CN114132331A - Driver state information confirmation method, driver state information confirmation device and computer-readable storage medium - Google Patents
Driver state information confirmation method, driver state information confirmation device and computer-readable storage medium 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
- 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
- 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
- B60W2040/0809—Driver authorisation; Driver identity check
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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
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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Abstract
The embodiment of the invention relates to the technical field of electronic equipment, and discloses a method and a device for confirming driver state information and a computer readable storage medium, wherein the method comprises the following steps: when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver; if the driving state information indicates that the driving state of the driver is the fatigue state, determining the authenticity of the driving state information as the fatigue state; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to be executed. By applying the technical scheme of the invention, the condition of misjudgment or misinformation of the vehicle-mounted equipment or the device or the system for determining the state information of the driver is prevented, and the improvement of the automatic driving experience of the user is facilitated.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a device for confirming driver state information and a computer readable storage medium.
Background
With the development of intelligent driving technology, point-to-point automatic driving under specific working conditions becomes a research hotspot more and more; the intelligent automatic driving controller is used as a brain to realize fusion processing of environment perception information and decide the driving behavior of the vehicle to safely drive to a destination; at present, a vehicle is generally provided with a Driver Monitor System (DMS), and the Driver can be ensured to be on-line through the DMS, but the DMS is easy to generate false alarm and missing report conditions and cannot ensure the driving safety of the vehicle; therefore, a method for confirming driver status information is needed to improve the driving safety of the vehicle.
Disclosure of Invention
In view of the foregoing problems, embodiments of the present invention provide a method and an apparatus for confirming driver status information, and a computer-readable storage medium, which are used to solve the problem of false alarm and missed alarm of a DMS system in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a driver state information confirmation method including:
when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver;
if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state;
and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to.
In an alternative, the determining the authenticity of the fatigue state further comprises:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; said determining the authenticity of said fatigue state based on said steering wheel parameters, further comprising:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an optional manner, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the method further includes:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an optional manner, the method further comprises:
and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
In an optional manner, if the fatigue state is true, the method further comprises:
controlling the vehicle to run at a reduced speed; and/or the presence of a gas in the gas,
and outputting alarm information and second prompt information for requesting the driver to take over.
In an optional manner, the method further comprises the following steps: and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
According to another aspect of an embodiment of the present invention, there is provided a driver state information confirmation apparatus including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the driving state information of a driver when the automatic driving function of the vehicle is started;
the determining module is used for determining the authenticity of the fatigue state if the driving state information indicates that the driving state of the driver is the fatigue state;
and the resetting module is used for resetting the fatigue state index of the driver to zero if the fatigue state is false.
In an optional manner, in the aspect of determining the authenticity of the fatigue state, the determining module is specifically configured to:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; in the aspect of determining the authenticity of the fatigue state based on the steering wheel parameter, the determining module is specifically configured to:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an optional manner, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the determining module is further specifically configured to:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an optional manner, the apparatus further includes a control unit, and the control unit is configured to determine that the authenticity of the fatigue state is true if the preset operation input by the driver is not received within the first time period.
In an alternative mode, the device further comprises an output unit, wherein the output unit is used for controlling the vehicle to run at a reduced speed if the fatigue state is true; and/or outputting alarm information and second prompt information for requesting the driver to take over.
In a possible manner, the control unit is further configured to control the vehicle to perform a parking operation if the take-over signal of the driver is not received within a preset second time period.
According to another aspect of an embodiment of the present invention, there is provided a driver state information confirmation apparatus including:
when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver;
if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state; and determining the driving state of the driver according to the authenticity.
In an alternative, in said determining the authenticity of said fatigue state, said program is invoked by a processor to cause an in-vehicle device to:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; in said determining the authenticity of said fatigue state based on said steering wheel parameters, said program is invoked by a processor to cause an in-vehicle device to:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an optional manner, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the program is invoked by the processor to enable the vehicle-mounted device to perform the following operations:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an alternative, the program is further invoked by the processor to cause the in-vehicle device to:
and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
In an alternative, if the fatigue state is true, the program is further invoked by the processor to cause the in-vehicle device to:
controlling the vehicle to run at a reduced speed; and/or the presence of a gas in the gas,
and outputting alarm information and second prompt information for requesting the driver to take over.
In one possible approach, the program is further invoked by the processor to cause the in-vehicle device to:
and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
According to the embodiment of the invention, the vehicle-mounted equipment can further determine the driving state of the driver through the authenticity of the fatigue state, so that the condition that the vehicle-mounted equipment misjudges or misreports the driving state of the driver is prevented, and the improvement of the automatic driving experience of a user is facilitated; and when the fatigue state is false, namely the driving state of the driver is a non-fatigue state, the fatigue state index of the driver is reset to zero, so that the driving state information of the driver is monitored again, the driving state information is confirmed, and the driving state monitoring intelligence of the vehicle-mounted equipment is improved.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart illustrating a first embodiment of a driver state information confirmation method provided by the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a second embodiment of a driver state information confirmation method provided by the present invention;
FIG. 3A is a schematic flow chart diagram illustrating a third embodiment of a method for confirming driver status information provided by the present invention;
FIG. 3B is a schematic view of a scenario illustrating a method for confirming driver status information according to the present invention;
fig. 4A is a schematic structural view showing a first embodiment of the driver state information confirmation apparatus provided by the present invention;
fig. 4B is a schematic structural diagram showing a third embodiment of the driver state information confirmation apparatus provided by the present invention;
fig. 4C is a schematic structural view showing a third embodiment of the driver state information confirmation apparatus provided by the present invention;
fig. 5 is a schematic structural diagram showing an embodiment of the driver state information confirmation apparatus provided by the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 shows a flowchart of a first embodiment of the driver state information confirmation method of the present invention, which is executed by an in-vehicle apparatus. As shown in fig. 1, the method comprises the steps of:
step 110: when an automatic driving function of a vehicle is started, driving state information of a driver is acquired.
In the embodiment of the present invention, the vehicle-mounted device may be a terminal device that further includes other functions such as a personal digital assistant and/or a music player function.
The vehicle-mounted equipment can comprise a DMS system, an automatic driving system, a plurality of sensors and the like; the DMS system can be used for monitoring the driving state of a driver; the automatic driving system can be used for controlling the whole vehicle to realize the automatic driving function; the sensor may comprise at least one of: pressure sensors, temperature sensors, position sensors, angle sensors, rotational speed sensors, flow sensors, etc., without limitation thereto.
For example, the driving state information may be reported by a DMS system, an automatic driving system, and the like, which is not limited herein.
Step 120: and if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state.
Wherein, the driving state of the driver may include at least one of the following: fatigue state, drunk driving state, overspeed driving state, ringing state, etc., without limitation. The above-mentioned in-loop state may refer to a state in which the driver is interacting with the vehicle; when the driver is using the steering wheel or performing manual input, the driver can be considered to be in the loop state.
For example, the onboard device may obtain a face image or a human eye image of the driver or a physiological parameter, etc. through the DMS system to analyze the driving state and obtain the driving state of the driver. When the DMS monitors and obtains the driving state information of the driver, and generates an instruction according to the driving state information, the instruction is sent to the vehicle-mounted device through a local Area Network (CAN) bus, or sent to an automatic driving system in the vehicle-mounted device.
Wherein said authenticity may comprise: true or false.
For example, when the driving state information is reported by the DMS system and indicates that the driving state of the driver is a fatigue state, the authenticity of the driving state information reported by the DMS is further determined. If the authenticity of the fatigue state is determined to be true, determining that the driver is actually in the fatigue state, and the DMS system does not make a false judgment or report; otherwise, if the authenticity of the fatigue state is determined to be false, the driver is determined not to be in the fatigue state at present, and the DMS system is determined to generate misjudgment or false alarm.
Specifically, when the DMS reports that the driver is in the fatigue state, sensor parameters may be obtained according to a plurality of sensors such as a pressure sensor, a position sensor, and an angle sensor, which are disposed at a door, a seat, a steering wheel, a seat belt, and the like of the vehicle, so as to determine whether the vehicle is currently operated by the driver according to the sensor parameters, and to obtain whether the driver is actually in the fatigue state.
Step 130: and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step 110 is executed again.
When the vehicle-mounted device determines that the driving state of the driver is a non-fatigue state, the authenticity is false, and the authenticity is fed back to a device or a system (for example, a DMS system) for determining the driving state information, so that the device or the system updates the driving state information to be the non-fatigue state.
Further, if the vehicle-mounted device, or the device or the system for determining the driver state information determines the driving state information through the fatigue state index when monitoring the fatigue state of the driver, if the determined driving state information indicates that the fatigue state of the driver is false, the fatigue state index is reset to 0, and the method returns to continue to acquire the driving state information of the driver, and simultaneously recalculate the fatigue state index to determine the fatigue state information according to the fatigue driving index.
It can be seen that, according to the method for confirming the driver state information described in the embodiment of the present invention, the vehicle-mounted device can acquire the driving state information of the driver when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the vehicle-mounted equipment can further determine the driving state of the driver through the authenticity of the fatigue state so as to prevent the vehicle-mounted equipment from misjudging or misinforming the driving state of the driver, and the automatic driving experience of a user is improved; and when the fatigue state is false, namely the driving state of the driver is a non-fatigue state, the fatigue state index of the driver is reset to zero, so that the driving state information of the driver is monitored again, the driving state information is confirmed, and the driving state monitoring intelligence of the vehicle-mounted equipment is improved.
Fig. 2 shows a flowchart of another embodiment of the driver state information confirmation method of the present invention, which is executed by an in-vehicle apparatus. As shown in fig. 2, the method comprises the steps of:
step 210: when an automatic driving function of a vehicle is started, driving state information of a driver is acquired.
The above-mentioned related description of step 210 is identical to the driver status information confirmation manner described in the related step in fig. 1, and is not repeated herein.
Step 220: and if the driving state information indicates that the driving state of the driver is a fatigue state, detecting to obtain a steering wheel parameter of the vehicle, and determining the authenticity of the fatigue state according to the steering wheel parameter.
A plurality of sensors may be installed around the steering wheel of the vehicle-mounted device, and the steering wheel parameters of the steering wheel, such as torque, moment parameters, etc., may be obtained through the sensors, which is not limited herein.
In one possible approach, the steering wheel parameters include: torque and moment of torsion; said determining the authenticity of said fatigue state based on said steering wheel parameters further comprising the steps of: determining a torque change rate of the torque of the steering wheel from a first moment to a second moment; and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
The preset change rate and/or the preset torque value may be set by a user or default by a system, which is not limited herein.
The first time and the second time can be any two times in a preset time period, and the second time is greater than the first time; or the change condition of the steering wheel parameter can be monitored in a preset period, and then the first time and the second time respectively correspond to a first time and a last time in a period, and every other period can correspond to a first time and a second time; the preset period may be set by the user or default by the system, and is not limited herein.
It should be noted that the preset time period may be used to indicate a monitoring time period for monitoring the driving state of the driver through the automatic driving system, and may be 3min, 5min, 10min, 30min, 1h, 2h, and the like, which is not limited herein. The preset time period can also be set according to the environment of the area where the vehicle is located, for example, if the driver runs on an expressway, the road is straight under general conditions, the driver is easy to relax and alert and is easy to be in a fatigue state for a long time, and the monitoring time period can be set to be 2 h; if the driver is driving in a road winding area, for example, in a mountain climbing scene, the monitoring time period may be set to 30min relatively to an expressway scene.
Specifically, in the present invention, the preset change rate may refer to a minimum change rate of a parameter change of the torque of the steering wheel between a first time and a second time, and when the change rate of the torque is greater than or equal to the preset change rate, it is determined that the steering wheel is operated by the driver. Of course, if the hands of the driver are on the steering wheel, the driver is actually in a fatigue state, the steering wheel is not actually operated, and the vehicle body shakes due to the road meandering problem to drive the steering wheel to rotate, so that the special situation that the vehicle is operated by the driver is not proved enough, and in order to determine the actual operation situation of the driver, the driving state of the driver can be further determined by the torque.
Further, the preset torque value may refer to a minimum torque value of the torque of the steering wheel with parameter change between a first time and a second time, and the preset torque value may be set according to the common force of different drivers for controlling the steering wheel; and if the torque is simultaneously greater than or equal to the preset torque value, the vehicle can be determined to be manually operated by a driver, and the authenticity of the fatigue state is determined to be false.
In this example, the authenticity that the driving state information of the driver is a fatigue state can be monitored and obtained by the device or the system for determining the driving state information by combining the torque and the moment in the steering wheel parameters, which is beneficial to improving the determination accuracy so as to reduce the probability of misinformation of the device or the system for determining the driving state information.
When the torque change rate is smaller than the preset change rate or the torque is smaller than the preset torque value, the fact that the driving state information is the fatigue state is determined to be possibly true, and the user can be reminded to realize the specified operation so as to further determine the reality of the fatigue state.
Step 230: and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step 210 is executed.
The above-mentioned related description of step 230 is identical to the driver status information confirmation manner described in the related step in fig. 1, and is not repeated herein.
It can be seen that the method for confirming driver status information described in the embodiment of the present invention obtains the driver's driving status information when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, detecting to obtain a steering wheel parameter of the vehicle; determining the authenticity of the fatigue state according to the steering wheel parameters; determining the driving state of the driver according to the authenticity; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the authenticity that the driving state information of the driver is in a fatigue state can be monitored and obtained through the device or the system for visually judging the driver state information through the steering wheel parameters, the accuracy rate of judging the authenticity is improved, and the probability of misinformation of the device or the system for determining the driver state information is reduced.
Fig. 3 shows a flowchart of another embodiment of the driver state information confirmation method of the present invention, which is executed by an in-vehicle apparatus. As shown in fig. 3, the method comprises the steps of:
step 310: when an automatic driving function of a vehicle is started, driving state information of a driver is acquired.
Step 320: and if the driving state information indicates that the driving state of the driver is a fatigue state, detecting steering wheel parameters of the vehicle, and determining the authenticity of the fatigue state according to the steering wheel parameters.
Step 330: and determining the torque change rate of the torque of the steering wheel from the first moment to the second moment, and if the torque change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
The description of the above steps 310 to 330 is consistent with the description of the method for confirming the driver status information in fig. 1 and 2, and is not repeated herein.
Step 340: and if the torque change rate is smaller than the preset change rate or the torque is smaller than the preset torque value, outputting first prompt information to prompt the driver to input preset operation.
The first prompt message and/or the preset operation can be set by the user or defaulted by the system, and is not limited herein; the vehicle-mounted equipment can remind a driver in a voice or steering wheel vibration mode so as to remind the driver to execute preset operation corresponding to the first prompt information.
Wherein, the preset operation may include at least one of the following operations: the method comprises the steps of operating a poke rod, pressing a rest button, clicking a specific area of a central control screen and the like, wherein specific operation can be determined according to a specific driving scene of a user, and can also be randomly sent out by a system.
For example, if it is determined that the torque change rate corresponding to the steering wheel parameter in the vehicle is smaller than the preset change rate or the torque is smaller than the preset torque value through the method described in step 202 in fig. 2, it is guessed that the driver does not operate the steering wheel or the driver's hands are not on the steering wheel, i.e., the driver may be in a fatigue state, the driver may be prompted to perform a stick operation in a voice manner.
Step 350: judging whether the preset operation input by the driver is received within a preset first time period; and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
Step 360: and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
The preset first time can be set by a user or defaulted by a system, and is not limited herein; the preset first time is used for restricting the response time of the driver for executing the operation corresponding to the first prompt message, and may be set to 1.5s, for example; if the driving state of the driver is not in the fatigue state, the driver may respond quickly and may respond within 1.5s, and at this time, the driving state of the user may be determined to be in the non-fatigue state.
Step S370: and controlling the vehicle to run at a reduced speed.
Step S380: and outputting alarm information and second prompt information for requesting the driver to take over.
The warning information may be set by the user or may be defaulted by the system, and is not limited herein, and the warning information may be used to further determine the driving state of the user. The vehicle-mounted equipment can output alarm information while controlling the vehicle to run at a reduced speed, and the alarm information can also be used for prompting the fatigue state of the driver at present. For example, the alarm information may be a special-effect ring tone emitted by the vehicle-mounted device to eliminate or reduce the fatigue state of the driver.
The second prompt message may be set by the user or default by the system, which is not limited herein. The vehicle-mounted device may further request the driver to take over the vehicle through a second prompt message, which may be sent out in a voice manner, for example, the second prompt message may be set to request the driver to hold the "AP" key on the steering wheel for more than 1.5s with both hands, and so on.
Step S390: and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
The preset second time period may be set by the user or default by the system, which is not limited herein; the preset second time period may also be used to restrict a response time for the driver to execute an operation corresponding to the second prompt message, and the preset second time period may refer to a response time for the vehicle-mounted device to receive the second prompt message executed by the driver.
For example, the preset second time period may be set according to specific content of the second prompt message, for example, when the second prompt message is used to instruct the driver to hold the "AP" key on the steering wheel for 1.5s with both hands, the preset second time may be set to 1.5s, and if the driver does not hold the "AP" key on the steering wheel corresponding to the first prompt message within 1.5s, or does not hold the "AP" key within 1.5s, it is determined that the vehicle-mounted device does not receive the take-over signal of the driver; the vehicle-mounted equipment can determine the driving state of the driver as the fatigue state again, and the robustness of the vehicle-mounted equipment system is improved.
Further, in this case, if the driver continues driving with a great safety risk, the vehicle may be controlled to perform a parking operation.
For example, the vehicle-mounted device may determine the current environment of the driver and determine the nearest safe parking place according to the current environment, and may control the vehicle to automatically drive to the safe parking place and perform a parking operation.
In addition, if the driver receives the take-over signal of the driver within the second time period, it may be determined that the driver is currently in a non-fatigue state, and the automatic driving function may be turned off, and the driver interacts with the vehicle to implement manual driving.
For example, as shown in fig. 3B, a scene diagram may be used to control the vehicle to decelerate and control the vehicle to automatically change lane to a safe lane to perform a stopping operation when it is determined that the driver is in a fatigue state.
Step 3100: and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to.
The above-mentioned related description of step 3100 is identical to the driver status information confirmation manner described in the related step in fig. 1, and is not repeated herein.
It can be seen that the method for confirming driver status information described in the embodiment of the present invention obtains the driver's driving status information when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, detecting vehicle steering wheel parameters, and determining the authenticity of the fatigue state according to the steering wheel parameters; determining the torque change rate of the torque of the steering wheel from a first moment to a second moment, and if the torque change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false; if the moment change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value; outputting first prompt information to prompt the driver to input preset operation; judging whether the preset operation input by the driver is received within a preset first time period; if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false; if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true; controlling the vehicle to run at a reduced speed; outputting alarm information and second prompt information for requesting the driver to take over; if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute a parking operation; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the vehicle-mounted equipment can send different types of prompt information to the driver according to the authenticity so as to request the driver to execute the relevant operation or the relevant signal corresponding to the prompt information, and further control the vehicle to execute the corresponding operation according to the relevant operation or the relevant signal, so that the driving safety is improved. When the driver is found to be in a fatigue state, the state of the driver is judged through two information prompts, so that the robustness of the system is improved; the method and the device have the advantages that the vehicle-mounted equipment is prevented from immediately reminding the driver of taking over the vehicle after the driver is determined to be in the fatigue state, the influence of misinformation on the driver can be reduced, the improvement of user experience is facilitated, and the degree of trust of the driver on the automatic driving function is improved.
Fig. 4A shows a schematic configuration diagram of an embodiment of the driver state information confirmation apparatus of the present invention. As shown in fig. 4A, the apparatus 400 includes: an acquisition module 410, a determination module 420, and a reset module 430. Wherein,
an obtaining module 410, configured to obtain driving state information of a driver when an automatic driving function of a vehicle is started;
a determining module 420, configured to determine the authenticity of the fatigue state if the driving state information indicates that the driving state of the driver is the fatigue state;
and a resetting module 430, configured to, if the fatigue state is false, return the fatigue state index of the driver to zero, and return to the step of obtaining the driving state information of the driver.
In the aspect of determining the authenticity of the fatigue state, the determining module 420 is specifically configured to:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; in said aspect of determining the authenticity of the fatigue state based on the steering wheel parameter, the determining module 420 is specifically configured to:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an optional manner, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the determining module 420 is further specifically configured to:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an alternative manner, as shown in fig. 4B, the apparatus further includes a control unit 440, configured to determine that the fatigue state is true if the preset operation input by the driver is not received within the first time period.
In a possible manner, the control unit 440 is further configured to control the vehicle to perform a parking operation if the driver's take-over signal is not received within a preset second time period.
In an alternative mode, as shown in fig. 4C, the above device further includes an output unit 450, configured to control the vehicle to run at a reduced speed if the fatigue state is true; and/or outputting alarm information and second prompt information for requesting the driver to take over.
It can be seen that the driver state information confirmation apparatus described in the embodiment of the present invention obtains the driving state information of the driver when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the vehicle-mounted equipment can further determine the driving state of the driver through the authenticity of the fatigue state so as to prevent the vehicle-mounted equipment from misjudging or misinforming the driving state of the driver, and the automatic driving experience of a user is improved; and the fatigue state is false, namely when the driving state of the driver is a non-fatigue state, the fatigue state index of the driver is reset to zero, so that the driving state information of the driver is monitored again, the driving state information is confirmed, and the intelligence of monitoring the driving state of the vehicle-mounted equipment is improved.
Fig. 5 is a schematic structural diagram illustrating an embodiment of the driver state information confirmation apparatus according to the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the vehicle-mounted apparatus.
As shown in fig. 5, the in-vehicle apparatus may include: a processor (processor)502, a Communications Interface 504, a memory 506, and a communication bus 508.
Wherein: the processor 502, communication interface 504, and memory 506 communicate with each other via the communication bus 408. A communication interface 504 for communicating with network elements of other devices, such as clients or other servers. The processor 502 is configured to execute the program 510, and may specifically execute the relevant steps in the embodiment of the method for confirming the driver state information.
In particular, program 510 may include program code comprising computer-executable instructions.
The processor 502 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The one or more processors included in the vehicle-mounted device can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 506 for storing a program 510. The memory 506 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
Specifically, the program 510 may be invoked by the processor 502 to cause the in-vehicle device to perform the following operations:
when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver;
if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state;
and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to.
In an alternative manner, in terms of the determination of the authenticity of the fatigue state, the program 510 is invoked by the processor 502 to cause the vehicle-mounted device to perform the following operations:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; in said determining the authenticity of said fatigue state based on said steering wheel parameters, said program 510 is invoked by the processor 502 to cause the vehicle device to:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an optional manner, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the program 510 is invoked by the processor 520 to enable the vehicle-mounted device to perform the following operations:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an alternative manner, the program 510 is invoked by the processor 520 to cause the in-vehicle device to perform the following operations:
and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
In an alternative, if the fatigue status is true, the program 510 is further invoked by the processor 520 to cause the vehicle-mounted device to perform the following operations:
controlling the vehicle to run at a reduced speed; and/or the presence of a gas in the gas,
and outputting alarm information and second prompt information for requesting the driver to take over.
In one possible approach, the program is further invoked by the processor to cause the in-vehicle device to:
and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
It can be seen that the vehicle-mounted device described in the embodiment of the present invention obtains the driving state information of the driver when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the vehicle-mounted equipment can further determine the driving state of the driver through the authenticity of the fatigue state so as to prevent the vehicle-mounted equipment from misjudging or misinforming the driving state of the driver, and the automatic driving experience of a user is improved; and the fatigue state is false, namely when the driving state of the driver is a non-fatigue state, the fatigue state index of the driver is reset to zero, so that the driving state information of the driver is monitored again, the driving state information is confirmed, and the intelligence of monitoring the driving state of the vehicle-mounted equipment is improved.
An embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores at least one executable instruction, and when the executable instruction runs on a driver state information confirmation apparatus/device, the driver state information confirmation apparatus/device is caused to execute the driver state information confirmation method in any method embodiment described above.
The executable instructions may specifically be for causing the driver state information confirmation device/arrangement to perform the following:
when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver;
if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state;
and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to.
In an alternative, in said determining the authenticity of said fatigue state, said executable instructions cause said driver state information confirmation device/arrangement to:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
In an alternative form, the steering wheel parameters include: torque and moment of torsion; in said determining the authenticity of said fatigue state based on said steering wheel parameters, said executable instructions cause said driver state information confirmation device/arrangement to:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
In an alternative mode, if the torque change rate is smaller than the preset change rate, or the torque is smaller than the preset torque value, the executable instructions cause the driver state information confirmation apparatus/device to perform the following operations:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
In an alternative form, the executable instructions cause the driver state information confirmation apparatus/device to perform the following:
and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
In an alternative, if the fatigue state is true, the executable instructions cause the driver state information confirmation device/apparatus to:
controlling the vehicle to run at a reduced speed; and/or the presence of a gas in the gas,
and outputting alarm information and second prompt information for requesting the driver to take over.
In one possible approach, the program is further invoked by the processor to cause the in-vehicle device to:
and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
It can be seen that the driver state information confirmation apparatus/device described in the embodiment of the present invention acquires the driving state information of the driver when the automatic driving function of the vehicle is started; if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state; and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to. Therefore, the vehicle-mounted equipment can further determine the driving state of the driver through the authenticity of the fatigue state so as to prevent the vehicle-mounted equipment from misjudging or misinforming the driving state of the driver, and the automatic driving experience of a user is improved; and the fatigue state is false, namely when the driving state of the driver is a non-fatigue state, the fatigue state index of the driver is reset to zero, so that the driving state information of the driver is monitored again, the driving state information is confirmed, and the intelligence of monitoring the driving state of the vehicle-mounted equipment is improved.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. Where the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
Claims (10)
1. A driver state information confirmation method, characterized by comprising:
when the automatic driving function of the vehicle is started, acquiring the driving state information of a driver;
if the driving state information indicates that the driving state of the driver is a fatigue state, determining the authenticity of the fatigue state;
and if the fatigue state is false, the fatigue state index of the driver is reset to zero, and the step of acquiring the driving state information of the driver is returned to.
2. The method of claim 1, wherein said determining the authenticity of said fatigue state further comprises:
detecting vehicle steering wheel parameters;
and determining the authenticity of the fatigue state according to the steering wheel parameters.
3. The method of claim 2, wherein the steering wheel parameters comprise: torque and moment of torsion; said determining the authenticity of said fatigue state based on said steering wheel parameters, further comprising:
determining a torque change rate of the torque of the steering wheel from a first moment to a second moment;
and if the moment change rate is greater than or equal to a preset change rate and the torque is greater than or equal to a preset torque value, determining that the authenticity of the fatigue state is false.
4. The method of claim 3, wherein if the rate of change of torque is less than the predetermined rate of change, or the torque is less than the predetermined torque value, the method further comprises:
outputting first prompt information to prompt the driver to input preset operation;
judging whether the preset operation input by the driver is received within a preset first time period;
and if the preset operation input by the driver is received within the first time period, determining that the authenticity of the fatigue state is false.
5. The method of claim 4, further comprising:
and if the preset operation input by the driver is not received within the first time period, determining that the authenticity of the fatigue state is true.
6. The method according to any one of claims 1 to 5, wherein if the fatigue state is true, the method further comprises:
controlling the vehicle to run at a reduced speed; and/or the presence of a gas in the gas,
and outputting alarm information and second prompt information for requesting the driver to take over.
7. The method of claim 6, further comprising:
and if the take-over signal of the driver is not received within a preset second time period, controlling the vehicle to execute parking operation.
8. A driver state information confirmation apparatus characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the driving state information of a driver when the automatic driving function of the vehicle is started;
the determining module is used for determining the authenticity of the fatigue state if the driving state information indicates that the driving state of the driver is the fatigue state;
and the resetting module is used for resetting the fatigue state index of the driver to zero if the fatigue state is false.
9. An in-vehicle apparatus, characterized by comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the driver state information confirmation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein at least one executable instruction, which when run on a driver state information confirmation device/arrangement, causes the driver state information confirmation device/arrangement to perform the operations of the driver state information confirmation method according to any one of claims 1-7.
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