CN112918474B

CN112918474B - Method, device, electronic equipment and medium for reminding driver in lane keeping

Info

Publication number: CN112918474B
Application number: CN202110223497.3A
Authority: CN
Inventors: 胡耘浩; 侯全杉; 赵帅; 翟洋; 沈永旺; 刘光; 陈蔯; 赵启东
Original assignee: China Automotive Technology and Research Center Co Ltd; Automotive Data of China Tianjin Co Ltd
Current assignee: China Automotive Technology and Research Center Co Ltd; Automotive Data of China Tianjin Co Ltd
Priority date: 2021-03-01
Filing date: 2021-03-01
Publication date: 2022-06-17
Anticipated expiration: 2041-03-01
Also published as: CN112918474A

Abstract

The invention relates to a method, a device, electronic equipment and a medium for reminding a driver in lane keeping. The method comprises the following steps: detecting a parallel moment acting on the center of a steering wheel; if the parallel moment is judged to be out of the range of the preset parallel moment, detecting a vertical moment acting on the center of the steering wheel; if the vertical moment is judged to be within a preset vertical moment range or the parallel moment is judged to be within a preset parallel moment range, detecting temperature information on the steering wheel; and if the temperature information is judged to be out of the preset temperature information range, reminding a driver to take over the vehicle. The method can ensure that when a driver normally supervises the vehicle, the lane keeping function can not generate false prompts due to self sensors and judgment logic problems, avoid the occurrence of false prompts due to false alarm to the maximum extent, improve the function reliability and the user satisfaction, simultaneously can avoid the situation that the driver adopts other objects to monitor the vehicle in a violation manner, and improve the driving safety.

Description

Method, device, electronic equipment and medium for reminding driver in lane keeping

Technical Field

The invention relates to the field of intelligent driving, in particular to a method, a device, electronic equipment and a medium for reminding a driver in lane keeping.

Background

The lane keeping function belongs to a driving assistance function of a level L2, and the national law stipulates that when the driving assistance function of a level L2 is operated, a driver cannot get away from driving behavior, and needs to keep supervision on the operation of a vehicle driving function, in other words: the driver cannot disengage the hand from the steering wheel while the lane keeping function is operating. Therefore, the lane keeping function can monitor the steering torque on the steering wheel when the function operates, so as to ensure that the driver does not depart from the driving behavior when the function operates, and meet the requirements of relevant national laws and regulations.

Since the steering system of the vehicle is taken over by the lane keeping function while the lane keeping function is operating, the driver does not participate in the steering of the vehicle. Therefore, when some drivers supervise the vehicle, the arms are placed above and below the steering wheel in order to prevent the steering torque applied to the steering wheel by the arms from being too large, and some drivers have supervision habits in which the arms are placed above and below the steering wheel. However, when the driver places their arms both above and below the steering wheel, a prompt is typically triggered to alert the driver to take over the vehicle.

If the driver needs to provide a torque of 0.5-3N · m when the lane keeping function is operated, and the radius of the steering wheel is 0.2m, if the driver places hands on the left side and the right side of the steering wheel and the acting force is 5N, a torque of about 5N × 0.2m ═ 1N · m (0.2m is the horizontal distance between the arm acting point and the center of the steering wheel) can be generated, and the requirement is met; if the driver's hands are placed on the upper side and the lower side of the steering wheel and the acting force is 5N, the generated torque is only about 5N × 0.05m which is 0.25N · m (0.05m is the horizontal distance between the arm acting point and the center of the steering wheel), and the torque does not meet the requirement, the lane keeping function can remind the driver to take over the vehicle, so that the false alarm is caused, and the discomfort is brought to the driver.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The invention aims to provide a method, a device, electronic equipment and a medium for reminding a driver in lane keeping, so as to ensure that when the driver normally supervises a vehicle, a lane keeping function does not generate false prompts due to self sensors and judgment logic problems, avoid the occurrence of false alarm and false prompt to the greatest extent, improve the functional reliability and the user satisfaction, simultaneously avoid the driver from monitoring the vehicle in violation of other objects, and improve the driving safety.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, the present invention provides a method for reminding a driver in lane keeping, comprising the steps of:

detecting a parallel moment acting on the center of a steering wheel, wherein the parallel moment is a moment parallel to a plane where the steering wheel is located;

if the parallel moment is judged to be out of the range of the preset parallel moment, detecting a vertical moment acting on the center of the steering wheel, wherein the vertical moment is a moment vertical to the plane of the steering wheel;

if the vertical moment is judged to be within a preset vertical moment range or the parallel moment is judged to be within a preset parallel moment range, detecting temperature information on the steering wheel;

and if the temperature information is judged to be out of the preset temperature information range, reminding a driver to take over the vehicle.

As a further preferred technical solution, the method further comprises: and if the vertical moment is judged to be out of the preset vertical moment range, reminding a driver to take over the vehicle.

As a further preferred technical solution, the method further comprises: if the vertical moment is judged to be out of the preset vertical moment range, detecting a change curve of the vertical moment; and if the change curve of the vertical moment is judged not to accord with the preset change curve, reminding a driver to take over the vehicle.

In a second aspect, the present invention provides an apparatus for reminding a driver in lane keeping, comprising:

the parallel moment detection module is used for detecting a parallel moment acting on the center of the steering wheel, wherein the parallel moment is a moment parallel to the plane of the steering wheel;

the vertical moment detection module is used for detecting a vertical moment acting on the center of the steering wheel if the parallel moment is judged to be out of a preset parallel moment range, wherein the vertical moment is a moment vertical to the plane of the steering wheel;

the temperature information detection module is used for detecting the temperature information on the steering wheel if the vertical moment is judged to be within a preset vertical moment range or the parallel moment is judged to be within a preset parallel moment range;

and the first takeover reminding module is used for reminding a driver to take over the vehicle if the temperature information is judged to be out of the preset temperature information range.

As a further preferred technical scheme, the device further comprises a second takeover reminding module for reminding the driver to take over the vehicle if the vertical moment is judged to be out of the preset vertical moment range.

As a further preferred technical solution, the device further includes a third connection pipe reminding module, configured to detect a variation curve of the vertical moment if it is determined that the vertical moment is outside a preset vertical moment range; and if the change curve of the vertical moment is judged not to be in accordance with the preset change curve, reminding a driver to take over the vehicle.

In a third aspect, the present invention provides an electronic device, comprising:

at least one processor, and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.

In a fourth aspect, the present invention provides a medium having stored thereon computer instructions for causing the computer to perform the method described above.

Compared with the prior art, the invention has the beneficial effects that:

the method for reminding the driver in lane keeping provided by the invention firstly detects the parallel moment acting on the center of the steering wheel, and detects the vertical moment acting on the center of the steering wheel if the parallel moment is judged to be out of the range of the preset parallel moment; detecting temperature information on a steering wheel, and if the vertical moment is judged to be within a preset vertical moment range or the parallel moment is judged to be within a preset parallel moment range, detecting the temperature information on the steering wheel; and judging that the temperature information is out of the preset temperature information range, and reminding a driver to take over the vehicle. The method combines the parallel moment, the vertical moment and the temperature information on the steering wheel, if the parallel moment is judged to be within the preset parallel moment range, the vertical moment is within the preset vertical moment range, and meanwhile, the temperature information on the steering wheel is outside the preset temperature information range, the fact that a driver possibly uses other objects (non-human hands) to monitor the vehicle in a violation mode is shown, safety risks exist, and the driver needs to be reminded to take over the vehicle. The method particularly detects the vertical moment, and when the hands of a driver are positioned on the left side and the right side of the steering wheel, the difference between the height and the center height of the steering wheel is very small, so that the vertical moment is very small; and when the driver hand was located steering wheel upper end or steering wheel lower extreme, because the difference of height and steering wheel height in center is great, therefore vertical moment is great, can be reliable through vertical moment this moment judge whether the driver hand is located the steering wheel, whether the driver is in the supervision vehicle promptly to avoid the driver hand to put and cause the wrong report that parallel moment undersize leads to in steering wheel upper end and lower extreme.

Further, if the vertical moment is judged to be outside the preset vertical moment range, it is indicated that the driver may use other objects (non-human hands) to monitor the vehicle in an illegal way, and a safety risk exists, and at the moment, the driver needs to be reminded to take over the vehicle.

Furthermore, besides detecting the parallel moment, the vertical moment and the temperature information on the steering wheel, the method of the invention also detects the change curve of the vertical moment, provides more detection directions and further improves the reliability of the function and the satisfaction degree of users. In actual conditions, because can finely tune the vehicle direction of travel in real time after the lane keeps the function to open, the steering wheel can turn to during the fine setting to produce corresponding fine setting moment, if the driver is taking over the vehicle this moment, then the vertical moment of driver effect on the steering wheel can produce the reaction force to fine setting moment, can the reaction according to the reaction force that should take place actually can the reaction be released the vertical moment change curve when the driver is taking over the vehicle normally, regard this vertical moment change curve as and predetermine the change curve. And when the change curve of the vertical moment on the steering wheel of the actual vehicle is judged not to be in accordance with the preset change curve, reminding the driver to take over the vehicle.

Therefore, the method can ensure that when a driver normally supervises the vehicle, the lane keeping function can not generate false prompts due to self sensors and judgment logic problems, avoid the occurrence of false prompts to the maximum extent, improve the function reliability and the user satisfaction, simultaneously avoid the driver from monitoring the vehicle in violation of other objects, and improve the driving safety.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a flowchart of a method for reminding a driver in lane keeping provided in embodiment 1 of the present invention;

fig. 2 is a flowchart of a method for reminding a driver in lane keeping according to embodiment 2 of the present invention;

FIG. 3 is a schematic structural diagram of a device for reminding a driver in lane keeping according to embodiment 3 of the present invention;

fig. 4 is a schematic structural diagram of an electronic device provided in embodiment 4 of the present invention.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that:

"in-range" as used herein includes the end points of the range as well as values between the end points of the range. For example, if "range" is "a through b," then "within range" includes a, b, and all values between a and b.

As used herein, "out of range" means all values outside the range endpoints, not including the endpoints. For example, if "range" is "a-b," then "outside of the range" is intended to mean all values less than a and greater than b.

Example 1

Fig. 1 is a flowchart of a method for reminding a driver in lane keeping according to the present embodiment, which is suitable for reminding the driver to take over a vehicle when a vehicle keeping function is turned on. The method may be performed by a device for alerting the driver in lane keeping, which may be constituted by software and/or hardware, and is generally integrated in an electronic device.

As shown in fig. 1, the present embodiment provides a method for reminding a driver in lane keeping, comprising the following steps:

and S110, detecting a parallel moment acting on the center of the steering wheel, wherein the parallel moment is a moment parallel to the plane of the steering wheel.

The method of the embodiment firstly needs to detect the parallel moment acting on the center of the steering wheel in real time, and can know whether a hand or other objects control the steering wheel or not by detecting the parallel moment.

The parallel moment can be detected by using Electric Power Steering (EPS). Wherein "steering wheel center" refers to the location where the steering wheel is attached to the vehicle steering shaft. The "plane of the steering wheel" refers to the plane of the rim of the steering wheel, and the rim of the steering wheel refers to the structure which is in the shape of a circular ring, an elliptical ring, a similar circular ring or a similar elliptical ring and is positioned at the outermost periphery of the steering wheel.

And S120, judging whether the parallel moment is out of a preset parallel moment range. If yes, jumping to S130; if not, jumping to S150.

S130, detecting a vertical moment acting on the center of the steering wheel, wherein the vertical moment is a moment vertical to the plane of the steering wheel.

If the parallel moment is judged to be out of the preset parallel moment range, the fact that the driver probably does not take over the vehicle or the parallel moment is too small due to insufficient pressure of the driver on the steering wheel even if the driver takes over the vehicle is shown, and in any case, the driver needs to further judge through reasonable steps to accurately know the parallel moment. If the driver's hand is placed at the steering wheel upper end or lower extreme, can provide certain vertical moment for the steering wheel, therefore through detecting vertical moment, and then can further judge whether the driver's hand is put on the steering wheel.

The vertical moment can be acquired by adopting a moment sensor, and the moment sensor can be arranged between a steering wheel and a steering shaft.

Here, "upper end of the steering wheel" means all positions in the rim of the steering wheel located between three positions of a first left yaw position, a first position and a first right yaw position, which are obtained by respectively yawing 30 degrees to the left and right from a first position where the vertical height in the rim of the steering wheel is the highest. "lower end of the steering wheel" means all positions in the rim of the steering wheel between a second left-yaw position, a second right-yaw position, and three positions of the second left-yaw position, the second right-yaw position, and the second right-yaw position, which are obtained by respectively yawing the steering wheel rim by 30 degrees to the left and right from a second position where the vertical height of the steering wheel rim is the lowest. The "vertical height" refers to the distance between a location and the ground.

And S140, judging whether the vertical moment is within a preset vertical moment range. If yes, jumping to S150; if not, go to S170.

S150, detecting temperature information on the steering wheel, and judging whether the temperature information is in a preset temperature information range. If yes, jumping to S160; if not, go to S170.

In order to further ensure the reliability of judgment, when the vertical moment is judged to be within the preset vertical moment range or the parallel moment is judged to be within the preset parallel moment range, a step of detecting temperature information on the steering wheel is added.

Here, "temperature information" refers to information related to the temperature of the surface of the steering wheel, including temperature or a temperature profile with time.

And S160, the driver is not reminded to take over the vehicle.

And S170, reminding the driver to take over the vehicle.

If the temperature information is judged to be out of the preset temperature information range, it is shown that other objects, instead of the hands of the driver, of the monitored vehicle exist, safety risks exist, and the driver needs to be reminded to take over the vehicle.

It should be understood that if the temperature information is judged to be within the preset temperature information range, which indicates that the hands of the driver are monitoring the vehicle, the vehicle keeps the normal operation of the function and does not give an alarm.

Example 2

The embodiment provides another method for reminding the driver in lane keeping, and a step of detecting the change curve of the vertical moment is further added on the basis of the embodiment 1. Referring to fig. 2, the method comprises the steps of:

And S140, judging whether the vertical moment is within a preset vertical moment range. If yes, jumping to S150; if not, jumping to S180.

S110, S120, S130 and S140 are the same as those in embodiment 2, and the description of this embodiment is omitted.

And S170, reminding the driver to take over the vehicle.

S180, detecting the change curve of the vertical moment, and judging whether the change curve of the vertical moment conforms to a preset change curve. If yes, jumping to S150; if not, go to S170.

Example 3

As shown in fig. 3, the present embodiment provides an apparatus for reminding a driver in lane keeping, including:

the parallel moment detection module 101 is configured to detect a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to a plane where the steering wheel is located.

The vertical moment detection module 102 is configured to detect a vertical moment acting on the center of the steering wheel if it is determined that the parallel moment is outside a preset parallel moment range, where the vertical moment is a moment perpendicular to a plane where the steering wheel is located.

And the temperature information detection module 103 is configured to detect temperature information on the steering wheel if it is determined that the vertical moment is within a preset vertical moment range or it is determined that the parallel moment is within a preset parallel moment range.

And a first taking-over reminding module 104, configured to remind a driver to take over the vehicle if it is determined that the temperature information is outside the preset temperature information range.

Further, the apparatus further comprises: and the second takeover reminding module 105 is used for reminding a driver to take over the vehicle if the vertical moment is judged to be out of the preset vertical moment range.

Further, the apparatus further comprises: a third connecting pipe reminding module 106, configured to detect a variation curve of the vertical moment if it is determined that the vertical moment is outside a preset vertical moment range; and if the change curve of the vertical moment is judged not to accord with the preset change curve, reminding a driver to take over the vehicle.

The device is used for executing the method for reminding the driver in lane keeping of the embodiment, and therefore has the corresponding functional modules and beneficial effects.

Example 4

As shown in fig. 4, the present embodiment provides an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above. The at least one processor in the electronic device is capable of performing the above method and thus has at least the same advantages as the above method.

Optionally, the electronic device further includes an interface for connecting the components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical information for a GUI (Graphical User Interface) on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 4, one processor 201 is taken as an example.

The memory 202 is used as a computer-readable storage medium and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for reminding a driver in lane keeping in the embodiment of the present invention (for example, the parallel torque detection module 101, the vertical torque detection module 102, the temperature information detection module 103, and the first takeover reminding module 104 in the device for reminding a driver in lane keeping). The processor 201 executes various functional applications of the device and data processing by running software programs, instructions and modules stored in the memory 202, that is, implements the above-described method of reminding the driver in lane keeping.

The memory 202 may mainly include a storage program area and a storage data area, wherein the storage program 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 202 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 202 may further include memory located remotely from the processor 201, which may be connected to the device 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 electronic device may further comprise an input means 203 and an output means 204. The processor 201, the memory 202, the input device 203 and the output device 204 may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.

The input device 203 may receive input numeric or character information, and the output device 204 may include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Example 5

The present embodiment provides a medium having stored thereon computer instructions for causing the computer to perform the method described above. The computer instructions on the medium for causing a computer to perform the method described above thus have at least the same advantages as the method described above.

The medium of the present invention may take the form of any combination of one or more computer-readable media. The medium may be a computer readable signal medium or a computer readable storage medium. The medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of alerting a driver in lane keeping, comprising the steps of:

detecting a parallel moment acting on the center of a steering wheel, wherein the parallel moment is a moment parallel to the plane of the steering wheel;

if the temperature information is judged to be out of the preset temperature information range, reminding a driver to take over the vehicle;

further comprising: if the vertical moment is judged to be out of the preset vertical moment range, detecting a change curve of the vertical moment; and if the change curve of the vertical moment is judged not to accord with the preset change curve, reminding a driver to take over the vehicle.

2. The method of reminding a driver in lane keeping according to claim 1, further comprising: and if the vertical moment is judged to be out of the preset vertical moment range, reminding a driver to take over the vehicle.

3. An apparatus for reminding a driver in lane keeping, comprising:

the first takeover reminding module is used for reminding a driver to take over the vehicle if the temperature information is judged to be out of the preset temperature information range;

the third connecting pipe reminding module is used for detecting a change curve of the vertical moment if the vertical moment is judged to be out of a preset vertical moment range; and if the change curve of the vertical moment is judged not to accord with the preset change curve, reminding a driver to take over the vehicle.

4. The device for reminding the driver in keeping the lane according to claim 3, wherein the device further comprises a second takeover reminding module for reminding the driver to take over the vehicle if the vertical moment is judged to be out of the preset vertical moment range.

5. An electronic device, comprising:

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of claim 1 or 2.

6. A medium having stored thereon computer instructions for causing a computer to perform the method of claim 1 or 2.