;
and the takeover state judgment module is used for outputting a signal that the driver takes over the vehicle when the first moment is larger than a preset threshold value, and otherwise, outputting a signal that the driver does not take over the vehicle.
Preferably, the method further comprises the following steps:
and the threshold value storage module is used for storing the original moment fed back by the steering wheel in the factory state after the steering wheel is subjected to the first vibration.
Preferably, the vibration module is further configured to transmit second vibration to the steering wheel, the torque acquisition module is further configured to acquire a second torque fed back by the second vibration to the steering wheel, and the connection pipe state determination module further includes:
the first takeover state judgment module is used for sending a command of transferring the second vibration to a steering wheel to the vibration module when the first torque is larger than the threshold value, and otherwise, outputting a signal that a driver does not take over the vehicle;
and the second takeover state judgment module is used for outputting a signal that the driver takes over the vehicle when the second torque is larger than the first torque, and otherwise, outputting a signal that the driver does not take over the vehicle.
Preferably, the vibration module is a steering motor of an electric power steering system, and the torque acquisition module is a steering wheel torque sensor.
The invention also provides a vehicle driver takeover state identification method, which comprises the following steps:
s1: acquiring a signal for a driver to take over a vehicle and generating a vibration instruction;
s2: acquiring the vibration instruction and transmitting first vibration to a steering wheel;
s3: acquiring a first moment fed back by the steering wheel subjected to the first vibration;
s4: if the first moment is larger than a preset threshold value, a signal that the driver takes over the vehicle is output, otherwise, a signal that the driver does not take over the vehicle is output.
Preferably, the threshold is an original moment fed back by the steering wheel in the factory state when the steering wheel is subjected to the first vibration.
Preferably, the step of outputting a signal that the driver has taken over the vehicle if the first torque is greater than a preset threshold value comprises:
if the first torque is greater than the threshold value, transmitting a second vibration to the steering wheel;
acquiring a second moment fed back by the steering wheel subjected to the second vibration;
if the second torque is larger than the first torque, outputting a signal that the driver takes over the vehicle;
otherwise, a signal that the driver does not take over the vehicle is output.
Preferably, the first vibration and the second vibration are sinusoidal vibrations, and the second vibration has the same frequency as the first vibration, and the amplitude of the second vibration is larger than the amplitude of the first vibration.
Preferably, the first vibration has a frequency of 10Hz and an amplitude of 0.5Nm, and the second vibration has a frequency of 10Hz and an amplitude of 0.8 Nm.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for vehicle driver takeover status recognition according to the invention.
According to the invention, before the vehicle in the automatic driving mode needs to be switched to the manual driving mode, vibration is actively transmitted to the steering wheel, whether the driver successfully takes over the vehicle is accurately identified according to the condition of the moment fed back by the vibration of the steering wheel, and the driving mode is switched according to the identified condition of taking over the vehicle by the driver, so that the driving safety of the vehicle can be effectively improved.
Drawings
For better clarity of technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments of the present disclosure will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings based on the drawings without inventive labor.
FIG. 1 is a schematic flow diagram of a vehicle driver takeover state identification method;
FIG. 2 is a schematic diagram of a preferred embodiment of a vehicle driver takeover state identification method;
FIG. 3 is a schematic view of a vehicle driver takeover state identification device;
fig. 4 is a schematic diagram of a takeover state judgment module in the vehicle driver takeover state recognition device.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, the automatic driving technology can realize the automatic driving of the vehicle under specific environment and working conditions, and the vehicle in the state combines modules such as a high-precision map, a vehicle networking, a radar, a camera, infrared imaging and the like to realize the perception of the road conditions around the vehicle, and realizes the functions of obstacle avoidance, road changing, acceleration and deceleration, parking and the like according to a certain strategy. However, the current automatic driving technology cannot realize the automatic driving of the vehicle under all working conditions, and the driver still needs to take over the vehicle under some complex conditions, and the driving behavior of the vehicle is corrected by manually controlling the vehicle. When the vehicle in automatic driving gives control to the driver, i.e. when the automatic driving mode of the automatic driving vehicle is switched to the manual driving mode, the system defaults to the driver without problems and does not consider whether the driver who is about to take over the control of the vehicle has the ability to take over the control of the vehicle. In many cases, however, the driver may not have the ability to control the vehicle, such as when the driver experiences driving fatigue after a long period of driving, when the driver's attention is drawn by other things without realizing that the vehicle is sending information that requires the driver to take over the vehicle, or when other conditions arise that result in a failure to control the vehicle in a timely manner.
In order to accurately identify whether a driver has successfully taken over the vehicle, the application provides a vehicle driver taking over state identification method and a vehicle driver taking over state identification system.
The foregoing is the core idea of the present invention, and in order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail with reference to the accompanying drawings.
Fig. 1 shows a work flow diagram of a vehicle driver takeover state identification method of the present application, comprising the steps of:
step S1, acquiring information that a driver needs to take over the vehicle and generating a vibration instruction;
when the automatic driving system judges that the current working condition or the expected upcoming working condition does not meet the automatic driving condition through the vehicle surrounding environment sensing device, the automatic driving system sends information needing to be taken over by the vehicle to an EPS (electric power steering system), and the EPS sends an instruction of producing the evidence vibration to a steering motor.
Step S2, obtaining the vibration instruction and transmitting vibration to the steering wheel;
the EPS is a conventional electric power steering system and comprises a steering motor, wherein the steering motor can generate reciprocating slight rotation with fixed frequency after acquiring related instructions, provides a tactile reminding signal of a driver on a steering wheel, namely enables the driver to feel the vibration of the steering wheel, the vibration is within the allowance range of controlling the rotation of wheels by the steering wheel, and when the EPS generates vibration, the steering of the wheels cannot be changed, and the safety of a vehicle cannot be influenced.
Step S3, acquiring the moment fed back by the steering wheel subjected to the first vibration;
a steering wheel Torque Sensor (TOS: Torque Only Sensor) is a core Sensor inherent to an electric power steering system (EPS), and is mounted on a steering column or a pinion of a steering gear, and is capable of detecting deformation between the upper end and the lower end of a torsion bar within a Sensor detection range, thereby detecting a Torque M0 applied to a steering wheel.
And step S4, if the moment of the steering wheel is judged to be larger than the preset threshold value, a signal that the driver takes over the vehicle is sent to the automatic driving system, otherwise, a signal that the driver does not take over the vehicle is sent to the automatic driving system.
By the method, the automatic vehicle driving system can automatically judge whether the driver successfully takes over the vehicle control, and the vehicle driving mode is switched according to the condition that the driver takes over the vehicle control, so that the problem that in the prior art, when the vehicle in the automatic driving mode is switched into the manual driving mode, the driver does not take over the vehicle in time to generate potential safety hazards can be effectively avoided.
The method for recognizing the takeover state of the vehicle driver provided by the application can further comprise the following specific embodiments, as shown in fig. 2:
when the vehicle leaves a factory, the original moment M20 of the steering wheel under the fixed vibration frequency F1 and the first vibration moment M10 of the EPS steering motor is measured, and at the moment, the steering wheel is in an idle state, namely, no interference objects such as a mobile phone support, a steering wheel sleeve and the like are additionally arranged, and no extra moment is generated by the steering wheel controlled by a handle of a driver. In this embodiment, the fixed vibration frequency of the EPS steering motor is 10HZ, the first vibration torque is 0.5Nm, and the original torque M20 in the initial state of the steering wheel is measured.
When the automatic driving system sends a command that a driver needs to take over the vehicle to the EPS, the EPS sends vibration with fixed frequency F1 and first vibration moment M10 to a steering wheel, a steering wheel moment sensor detects first moment M21 fed back on the steering wheel under the fixed frequency F1 and the first vibration moment M10, then the first moment M21 is compared with an original moment M20, and if the first moment M21 is smaller than or equal to the original moment M20, a signal that the driver does not take over the vehicle is sent to the automatic driving system; if the first moment M21 is greater than the original moment M20, there may be two cases, one is that a steering wheel cover or a mobile phone support is added on the steering wheel, so that the rotational inertia of the steering wheel is increased, and thus the first moment M21 fed back by the steering wheel is greater than the original moment M20 of the steering wheel; in another case, the driver has gripped the steering wheel to take over the vehicle, thereby increasing the first moment of steering wheel feedback M21. In order to avoid the first situation, the automatic vehicle driving system misjudges that the driver takes over the vehicle, and cancels the automatic vehicle driving mode, so that the vehicle is in an unsupervised state and the potential safety hazard is generated, and therefore, the two possible situations need to be further distinguished. When the first moment M21 is greater than the original moment M20, the EPS sends the vibration of a fixed frequency F1 and a second vibration moment M11 to the steering wheel, the steering wheel moment sensor detects a second moment M22 fed back on the steering wheel under the fixed frequency F1 and the second vibration moment M11, then the second moment M22 is compared with the first moment M21, and if the second moment M22 is less than or equal to the first moment M21, a signal that the driver does not take over the vehicle is sent to the automatic driving system; if the second torque M22 is greater than the first torque M21, a signal is sent to the autopilot system that the driver has taken over the vehicle. In this embodiment, the fixed vibration frequency of the EPS steering motor is 10HZ, the second vibration torque is 0.8Nm, and the second torque M20 fed back by the steering wheel is measured, but it is obvious to those skilled in the art that different models of steering wheels are different, the quality of the steering wheels of different models is also different, and the measured torques of the steering wheels of different qualities are different under different vibration frequencies and torques.
The present embodiment further discloses a vehicle driver takeover state recognition device 100, as shown in fig. 3, the vehicle driver takeover state recognition device 100 includes:
the vehicle taking-over information acquisition module 101 is used for acquiring a signal which is sent by a vehicle automatic driving system and used for switching the automatic driving mode of the vehicle into the manual driving mode;
the threshold storage module 102 is configured to store an original torque of a steering wheel, where the original torque is an original torque M20 of the steering wheel under a fixed vibration frequency F1 and a first vibration torque M10 of an EPS steering motor when a vehicle leaves a factory, and at this time, the steering wheel is in an idle state, that is, no interfering objects such as a mobile phone bracket and a steering wheel cover are added, and no extra torque is generated by a driver controlling the steering wheel by a handle. In this embodiment, the fixed vibration frequency of the EPS steering motor is 10HZ, and the first vibration torque is 0.5 Nm.
The vibration module 103 is configured to send vibration with a fixed vibration frequency of F1 and a first vibration torque of M10 to the steering wheel when the driving mode switching information obtaining module 101 obtains a signal that the vehicle is switched from the automatic driving mode to the manual driving mode, where the signal is sent by the vehicle automatic driving system;
a moment obtaining module 104, configured to obtain a first moment M21 fed back by a steering wheel when the vibration module 102 sends a vibration to the steering wheel;
and the takeover state judgment module 105 is used for judging the takeover state of the vehicle driver, and when the first moment M21 fed back by the steering wheel is greater than the original moment M20, sending information that the vehicle is in the takeover state of the driver to the automatic vehicle driving system, otherwise, sending information that the vehicle is not in the takeover state of the driver to the automatic vehicle driving system.
In some embodiments, as shown in fig. 4, the takeover state determination module 105 includes: a first takeover state determination module 1051 and a second takeover state determination module 1052.
The first takeover state determining module 1051 is configured to compare the first torque M21 with the original torque M20, and send a signal that the driver does not take over the vehicle to the automatic driving system if the first torque M21 is less than or equal to the original torque M20, or send a vibration signal to the vibration module 103 again if the first torque M21 is less than or equal to the original torque M20.
The vibration module 103 is further configured to send vibration with a fixed vibration frequency of F1 and a second vibration torque of M11 to the steering wheel when acquiring the secondary vibration signal sent by the first takeover state determining module 1051;
the moment obtaining module 104 is further configured to obtain a second moment M22 fed back by the steering wheel when the vibration module 102 sends a vibration to the steering wheel again.
And a second takeover state determination module 1052, configured to compare the second torque M22 with the first torque M21, and send a signal to the automatic driving system that the driver has taken over the vehicle if the second torque M22 is greater than the first torque M21, or send a signal to the automatic driving system that the driver has not taken over the vehicle otherwise.
The vehicle driver takeover state identification system provided in the embodiment of the present disclosure may be configured to execute the steps of the vehicle driver takeover state identification method according to any one of the above, where the related concepts and the specific implementation manners may refer to the description of the vehicle-mounted terminal time synchronization method according to any one of the above, and are not described herein again.
Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each step of the above-mentioned method for recognizing a takeover state of a vehicle driver, and can achieve the same technical effect, and is not described herein again to avoid repetition. The computer-readable storage medium includes, but is not limited to, a Read-Only Memory (ROM), a Random Access Memory (RAM), a usb disk, a removable hard disk, or an optical disk.
In the present invention, the term "comprises" is not an exclusive inclusion, i.e. includes not only the listed technical contents for implementing the technical solution of the present invention, but also the technical contents which are not explicitly listed for assisting the implementation of the technical solution of the present invention, which can be obtained by the conventional technical means or common general knowledge by those skilled in the art, and will not be described herein again.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as a limitation to the present invention, for example, in the embodiment provided by the present invention, the steering motor of the EPS itself is used as a vibration module to provide vibration for the steering wheel, and it is simple to think that other devices capable of providing the same vibration effect may be additionally installed to replace the vibration module provided by the present invention. The protection scope of the present invention shall be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various substitutions and modifications can be made without departing from the spirit and scope of the invention, and these substitutions and modifications should also be construed as within the scope of the invention.
Claims (10)
1. A vehicle driver takeover state recognition device, comprising:
the vehicle taking-over information acquisition module is used for sending a vibration instruction to the vibration module when a signal that a driver needs to take over the vehicle is acquired;
the vibration module is used for generating and transmitting first vibration to a steering wheel when the vibration instruction is acquired;
the moment acquisition module is used for acquiring a first moment fed back by the steering wheel under the first vibration;
the takeover state judgment module is used for outputting a signal that the driver takes over the vehicle when the first moment is larger than a preset threshold value, and otherwise, outputting a signal that the driver does not take over the vehicle;
the vibration module is further used for transmitting second vibration to the steering wheel, the moment acquisition module is further used for acquiring a second moment fed back by the second vibration on the steering wheel, and the take-over state judgment module further comprises:
the first takeover state judgment module is used for sending a command of transmitting the second vibration to a steering wheel to the vibration module when the first moment is larger than the threshold value, and otherwise, outputting a signal that a driver does not take over the vehicle;
and the second takeover state judgment module is used for outputting a signal that the driver takes over the vehicle when the second torque is larger than the first torque, and otherwise, outputting a signal that the driver does not take over the vehicle.
2. The vehicle driver takeover state recognition device according to claim 1, characterized by further comprising:
and the threshold value storage module is used for storing the original moment fed back by the steering wheel in the factory state after the steering wheel is subjected to the first vibration.
3. The vehicle driver takeover state recognition device of claim 1, wherein the vibration module is a steering motor of an electric power steering system, and the torque acquisition module is a steering wheel torque sensor.
4. The vehicle driver takeover state recognition device as claimed in claim 1, wherein the takeover state judgment module is further configured to judge a takeover state of the vehicle driver, and send information that the vehicle is already in the driver takeover state when the first torque fed back by the steering wheel is greater than an original torque, and otherwise send information that the vehicle is not in the driver takeover state.
5. A vehicle driver takeover state identification method, comprising:
s1: acquiring a signal for a driver to take over a vehicle and generating a vibration instruction;
s2: acquiring the vibration instruction and transmitting first vibration to a steering wheel;
s3: acquiring a first moment fed back by the steering wheel subjected to the first vibration;
s4: if the first moment is larger than a preset threshold value, outputting a signal that the driver takes over the vehicle, otherwise, outputting a signal that the driver does not take over the vehicle;
the step of outputting a signal that the driver has taken over the vehicle if the first torque is greater than a preset threshold value comprises:
transmitting a second vibration to the steering wheel if the first torque is greater than the threshold;
acquiring a second moment fed back by the steering wheel subjected to the second vibration;
if the second torque is larger than the first torque, outputting a signal that the driver takes over the vehicle;
otherwise, a signal that the driver does not take over the vehicle is output.
6. The vehicle driver takeover state identification method according to claim 5, wherein the threshold value is a raw torque fed back by a steering wheel in a factory state when subjected to the first vibration.
7. The vehicle driver takeover state identification method according to claim 5, characterized in that the first vibration and the second vibration are sinusoidal vibrations, and the second vibration has the same frequency as the first vibration, and the amplitude of the second vibration is larger than the amplitude of the first vibration.
8. The vehicle driver takeover state identification method according to claim 5, characterized in that the first vibration has a frequency of 10Hz and an amplitude of 0.5Nm, and the second vibration has a frequency of 10Hz and an amplitude of 0.8 Nm.
9. The vehicle driver takeover state identification method according to claim 5, characterized in that the torque fed back by the first vibration is obtained by a steering wheel torque sensor mounted on a pinion of a steering column or a steering engine.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the vehicle driver takeover status recognition method as claimed in one of claims 5 to 9.
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| CN112487549B (en) * | 2020-11-11 | 2022-06-14 | 中汽研汽车检验中心（天津）有限公司 | System and method for testing reaction behavior of driver after automatic driving steering failure |
| CN114274973A (en) * | 2021-11-22 | 2022-04-05 | 江铃汽车股份有限公司 | Vehicle take-over control method and system based on L3-level automatic driving |
| CN114228826B (en) * | 2021-12-31 | 2022-07-22 | 中国矿业大学 | Intelligent automobile driver emergency take-over behavior identification method and device |
| CN114312849B (en) * | 2022-01-27 | 2024-03-26 | 中国第一汽车股份有限公司 | Vehicle running state determining method and device, vehicle and storage medium |
| CN115009357B (en) * | 2022-06-30 | 2023-11-07 | 北京主线科技有限公司 | Vehicle steering detection control system, method, electronic device and storage medium |
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| KR101345433B1 (en) * | 2010-03-09 | 2013-12-27 | 주식회사 만도 | Method and apparatus for detecting hand-off state of steering handle |
| DE102016005013A1 (en) * | 2016-04-26 | 2017-10-26 | Thyssenkrupp Ag | Hands-on / off detection in a steer-by-wire system |
| CN107244290A (en) * | 2017-05-17 | 2017-10-13 | 吉利汽车研究院（宁波）有限公司 | Automobile driving without hands monitor, take over system and method |
| CN108819945B (en) * | 2018-05-25 | 2020-07-07 | 吉利汽车研究院（宁波）有限公司 | Device and method for prompting take-over of automatic driving vehicle |
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