CN112498364B - Vehicle early warning method and device - Google Patents
Vehicle early warning method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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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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Abstract
The application relates to the technical field of automobiles, and discloses a vehicle early warning method and a vehicle early warning device, wherein the method comprises the steps of detecting a take-over state of a steering wheel; detecting a driver state and a vehicle state when the steering wheel is in a driver hands-off state; when the driver is in a non-driving state, outputting primary early warning information; when the vehicle state is a guiding failure state or a sensing failure state, outputting secondary early warning information; when the vehicle state is a steering failure state, outputting three-stage early warning information; when the vehicle state is a brake failure state, outputting four-stage early warning information; the early warning prompt strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence. The vehicle early warning method and device can improve the safety performance of an intelligent driving system.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle early warning method and device.
Background
In recent years, intelligent driving systems have been increasingly emerging. The intelligent driving system can take over the control of the transverse and longitudinal movement of the vehicle under the condition of good driving environment, and complete the functions of self-adaptive cruise, lane centering control, lane change after the confirmation of the driver and the like, and some intelligent driving systems can even complete the control under the condition that the driver is out of hand. The intelligent driving technique can be classified into six grades, namely L0-L5, according to the degree of intervention of a driver to the vehicle when the vehicle is running. The intelligent driving system of the L2 level or the L2+ level (i.e. the intelligent driving system further based on the intelligent driving system of the L2 level but not reaching the L3 level) such as tesla autopoit still belongs to a driving assistance system, and requires a driver to undertake final safety monitoring and response responsibility.
In the related technology, the intelligent driving system can be in communication connection with the cabin video entertainment system, and when the intelligent driving system detects that the situation of safety early warning is required, the cabin video entertainment system sends out sound and/or image information prompt. For an intelligent driving system allowing the driver to take off hands, the driver takes over the vehicle after receiving the information prompt so as to ensure the safe operation of the vehicle.
In the course of implementing the present application, the inventors found that the related art has at least the following problems:
the early warning strategy of the traditional intelligent driving system is simple, so that the safety performance of the intelligent driving system is low.
Disclosure of Invention
In view of this, the present application provides a vehicle early warning method and apparatus, which can improve the safety performance of an intelligent driving system. Specifically, the method comprises the following technical scheme:
the embodiment of the application provides a vehicle early warning method, which comprises the following steps:
detecting the take-over state of the steering wheel;
detecting a driver state and a vehicle state when the steering wheel is in a driver hands-off state;
when the driver is in a non-driving state, outputting primary early warning information;
when the vehicle state is a guiding failure state or a sensing failure state, outputting secondary early warning information;
when the vehicle state is a steering failure state, outputting three-level early warning information;
when the vehicle state is a brake failure state, outputting four-stage early warning information;
the early warning prompting strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
In an implementation manner of the embodiment of the present application, the method further includes:
detecting the vehicle state when the steering wheel is in a driver takeover state;
when the vehicle state is the guiding failure state, outputting the primary early warning information;
and when the vehicle state is the perception failure state, the steering failure state or the braking failure state, outputting the secondary early warning information.
In an implementation manner of the embodiment of the application, the primary warning information includes a voice and/or image prompt;
the secondary early warning information comprises the sound and/or image prompt and seat vibration;
the three-level early warning information comprises the sound and/or image prompt, the seat vibration and the brake snubbing;
the four-level early warning information comprises the sound and/or image prompt, seat vibration and steering wheel shimmy.
In an implementation manner of the embodiment of the present application, outputting the three-level warning information includes:
and sending a snub brake request to a brake system to enable the brake system to execute a brake snub brake function.
In an implementation manner of the embodiment of the present application, the outputting the fourth-level warning information includes:
sending a shimmy request to a steering system to cause the steering system to perform a steering wheel shimmy function.
The embodiment of the present application further provides a vehicle early warning device, the device includes:
a first detection module configured to detect a take-over state of a steering wheel;
a second detection module configured to detect a driver state and a vehicle state when the steering wheel is in a driver hands-off state;
the early warning prompting module is configured to output primary early warning information when the driver is in a non-driving state; when the vehicle state is a guiding failure state or a sensing failure state, outputting secondary early warning information; when the vehicle state is a steering failure state, outputting three-level early warning information; when the vehicle state is a brake failure state, outputting four-stage early warning information; the early warning prompting strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
In an implementation manner of the embodiment of the present application, the apparatus further includes:
the second detection module is further configured to detect the vehicle state when the steering wheel is in a driver-over state;
the early warning prompting module is further configured to output the primary early warning information when the vehicle state is the guiding failure state; and when the vehicle state is the perception failure state, the steering failure state or the braking failure state, outputting the secondary early warning information.
In an implementation manner of the embodiment of the application, the primary warning information includes a voice and/or image prompt;
the secondary early warning information comprises the sound and/or image prompt and seat vibration;
the three-level early warning information comprises the sound and/or image prompt, the seat vibration and the brake snubbing;
the four-level early warning information comprises the sound and/or image prompt, seat vibration and steering wheel shimmy.
In an implementation manner of the embodiment of the application, the early warning prompting module is further configured to send an inching request to a braking system, so that the braking system executes a braking inching function.
In an implementation manner of the embodiment of the present application, the early warning prompting module is further configured to send a shimmy request to a steering system, so that the steering system executes a steering wheel shimmy function.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
according to the vehicle early warning method and device provided by the embodiment of the application, a multi-stage early warning mechanism is designed according to the take-over state of a steering wheel and the state of a driver in a vehicle state. The early warning prompt intensity of each stage of early warning information is gradually increased, so that the safety performance of the intelligent driving system is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating an implementation environment of an intelligent driving system provided by an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a vehicle warning method according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating another vehicle warning method provided by the embodiment of the present application;
fig. 4 shows a schematic structural diagram of a vehicle early warning device provided by an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application. In order to make the technical scheme and advantages of the present application clearer, the vehicle warning method and the like will be described in detail below with reference to the accompanying drawings.
The application provides a vehicle early warning method which is applied to an intelligent driving system. As shown in fig. 1, a core element of the intelligent driving system is an intelligent driving controller, and the intelligent driving controller is in communication connection with various elements or systems to detect an operation state of the intelligent driving system, and realize a function that the intelligent driving system detects a take-over state of a steering wheel, a driver state and a vehicle state, and outputs warning information.
The various components or systems in communication connection with the intelligent driving Controller include an intelligent driving system switch, a Steering wheel, a Driver Monitoring System (DMS), a map and positioning system, an environmental sensor, an Electric Power Steering system (EPS), an Electronic Stability control system (ESC), an Instrument panel (ICM), an Infotainment Head Unit (IHU), a Heads Up Display (HUD), a vibration seat, and other vehicle-related controllers.
Fig. 2 is a flow chart illustrating a vehicle warning method according to an exemplary embodiment, as shown in fig. 2, the method including:
s201, detecting the take-over state of a steering wheel;
s202, detecting the state of a driver and the state of a vehicle when the steering wheel is in the hands-off state of the driver;
s203, outputting primary early warning information when the driver is in a non-driving state;
s204, outputting secondary early warning information when the vehicle state is a guiding failure state or a sensing failure state;
s205, when the vehicle state is a steering failure state, outputting three-level early warning information;
and S206, outputting four-stage early warning information when the vehicle state is a brake failure state.
Wherein, the early warning prompt intensity of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information is increased in sequence.
Steps S203 to S206 are steps to be selectively executed, and one of the steps is selected and executed according to the detected driver state and the detected vehicle state.
According to the vehicle early warning method provided by the embodiment of the application, a multi-stage early warning mechanism is designed according to the take-over state of a steering wheel and the state of a driver in a vehicle state. The early warning prompt intensity of each stage of early warning information is gradually increased, so that the safety performance of the intelligent driving system is improved.
Optionally, the vehicle warning method further includes:
detecting a vehicle state when the steering wheel is in a driver takeover state;
when the vehicle state is a guiding failure state, outputting primary early warning information;
and when the vehicle state is a sensing failure state, a steering failure state or a braking failure state, outputting secondary early warning information.
Optionally, the primary alert information comprises a voice and/or image prompt;
the secondary early warning information comprises sound and/or image prompt and seat vibration;
the third-level early warning information comprises voice and/or image prompt, seat vibration and braking and stopping;
the four-level early warning information comprises sound and/or image prompts, seat vibration and steering wheel shimmy.
Optionally, the outputting the three-level warning information includes:
and sending a snub brake request to the brake system to enable the brake system to execute the brake snub brake function.
Optionally, the outputting the four-stage warning information includes:
a shimmy request is sent to the steering system to cause the steering system to perform a steering wheel shimmy function.
FIG. 3 is a flow chart illustrating another vehicle warning method, as shown in FIG. 3, according to an exemplary embodiment, the method comprising:
s301, detecting the take-over state, the driver state and the vehicle state of the steering wheel.
The intelligent driving system needs to be turned on first before the take-over state, the driver state and the vehicle state of the steering wheel are detected. For example, the driver may manually click a smart driving system switch to turn on the smart driving system. Or, when the curvature radius of the driving lane of the vehicle is greater than a first threshold value, the lane line definition degree is greater than a second threshold value, the vehicle speed is less than a third threshold value (for example, 120km/h), the driver is in a normal driving state, and the weather condition meets a preset condition, the intelligent driving system can be automatically turned on. For example, the preset conditions met by the weather condition may include no rain, no snow and no haze, and the visibility reaches a fourth threshold value, etc.
When the intelligent driving system is automatically turned on, prompt information can be sent to the driver to prompt the driver that the intelligent driving system is turned on, so that the driver can select to keep the on state of the intelligent driving system or select to turn off the intelligent driving system according to the requirement of the driver.
In the embodiment of the application, the taking-over state of the steering wheel comprises a driver taking-over state and a driver hands-off state. The driver state includes a normal driving state and a non-driving state. The vehicle states include a normal state, a brake failure state, a steering failure state, a perception failure state, and a guidance failure state.
And S302, judging whether the vehicle state is a brake failure state or not.
In the embodiment of the application, the brake failure state refers to that an electronic stability control system (hereinafter referred to as a brake system) of a vehicle body fails, and an intelligent driving system loses longitudinal control capability. The intelligent driving system can judge whether the brake system fails according to whether the brake system can effectively execute the control command or not or according to fault information fed back by the brake system.
The electronic stability control system of the vehicle body combines a corner sensor, a transverse acceleration sensor and a yaw rate sensor, and when the situations of skidding and the like of the vehicle are detected, the electronic stability control system can perform braking control on individual wheels so as to achieve the effect of modifying a skidding route.
When the vehicle state is the brake failure state, step S303 described below is executed. When the vehicle state is not the brake failure state, step S304 described below is executed.
And S303, judging whether the steering wheel is in the hands-off state of the driver.
In the embodiment of the present application, the hands-off state of the driver refers to a state in which the hands of the driver are away from the steering wheel, and thus the steering wheel cannot be effectively controlled. The take-over state of the steering wheel can be detected in the following two ways:
the first mode is as follows: the take-over state of the steering wheel may be detected by a driver state monitoring system. When the hand of the driver is placed on the steering wheel, it can be determined that the steering wheel is in the driver-over state. When the hand of the driver is separated from the steering wheel, it can be determined that the steering wheel is in the driver hands-off state.
The second mode is as follows: when the steering wheel used in the vehicle is a capacitive steering wheel, a Hand Off Detection (HOD) system may be used to detect the take-over state of the steering wheel.
And when the vehicle is in a brake failure state and the steering wheel is in a driver hands-off state, executing step S308 and outputting four-stage early warning information. When the vehicle is in the brake failure state but the steering wheel is not in the driver hands-off state (i.e. the steering wheel is in the driver take-over state), step S310 is executed to output the secondary warning information.
Compared with the situation that the steering wheel is in a driver taking-over state, when the steering wheel is in a driver hands-off state, the response time of the driver taking-over vehicle control is longer, when the vehicle is in a brake failure state, the safety of the vehicle is greatly reduced, and four-stage early warning information with the highest early warning prompt strength is output to a user, so that the driver can take over the control over the vehicle effectively at the fastest speed. When the steering wheel is in a driver taking-over state, the hand of the driver is in contact with the steering wheel, the taking-over speed of the vehicle is high, and therefore secondary early warning information with low early warning prompting strength is adopted for prompting.
And S304, judging whether the vehicle state is a steering failure state or not.
In the embodiment of the present application, the steering failure state refers to failure of an electric power steering system (hereinafter referred to as a steering system), and the intelligent driving system loses a lateral control capability. The intelligent driving system can judge whether the electric power steering system fails according to whether the steering system can effectively execute a control command or according to fault information fed back by the steering system.
An electronic power steering system generally includes a mechanical steering system, a torque sensor, a vehicle speed sensor, an Electronic Control Unit (ECU), a speed reducer, and a motor. On the basis of a traditional mechanical steering system, an ECU (electronic control unit) enables a motor to generate auxiliary power with corresponding magnitude and direction according to a torque signal of a steering wheel and a vehicle speed signal of a vehicle so as to assist a driver in steering operation.
When the braking system of the vehicle can work normally, whether the steering system of the vehicle can work normally is detected. When the vehicle state is the steering failure state, the above-mentioned step S303 is executed to determine whether the steering wheel is in the driver hands-off state. When the vehicle state is not the steering failure state, step S305 described below is executed.
When the vehicle is in the steering failure state and the steering wheel is in the driver hands-off state, step S309 is executed to output three-level warning information. And when the vehicle is in a steering failure state but the steering wheel is in a driver takeover state, executing step S310 and outputting secondary early warning information.
Compared with the brake failure state, the influence of the steering failure state on the safety of the vehicle is slightly small, so that when the vehicle is in the steering failure state and the steering wheel is in the hands-off state of a driver, the three-level early warning information with the strength smaller than that of the four-level early warning information can be adopted for prompting. And the early warning prompt intensity of the third-level early warning information is greater than that of the second-level early warning information.
And S305, judging whether the vehicle state is a perception failure state or not.
In the embodiment of the application, the sensing failure state refers to that the performance of a vehicle sensor (such as an environment sensing sensor), an intelligent driving controller, or other vehicle-related controllers is limited or fails, so that the intelligent driving system cannot work normally. The intelligent driving system can judge whether the intelligent driving system can work normally according to fault information fed back by the sensor or the controller.
And when the vehicle state is the perception failure state, executing the step S310 and outputting secondary early warning information. When the vehicle state is not the perception failure state, step S306 described below is executed.
Because the perception failure state of the vehicle belongs to the general failure of the intelligent driving system, the influence on the safety of the vehicle can not be reflected in time, and therefore the difference of the influence of the steering wheel state of the driver in the hands-off state or the driver in the taking-over state on the safety of the vehicle is small. Therefore, when the vehicle state is detected to be the perception failure state, the secondary early warning information with lower early warning strength can be directly output.
And S306, judging whether the vehicle state is a guiding failure state or not.
In the embodiment of the present application, the guidance failure state refers to failure of a map and a positioning system, and a vehicle is about to exceed an operational design (ODD) range. The design operating area may be composed of multidimensional factors such as geofences, operating vehicle speed, traffic conditions, environmental conditions, and the like. The intelligent driving system can judge whether the map and the positioning system are invalid or not according to whether the communication connection between the map and the positioning system and the intelligent driving system is normal or not, or fault information fed back by the map and the positioning system and the like.
When the vehicle state is the guidance disabled state, the above step S303 is executed to determine whether the steering wheel is in the hands-off state. When the vehicle state is not the guidance failure state, step S307 described below is executed.
And when the vehicle is in the guiding failure state and the steering wheel is in the driver hands-off state, executing the step S310 and outputting secondary early warning information. And when the vehicle is in the guiding failure state but the steering wheel is in the driver taking over state, executing step S311 and outputting primary early warning information.
The guiding failure state of the vehicle increases the probability of a vehicle collision accident, and therefore, a user needs to be reminded to take over control of the vehicle in time. Therefore, when the steering wheel is in a hands-off state of a driver, secondary early warning information with the strength higher than that of the primary early warning information can be adopted for prompting. And when the steering wheel is in a state of taking over by a driver, the first-level early warning information with the minimum early warning prompting strength is adopted for prompting.
And S307, judging whether the driver state is a non-driving state or not.
In the embodiment of the application, the non-driving state means that the driver is in a distracted state or a fatigue state, so that the real-time state of the driver does not meet the driving requirement. The driver state may be detected by a driver state monitoring system. The driver state monitoring system can detect facial features, hand features or body features of a driver and the like based on machine vision, so that driver distraction and fatigue state detection are realized.
When the driver state is the non-driving state, the above step S303 is executed to determine whether the steering wheel is in the driver hands-off state. When the driver state is not the non-driving state (i.e., the driver state is the normal driving state), step S312 described below is executed, and the warning information is not output. At the moment, the vehicle state is a normal state, the state of the driver meets the driving requirement, the possibility of accidents is low, and the driver can not be reminded.
When the driver is in the non-driving state but the steering wheel is in the driver-taking over state, the response time of the driver to the accident is short and the control of the vehicle can be taken over in time, so that in this state, the following step S312 may be performed without outputting the warning information.
And S308, outputting four-stage early warning information.
In the embodiment of the application, the four-stage warning information may include sound and/or image prompt, seat vibration, and steering wheel shimmy. The intelligent driving system can send a first early warning prompt request to a cockpit video entertainment system (comprising at least one of an ICM, an IHU and a HUD), and the cockpit video entertainment system can output sound and/or image prompts after receiving the first early warning prompt request. And this intelligent driving system can send the second early warning suggestion request to the vibration seat, and the vibration seat can vibrate after receiving this second early warning suggestion request. The vibration seat can be realized by adding a small motor on the seat.
Steering wheel shimmy can be achieved in two ways:
the first mode is as follows: the intelligent driving system sends a shimmy request to the steering system so that the steering system executes a steering wheel shimmy function. At this time, when the controller of the steering system receives the shimmy request, the steering wheel can be controlled to shimmy.
The second mode is as follows: and after the steering system monitors the state of the system, the steering system autonomously controls the steering wheel to shimmy. At the moment, the steering system can also send the shimmy state of the steering wheel to the intelligent parking controller, and the intelligent parking controller sends an early warning prompt request to the cockpit video entertainment system and the vibration seat.
And S309, outputting three-level early warning information.
In the embodiment of the application, the three-level early warning information may include voice and/or image prompt, seat vibration and brake inching. The sound and/or image prompt and the seat vibration are similar to the implementation mode of the four-stage early warning information.
The braking snub can be realized in the following two ways:
the first mode is as follows: the intelligent driving system sends a snub brake request to the braking system so that the braking system can execute a braking snub brake function. At the moment, when the controller of the braking system receives the inching request, inching control can be carried out.
The second mode is as follows: and the braking system automatically performs inching and braking control after monitoring the state of the system. At the moment, the braking system can also send the braking snubbing state to the intelligent parking controller, and the intelligent parking controller sends an early warning prompt request to the cockpit video entertainment system and the vibration seat.
The steering system and the brake system are both control systems of the original chassis of the vehicle body, the functional safety level is high, and the safety performance of the intelligent driving system can be effectively improved by taking the steering system and the brake system as early warning prompt measures.
And S310, outputting secondary early warning information.
In the embodiment of the present application, the secondary warning information may include a sound and/or image prompt and seat vibration. The second-level early warning information can be in the same way as the third-level early warning information or the fourth-level early warning information, wherein sound and/or image prompt and seat vibration are realized.
And S311, outputting primary early warning information.
In the embodiment of the application, the primary early warning information comprises voice and/or image prompt. The first-level early warning information can be in the same way as the second-level early warning information, the third-level early warning information or the fourth-level early warning information in the way of sound and/or image prompt. The early warning prompt strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
And S312, not outputting the early warning information.
In other implementation manners of the embodiment of the present application, the detection and determination sequence of the take-over state of the steering wheel, the driver state, and the vehicle state may not be limited. For example, the take-over state of the steering wheel, the driver state and the vehicle state may be acquired simultaneously. And judging which state the take-over state of the steering wheel, the state of the driver and the state of the vehicle are respectively in, and determining the early warning information to be output according to the corresponding relationship among the pre-stored take-over state of the steering wheel, the state of the driver, the state of the vehicle and the early warning information.
According to the vehicle early warning method provided by the embodiment of the application, a multi-stage early warning mechanism is designed according to the take-over state of a steering wheel and the state of a driver in a vehicle state. The early warning prompt intensity of each stage of early warning information is gradually increased, so that the safety performance of the intelligent driving system is improved.
The embodiment of the present application further provides a vehicle early warning device 400, as shown in fig. 4, the device includes:
a first detection module 401 configured to detect a take-over state of the steering wheel;
a second detection module 402 configured to detect a driver state and a vehicle state when the steering wheel is in a driver hands-off state;
an early warning prompting module 403 configured to output primary early warning information when the driver is in a non-driving state; when the vehicle state is a guiding failure state or a sensing failure state, outputting secondary early warning information; when the vehicle state is a steering failure state, outputting three-stage early warning information; when the vehicle state is a brake failure state, outputting four-stage early warning information; the early warning prompt strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
Optionally, the apparatus further comprises:
a second detection module further configured to detect a vehicle state when the steering wheel is in a driver takeover state;
the early warning prompting module is also configured to output primary early warning information when the vehicle state is a guiding failure state; and when the vehicle state is a sensing failure state, a steering failure state or a braking failure state, outputting secondary early warning information.
Optionally, the primary alert information comprises a voice and/or image prompt;
the secondary early warning information comprises sound and/or image prompt and seat vibration;
the third-level early warning information comprises voice and/or image prompt, seat vibration and braking and stopping;
the four-level early warning information comprises sound and/or image prompts, seat vibration and steering wheel shimmy.
Optionally, the early warning prompting module is further configured to send a snub brake request to the brake system, so that the brake system executes a brake snub brake function.
Optionally, the warning prompt module is further configured to send a shimmy request to the steering system to cause the steering system to perform a steering wheel shimmy function.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
It should be noted that: the vehicle warning device provided in the above embodiment is exemplified by only the division of the above functional modules, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the vehicle early warning device and the vehicle early warning method provided by the embodiment belong to the same concept, and specific implementation processes are detailed in the method embodiment and are not described again.
In this application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (8)
1. A vehicle warning method, comprising:
the method comprises the steps of detecting a take-over state of a steering wheel, detecting a driver state and a vehicle state, wherein the take-over state of the steering wheel comprises a driver take-over state and a driver hands-off state, the driver state comprises a normal driving state and a non-driving state, and the vehicle state comprises a normal state, a guiding failure state, a sensing failure state, a steering failure state and a braking failure state;
when the steering wheel is in the hands-off state of the driver and the driver is in the non-driving state, outputting primary early warning information;
when the steering wheel is in the hands-off state of the driver and the vehicle state is the guiding failure state or the sensing failure state, outputting secondary early warning information;
when the steering wheel is in the hands-off state of the driver and the vehicle state is the steering failure state, outputting three-level early warning information;
when the steering wheel is in the hands-off state of the driver and the vehicle state is the brake failure state, outputting four-stage early warning information;
when the steering wheel is in the driver taking over state and the vehicle state is the guiding failure state, outputting the primary early warning information;
when the steering wheel is in the driver taking-over state and the vehicle state is any one of the perception failure state, the steering failure state and the braking failure state, outputting the secondary early warning information;
when the driver is in the normal driving state and the vehicle state is the normal state, not outputting early warning information;
the early warning prompting strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
2. The method of claim 1,
the primary early warning information comprises sound and/or image prompts;
the secondary early warning information comprises the sound and/or image prompt and seat vibration;
the three-level early warning information comprises the sound and/or image prompt, the seat vibration and the brake snubbing;
the four-level early warning information comprises the sound and/or image prompt, seat vibration and steering wheel shimmy.
3. The method of claim 2, wherein outputting three levels of pre-warning information comprises:
and sending a snub brake request to a brake system to enable the brake system to execute a brake snub brake function.
4. The method of claim 2, wherein the outputting four-level early warning information comprises:
sending a shimmy request to a steering system to cause the steering system to perform a steering wheel shimmy function.
5. A vehicle warning device, the device comprising:
the device comprises a first detection module, a second detection module and a control module, wherein the first detection module is configured to detect a take-over state of a steering wheel, detect a driver state and a vehicle state, the take-over state of the steering wheel comprises a driver take-over state and a driver hands-off state, the driver state comprises a normal driving state and a non-driving state, and the vehicle state comprises a normal state, a guiding failure state, a sensing failure state, a steering failure state and a braking failure state;
the early warning prompting module is configured to output primary early warning information when the steering wheel is in the hands-off state of the driver and the driver is in the non-driving state; when the steering wheel is in the hands-off state of the driver and the vehicle state is the guiding failure state or the sensing failure state, outputting secondary early warning information; when the steering wheel is in the hands-off state of the driver and the vehicle state is the steering failure state, outputting three-level early warning information; when the steering wheel is in the hands-off state of the driver and the vehicle state is the brake failure state, outputting four-stage early warning information; when the steering wheel is in the driver taking over state and the vehicle state is the guiding failure state, outputting the primary early warning information; when the steering wheel is in the driver taking-over state and the vehicle state is any one of the perception failure state, the steering failure state and the braking failure state, outputting the secondary early warning information; when the driver is in the normal driving state and the vehicle state is the normal state, not outputting early warning information; the early warning prompting strengths of the first-stage early warning information, the second-stage early warning information, the third-stage early warning information and the fourth-stage early warning information are increased in sequence.
6. The apparatus of claim 5,
the primary early warning information comprises sound and/or image prompts;
the secondary early warning information comprises the sound and/or image prompt and seat vibration;
the three-level early warning information comprises the sound and/or image prompt, the seat vibration and the brake snubbing;
the four-level early warning information comprises the sound and/or image prompt, seat vibration and steering wheel shimmy.
7. The apparatus of claim 6, wherein the early warning prompt module is further configured to send a snub request to a brake system to cause the brake system to perform a brake snub function.
8. The apparatus of claim 6, wherein the warning prompt module is further configured to send a shimmy request to a steering system to cause the steering system to perform a steering wheel shimmy function.
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| KR100204770B1 (en) * | 1996-07-08 | 1999-06-15 | 류정열 | Streering disorder sensing system & its control method of an automobile |
| EP2848488B2 (en) * | 2013-09-12 | 2022-04-13 | Volvo Car Corporation | Method and arrangement for handover warning in a vehicle having autonomous driving capabilities |
| JP2015209174A (en) * | 2014-04-30 | 2015-11-24 | 日産自動車株式会社 | Information presentation apparatus and information presentation method |
| JP2018144643A (en) * | 2017-03-06 | 2018-09-20 | トヨタ自動車株式会社 | Notification system and driver assistance system |
| US11040726B2 (en) * | 2017-12-15 | 2021-06-22 | Baidu Usa Llc | Alarm system of autonomous driving vehicles (ADVs) |
| CN109334673B (en) * | 2018-10-30 | 2021-03-02 | 奇瑞汽车股份有限公司 | Method and device for reminding taking over of intelligent automobile and storage medium |
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| CN110435668B (en) * | 2019-06-26 | 2021-08-24 | 驭势科技（北京）有限公司 | Failure detection method and module for intelligent driving vehicle actuating mechanism and vehicle-mounted equipment |
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