CN111516698A - Driving assistance system control method, driving assistance system, vehicle, and storage medium - Google Patents
Driving assistance system control method, driving assistance system, vehicle, and storage medium Download PDFInfo
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- CN111516698A CN111516698A CN202010269309.6A CN202010269309A CN111516698A CN 111516698 A CN111516698 A CN 111516698A CN 202010269309 A CN202010269309 A CN 202010269309A CN 111516698 A CN111516698 A CN 111516698A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
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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
- B60W2050/146—Display means
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a driving assistance system control method, a driving assistance system, a vehicle and a storage medium. The method comprises the following steps: acquiring the hand position state information of a driver; determining a driving danger level according to the hand position state information; and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response. According to the technical scheme of the embodiment of the invention, the dangerous conditions such as untimely braking and the like caused by the fact that the driver can not process the emergency working condition because the two hands leave the steering wheel for a long time are avoided, the problems that the driver carries out danger reminding in stages and controls the vehicle through the auxiliary driving system when the two hands leave the steering wheel are solved, and the safety of the auxiliary driving system is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle driving assistance, in particular to a driving assistance system control method, a driving assistance system, a vehicle and a storage medium.
Background
With the continuous promotion of automobile intellectualization, the auxiliary driving function plays an increasingly important role in the driving process, the function of the auxiliary driving system can assist a driver to control a steering wheel to keep a vehicle in the middle of a lane in the driving process and control the speed of the vehicle in the driving direction, and the feet and hands of the driver are liberated to a certain extent.
However, due to the complexity of the scene, the defects of the sensors and the technical level, the auxiliary driving function still cannot guarantee hundreds of percent of safety, and great potential safety hazards are caused when the driver leaves the steering wheel for a long time with both hands. For the problem that the two hands of the driver leave the steering wheel for a long time, a mode that the alarm is sent out through an instrument combination after the system detects that the two hands of the driver leave the steering wheel for a period of time to remind the driver to take over the vehicle is often adopted, if the driver does not take over the vehicle all the time, the vehicle is gradually decelerated to stop, or the driver does not take over the vehicle after the alarm is sent out for a period of time, the auxiliary driving function is released to force the driver to take over the vehicle.
However, in some specific scenes, such as a highway scene, the rear vehicle is likely to be rear-end collision due to gradual deceleration and parking of the vehicle, which causes a traffic accident, and when the assistant driving function is directly released, if the driver fails to take over the vehicle in time, the danger of untimely braking may occur, which affects the safety of the assistant driving system.
Disclosure of Invention
The invention provides a control method of a driving assistance system, the driving assistance system, a vehicle and a storage medium, which are used for realizing the functions of carrying out danger reminding on a driver in stages and controlling the vehicle when the driver leaves a steering wheel by two hands, and improving the safety of the driving assistance system.
In a first aspect, an embodiment of the present invention provides a driving assistance system control method, including:
acquiring the hand position state information of a driver;
determining a driving danger level according to the hand position state information;
and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response.
In a second aspect, an embodiment of the present invention further provides a driving assistance system, including:
the position state acquisition module is used for acquiring the hand position state information of the driver;
the danger level determining module is used for determining the driving danger level according to the hand position state information;
and the alarm execution module is used for controlling and executing corresponding special-grade alarm response if the driving danger level reaches a high danger level.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
the steering lamp is used for prompting the state of the vehicle of the rear vehicle;
the torque sensor is used for judging whether the two hands of the driver leave the steering wheel;
a speaker for operating in accordance with a set decibel to perform a corresponding alarm response;
the instrument panel is used for displaying according to the set characters so as to execute corresponding alarm response;
one or more controllers;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the driving assistance system control method according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a driving assistance system control method as provided in any of the embodiments of the present invention.
According to the embodiment of the invention, the hand position state information of the driver is acquired; determining a driving danger level according to the hand position state information; and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response. The hand position state information of the driver is acquired, the driving danger level is determined according to the hand position state information, whether the driver puts hands on a steering wheel or not can be judged, the danger level is determined according to the time when the two hands of the driver leave the steering wheel, and different alarm modes are adopted according to different danger levels so that the driver can pay attention to driving. When the driving danger level is judged to reach the high danger level, the vehicle is controlled to execute corresponding special-level alarm response, the dangerous conditions that braking is not timely and the like caused by the fact that the driver can not process emergency working conditions due to the fact that the driver leaves the steering wheel for a long time are avoided, the problems that when the driver leaves the steering wheel, danger reminding is conducted on the driver in stages through the auxiliary driving system and the vehicle is controlled are solved, and the safety of the auxiliary driving system is improved.
Drawings
Fig. 1 is a flowchart of a driving assistance system control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a driving assistance system control method in the second embodiment of the present invention;
FIG. 3 is a flow chart of performing a special alert response in accordance with a second embodiment of the present invention;
fig. 4 is a schematic diagram of a steering assist function control in the second embodiment of the invention;
FIG. 5 is a flow chart of a vertical control function in the second embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary control method of a driving assistance system according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a driving assistance system in a third embodiment of the invention;
fig. 8 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments of the present invention may be combined with each other without conflict
Example one
Fig. 1 is a flowchart of a method for controlling an assistant driving system according to an embodiment of the present invention, where the present embodiment is applicable to a case where a driver controls the assistant driving system in stages when both hands leave a steering wheel, the method may be executed by the assistant driving system, the assistant driving system may be implemented by software and/or hardware, and the assistant driving system may be configured on a computing device, and specifically includes the following steps:
the driver hand position information can be understood as the position relation between the two hands of the driver and the steering wheel, including the situation that the two hands leave the steering wheel and the situation that the hands do not leave the steering wheel.
Specifically, the driver assistance system acquires the hand position information of the driver through a sensor to determine whether the driver has a hand on the steering wheel. Optionally, the sensor may be a torque sensor, an infrared sensor, a pressure sensor, or the like, and the manner of acquiring the hand position information may also be determined by determining a torque change, infrared image processing, whether the pressure on the steering wheel reaches a threshold range, or the like, which is not limited in this embodiment of the present invention.
Alternatively, the driving assistance system may be a Super Automated Cruise Control (SACC) system, which may be understood as an electronic Control device for assisting driving by determining whether a target vehicle exists ahead of a vehicle driving direction to finish driving at a target vehicle speed or at a set speed without controlling an accelerator pedal and a brake within a certain vehicle speed range by using an electronic technology, and enabling the vehicle to always run in the middle of a road.
And step 12, determining the driving danger level according to the hand position state information.
The driving risk level may be understood as a level of risk potential severity determined by limiting the determination of continued driving by various parameter conditions, and may be understood as a level of risk potential severity determined by the time the driver hands leave the steering wheel, for example.
Specifically, when the acquired hand position state information reflects that the hands of the driver are on the steering wheel, the driver is considered to be in a normal driving state, and the driving danger level is extremely low at the moment; when the acquired hand position state information reflects that the two hands of the driver leave the steering wheel, the driver is considered to be in an abnormal driving state, and the driving danger level is increased along with the increase of the length of the time for the hands to leave the steering wheel, namely the driving danger level is determined by the auxiliary driving system according to the fact that whether the hands of the driver are positioned on the steering wheel and the time for the hands to leave the steering wheel.
And step 13, if the driving danger level reaches a high danger level, controlling to execute a corresponding special-level alarm response.
The high risk level can be understood as a situation that the driver does not control the steering wheel for a long time and neglects warning reminding to continue driving, and the potential severity of the risk is high.
The special-level warning response can be understood as a processing scheme for assisting a driving system to control the vehicle and warning a driver to reduce driving danger when the corresponding driving danger level is a high danger level.
Specifically, when the driver leaves the steering wheel with both hands for a long time, the auxiliary driving system judges that the driving danger level reaches a high danger level, and then the vehicle is controlled to execute a corresponding execution scheme of special-level alarm response so as to warn the driver to take over the vehicle, so that the driving danger is reduced.
According to the technical scheme of the embodiment, the hand position state information of the driver is acquired; determining a driving danger level according to the hand position state information; and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response. The hand position state information of the driver is acquired, the driving danger level is determined according to the hand position state information, whether the driver puts hands on a steering wheel or not can be judged, the danger level is determined according to the time when the two hands of the driver leave the steering wheel, and different alarm modes are adopted according to different danger levels so that the driver can pay attention to driving. When the driving danger level is judged to reach the high danger level, the vehicle is controlled to execute corresponding special-level alarm response, dangers that braking is not timely and the like due to the fact that the driver can not process emergency working conditions because the driver leaves the steering wheel for a long time are avoided, the problems that danger reminding is conducted on the driver in stages through the auxiliary driving system when the driver leaves the steering wheel and the vehicle is controlled are solved, and safety of the auxiliary driving system is improved.
Example two
Fig. 2 is a flowchart of a driving assistance system control method according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically comprises the following steps:
and step 21, judging whether the two hands of the driver leave the steering wheel or not according to the torque data information sent by the torque sensor.
A torque sensor is understood to be a detection element for sensing torsional moments on various rotating or non-rotating mechanical parts by converting physical changes in torque into precise electrical signals.
Specifically, the driving assistance system acquires torque data information sent by a torque sensor, and when the torque data information is within a preset threshold range, the hands of the driver are considered to be located on the steering wheel, otherwise, the hands of the driver are considered to be completely separated from the steering wheel.
And step 22, if yes, determining the hand position state information to be in a separation state, and recording separation time.
Specifically, if the hands of the driver are judged to be in a state of being completely separated from the steering wheel, the hand position state information is determined to be in a separated state and is sent to the assistant driving system controller, the assistant driving controller starts timing, and timing is restarted after the hands of the driver are determined to be positioned on the steering wheel.
And 23, acquiring the separation time in the separation state when the hand position state information is in the separation state.
Here, the time of disengagement is understood to be the time from the last moment the driver's hands are on the steering wheel to the present moment.
Specifically, when the driver assistance system determines that the hand position state information is in the disengagement state through the torque sensor, the time from the moment when the hands of the driver are last on the steering wheel to the current moment is acquired as the disengagement time.
And 24, if the disengagement time is greater than a first preset time limit, determining that the driving danger level is a high danger level.
The first predetermined time limit may be understood as a time limit determined according to data statistics or research experience, and the potential danger severity of the vehicle driving is high when the time limit is exceeded, so that serious damage is easily caused.
Specifically, if the disengagement time is greater than a first preset limit value, the driver is considered to have not controlled the vehicle for a long time, if the vehicle continues to keep running in the state, the driver cannot brake in time when an emergency condition occurs, so that serious damage is caused, and at this time, the driving danger level is determined to be a high danger level.
Further, if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response.
Specifically, fig. 3 is a flowchart for executing a special-level alarm response according to an embodiment of the present invention, which specifically includes the following steps:
and 241, controlling the vehicle to drive the turn lights to be turned on in a double-flash mode.
Specifically, when the driving risk level is judged to reach the high risk level, the auxiliary driving system drives a Body controller (Body Control Module, BCM) to turn on the double-flashing signal lamp of the vehicle, so as to achieve the purpose of reminding a driver behind to keep the distance between the vehicles.
And step 242, controlling the vehicle to exit the steering auxiliary function and maintaining the longitudinal control function.
The steering assist function is understood to be a driving assist function that automatically corrects the position of the steering wheel according to the lane marking so that the vehicle keeps running in the middle of the lane and avoids deviating from the lane due to inattention of the driver.
The longitudinal control function is understood to be a driving assistance function for performing driving at a set speed or following a target vehicle speed by determining whether the target vehicle is present in the vehicle driving direction.
Specifically, fig. 4 is a control schematic diagram of a steering assist function. When the auxiliary driving system is activated, the forward-looking camera module positioned at the position of a front windshield senses and outputs lane line information, lane line curvature information, information such as transverse displacement deviation between a vehicle and a lane center line determined according to the position of the actual vehicle and the like to the Steering auxiliary control module, the Steering auxiliary control module calculates an expected transverse moment required for ensuring that the vehicle returns to and is maintained near the center of the lane according to the lane line information output by the forward-looking camera, and sends the expected transverse moment signal as input to an Electronic Power Steering (EPS) module, and the EPS control motor responds to the expected transverse moment to enable the driving deviation amount of the vehicle to be close to a zero value.
Specifically, fig. 5 is a flowchart of a longitudinal control function, which specifically includes the following steps:
Specifically, the front-view camera at the front windshield acquires the road information in front of the vehicle, and the driving assistance system judges whether a target vehicle exists from the road information in front of the vehicle, wherein the target vehicle can be understood as a vehicle which is located in front of the vehicle driving direction and can be followed by the vehicle.
And step 2422, if the target vehicle exists, controlling the vehicle to run along with the speed change of the target vehicle.
Specifically, if the target vehicle is present, the driving assistance system controls the vehicle to travel at a speed following the target vehicle, i.e., to accelerate or decelerate according to the target vehicle and to maintain a relatively fixed distance from the target vehicle.
And step 2423, if the target vehicle does not exist, controlling the vehicle to run according to the preset cruising speed.
The cruising speed is a preset speed at which the vehicle is driven at a fixed speed by automatically maintaining the vehicle speed without stepping on an accelerator pedal after a switch is turned on at a speed requested by a driver after the vehicle is automatically driven.
And 25, if the disengagement time is greater than a second preset time limit, determining that the driving danger level is a medium-high danger level.
The second predetermined time period may be understood as a time limit determined according to data statistics or research experience, and when the time limit is exceeded, the severity of the potential risk of driving the vehicle is high, and great damage is easily caused, and the second predetermined time period is smaller than the first predetermined time period.
Specifically, if the disengagement time is greater than the second preset time limit and less than the first preset time limit, the driver is considered to have not controlled the vehicle for a long time, and if the vehicle continues to keep running in the state, the driver has a high probability that the vehicle cannot be braked in time when encountering an emergency working condition, so that the vehicle is easy to cause large damage, and at the moment, the driving danger level is determined to be a medium-high danger level.
Further, if the driving danger level reaches a medium-high danger level, controlling a vehicle loudspeaker to work at a first set decibel and displaying a first set character first-level alarm response on a vehicle instrument panel.
Specifically, when the assistant driving system determines that the driving danger level reaches the middle-high danger level, the driver needs strong prompt to remind the driver to take over the vehicle, at the moment, the assistant driving system controls the vehicle loudspeaker to broadcast and warn in a first set decibel mode, and meanwhile, the assistant driving system displays first set characters on a vehicle instrument panel to warn in characters. The first setting decibel and the first setting text can be set by the user or can be set by the vehicle when the vehicle leaves the factory. Alternatively, the first set of text could be "please operate the steering wheel, otherwise the steering assist will automatically exit! ".
And step 26, if the disengagement time is greater than a third preset time limit, determining that the driving danger level is a medium-low danger level.
The third predetermined time period may be understood as a time limit determined according to statistics or research experience, above which the driving of the vehicle has a certain potentially dangerous severity and is liable to cause minor damage, the third predetermined time period being less than the second predetermined time period.
Specifically, if the disengagement time is greater than the third preset time limit and less than the second preset time limit, the driver is considered to have a period of time without controlling the vehicle, if the vehicle continues to keep running in the state, the driver has a certain probability that the vehicle cannot be braked in time when encountering an emergency working condition, slight damage is easily caused, and the driving danger level is determined as a medium-low danger level.
Further, if the driving danger level reaches the middle-low danger level, controlling a vehicle loudspeaker to work at a second set decibel level and displaying a second set character secondary alarm response on a vehicle instrument panel.
Specifically, when the assistant driving system determines that the driving danger level reaches the middle-low danger level, the driver needs certain prompt to remind the driver to take over the vehicle, at the moment, the assistant driving system controls the vehicle loudspeaker to broadcast and warn in a second set decibel mode, and meanwhile, the second set characters are displayed on a vehicle instrument panel to warn in characters. The second setting decibel and the second setting text can be set by the user or can be set by the vehicle when the vehicle leaves the factory, and the second setting decibel is smaller than the first setting decibel. Alternatively, the second set of text can be "please operate the steering wheel! ".
And 27, if the disengagement time is less than or equal to a third preset time limit, determining that the driving danger level is a low danger level.
Specifically, if the disengagement time is less than or equal to the third preset time limit, it is considered that the vehicle is not controlled by the driver to be short, and the driver may only leave the steering wheel for a short time after completing operations such as drinking water, wearing sunglasses, and the like, and the driver may brake in time when encountering an emergency condition, and the vehicle is in a normal driving state, and at this time, the driving risk level is determined to be a low risk level.
And further, if the driving danger level reaches a low danger level, controlling the vehicle steering auxiliary function and the longitudinal control function to normally operate.
Specifically, when the assistant driving system determines that the driving danger level reaches the low danger level, the driver is considered to be in a safe driving state, the assistant driving system deals with the driver to carry out comprehensive driving assistance, and the vehicle steering assistance function and the longitudinal control function are controlled to normally operate.
And step 28, when the hands of the driver return to the steering wheel, receiving operation feedback information of the driver, and executing corresponding operation according to the operation feedback information.
The operation feedback information of the driver can be understood as feedback of the content of an alarm sent to the auxiliary driving system after the driver takes over the control right of the vehicle, and can be exemplified by feedback information of turning off double flashing of a steering lamp, turning on a steering auxiliary function and the like.
Specifically, when the hands of the driver return to the steering wheel, the driver is considered to take over the vehicle normally, operation feedback information of the driver for changing the vehicle running state in the alarming process is received, and corresponding operation is performed on the related functions and modules according to the operation feedback information.
Fig. 6 is an exemplary diagram of a control method of a driving assistance system according to an embodiment of the present invention. When the Hands of a driver are positioned On the steering wheel, the SACC system determines that a hand force signal On the steering wheel is in a Hands On state, and no reminding is performed at the moment; when the Hands of a driver leave the steering wheel, the SACC system determines that a hand force signal on the steering wheel is in a Hands Off state, timing is carried out when the hand force signal is zero, and when the accumulated timing is smaller than a third preset time limit T3, no reminding operation is carried out; when the accumulated time is greater than T3 and less than a second predetermined time period T2, a secondary alarm response is entered, the speaker broadcasts the alarm at a second set decibel and the dashboard is "please operate the steering wheel! "the characters remind the driver; if the driver does not take over the operation, the timing is continued, when the accumulated timing is greater than T2 and less than a first preset time limit T1, a first-level alarm response is entered, the loudspeaker broadcasts the alarm with a first set decibel and the instrument panel "please operate the steering wheel", otherwise the steering assist will automatically exit! "the characters remind the driver; when the accumulated timing is greater than T1, a special-level alarm response is entered, the BCM is controlled by the SACC to drive the steering lamp to light the double flashes, then the SACC exits the steering auxiliary function, the driver is forced to take over the steering wheel actively, meanwhile, the longitudinal control function is ensured to be still in an activated state, and after the driver takes over the steering wheel, the steering lamp can be driven to be turned off manually.
According to the technical scheme of the embodiment, the driver is reminded in stages according to the time length of the hand of the driver being separated from the steering wheel, partial auxiliary function is automatically cancelled by the auxiliary driving system after a certain time, the driver is forced to take over the control of the vehicle, and meanwhile, the safety of the vehicle running is ensured due to the fact that the auxiliary function is not completely cancelled. The auxiliary driving system enables the steering lamp to be turned on in a double-flashing mode before part of auxiliary functions are cancelled so as to remind a driver behind that a problem possibly exists in a vehicle in front of the driver, further remind the driver behind that the distance between the vehicle and the driver is kept, and ensure the safety of the overall operation of the auxiliary driving system.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a driving assistance system according to a third embodiment of the present invention, where the driving assistance system includes: a location status acquisition module 31, a risk level determination module 32 and an alarm response execution module 33.
The position state acquiring module 31 is configured to acquire the hand position state information of the driver; a danger level determination module 32, configured to determine a driving danger level according to the hand position state information; and an alarm response execution module 33, configured to control to execute a corresponding special-level alarm response if the driving risk level reaches the high risk level.
According to the technical scheme, the problem that dangerous conditions such as untimely braking and the like are caused due to the fact that the two hands of the driver leave the steering wheel for a long time and the emergency condition cannot be processed is solved, and when the two hands of the driver leave the steering wheel, danger reminding is carried out on the driver in stages through the auxiliary driving system and the vehicle is controlled is solved, and the safety of the auxiliary driving system is improved.
Optionally, the apparatus further comprises:
and the feedback execution module is used for receiving the operation feedback information of the driver when the hands of the driver return to the steering wheel and executing corresponding operation according to the operation feedback information.
And the primary alarm execution module is used for controlling and executing a primary alarm response that a vehicle loudspeaker works at a first set decibel level and a first set character is displayed on a vehicle instrument panel if the driving danger level reaches a medium-high danger level.
And the secondary alarm execution module is used for controlling and executing a secondary alarm response that a vehicle loudspeaker works at a second set decibel level and a second set character is displayed on a vehicle instrument panel if the driving danger level reaches the medium-low danger level.
And the low-risk grade execution module is used for controlling the vehicle steering auxiliary function and the longitudinal control function to normally operate if the driving risk grade reaches the low-risk grade.
Optionally, the position status obtaining module 31 includes:
and the position information judging unit is used for judging whether the two hands of the driver leave the steering wheel or not according to the torque data information sent by the torque sensor.
And the position information determining unit is used for determining that the hand position state information is in a separation state and recording separation time if both hands of the driver leave the steering wheel.
Optionally, the risk level determination module 32 includes:
and the separation time acquisition unit is used for acquiring the separation time in the separation state when the hand position state information is in the separation state.
And the high-risk grade determining unit is used for determining that the driving risk grade is a high-risk grade if the disengagement time is greater than a first preset time limit.
And the medium-high risk level determining unit is used for determining that the driving risk level is the medium-high risk level if the disengagement time is greater than a second preset time limit.
And the medium-low risk grade determining unit is used for determining that the driving risk grade is the medium-low risk grade if the disengagement time is greater than a third preset time limit.
And the low risk grade determining unit is used for determining that the driving risk grade is a low risk grade if the disengagement time is less than or equal to a third preset time limit.
Optionally, the alarm response execution module 33 includes:
and the steering lamp control module is used for controlling the vehicle to drive the steering lamp to light up in a double-flashing mode.
And the function control module is used for controlling the vehicle to exit the steering auxiliary function and maintaining the longitudinal control function.
Wherein the longitudinal control function comprises: acquiring road condition information in front of a vehicle and judging whether a target vehicle exists in the driving direction of the vehicle according to the road condition information; if the target vehicle exists, controlling the vehicle to run along with the speed change of the target vehicle; and if the target vehicle does not exist, controlling the vehicle to run according to the preset cruising speed.
The assistant driving system provided by the embodiment of the invention can execute the assistant driving system control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 8 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 8, the vehicle includes a turn signal lamp 41, a torque sensor 42, a speaker 43, an instrument panel 44, a controller 45, a memory 46, an input device 47, and an output device 48; the number of the torque sensors 42, the speakers 43 and the controller 45 in the vehicle may be one or more, and one torque sensor 42, one speaker 43 and one controller 45 are illustrated in fig. 8; the turn signal 41, the torque sensor 42, the speaker 43, the dashboard 44, the controller 45, the memory 46, the input device 47, and the output device 48 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 8.
And a turn signal lamp 41 for indicating the state of the vehicle in the rear vehicle.
And a torque sensor 42 for determining whether the driver has both hands off the steering wheel.
A speaker 43 for operating in accordance with a set decibel to perform a corresponding alarm response.
And the instrument panel is used for displaying according to the set characters so as to execute corresponding alarm response.
The memory 46 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the driving assistance system control method in the embodiment of the present invention (for example, the location state acquisition module 31, the risk level determination module 32, and the warning response execution module 33). The controller 45 executes various functional applications and data processing of the vehicle by executing software programs, instructions, and modules stored in the memory 46, thereby implementing the driving assistance system control method described above.
The memory 46 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 46 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 46 may further include memory remotely located from the controller 45, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 47 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle. The output device 48 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a driving assistance system control method, including:
acquiring the hand position state information of a driver;
determining a driving danger level according to the hand position state information;
and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the driving assistance system control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A driving assistance system control method characterized by comprising:
acquiring the hand position state information of a driver;
determining a driving danger level according to the hand position state information;
and if the driving danger level reaches a high danger level, controlling to execute a corresponding special-grade alarm response.
2. The method of claim 1, wherein the controlling performs a corresponding special alert response comprising:
controlling the vehicle to drive the turn light to be turned on in a double-flash mode;
the vehicle is controlled to exit the steering assist function and maintain the longitudinal control function.
3. The method of claim 1, wherein the obtaining driver hand position status information comprises:
judging whether the two hands of the driver leave the steering wheel or not according to torque data information sent by the torque sensor;
if yes, determining the hand position state information to be in a separation state, and recording separation time.
4. The method of claim 3, wherein determining a driving risk level from the hand position status information comprises:
when the hand position state information is in a separation state, obtaining separation time in the separation state;
if the disengagement time is greater than a first preset time limit, determining that the driving danger level is a high danger level;
if the disengagement time is greater than a second preset time limit, determining that the driving danger level is a medium-high danger level;
if the disengagement time is greater than a third preset time limit, determining that the driving danger level is a medium-low danger level;
and if the disengagement time is less than or equal to a third preset time limit, determining that the driving risk level is a low risk level.
5. The method of claim 4, after determining a driving risk level from the hand position status information, further comprising:
if the driving danger level reaches a medium-high danger level, controlling a vehicle loudspeaker to work at a first set decibel level and displaying a first-level alarm response of a first set character on a vehicle instrument panel;
if the driving danger level reaches the middle-low danger level, controlling a vehicle loudspeaker to work at a second set decibel level and displaying a second set character secondary alarm response on a vehicle instrument panel;
and if the driving danger level reaches a low danger level, controlling the vehicle steering auxiliary function and the longitudinal control function to normally operate.
6. The method according to any of claims 2-5, wherein the longitudinal control function comprises:
acquiring road condition information in front of a vehicle and judging whether a target vehicle exists in the driving direction of the vehicle according to the road condition information;
if the target vehicle exists, controlling the vehicle to run along with the speed change of the target vehicle;
and if the target vehicle does not exist, controlling the vehicle to run according to the preset cruising speed.
7. The method of claim 1, wherein after the controlling performs the corresponding special alert response, further comprising:
and when the hands of the driver return to the steering wheel, receiving operation feedback information of the driver, and executing corresponding operation according to the operation feedback information.
8. A driving assistance system characterized by comprising:
the position state acquisition module is used for acquiring the hand position state information of the driver;
the danger level determining module is used for determining the driving danger level according to the hand position state information;
and the alarm response execution module is used for controlling and executing corresponding special-grade alarm response if the driving danger level reaches a high danger level.
9. A vehicle, characterized in that the vehicle comprises:
the steering lamp is used for prompting the state of the vehicle of the rear vehicle;
the torque sensor is used for judging whether the two hands of the driver leave the steering wheel;
a speaker for operating in accordance with a set decibel to perform a corresponding alarm response;
the instrument panel is used for displaying according to the set characters so as to execute corresponding alarm response;
one or more controllers;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, causing the one or more controllers to implement the driving assistance system control method according to any one of claims 1 to 7.
10. A storage medium containing computer-executable instructions for performing the driving assistance system control method according to any one of claims 1 to 7 when executed by a computer processor.
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| CN113525229A (en) * | 2021-07-26 | 2021-10-22 | 一汽奔腾轿车有限公司 | Self-starting control method for automobile emergency lamp |
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| CN114030475A (en) * | 2021-12-22 | 2022-02-11 | 清华大学苏州汽车研究院（吴江） | Vehicle driving assisting method and device, vehicle and storage medium |
| CN114454718A (en) * | 2022-01-21 | 2022-05-10 | 北京地平线机器人技术研发有限公司 | Information display method and device, electronic equipment and storage medium |
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| CN115649084A (en) * | 2022-11-01 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Vehicle rollover reminding method and device, vehicle and storage medium |
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Application publication date: 20200811 |