CN116849660A

CN116849660A - Automatic auxiliary driving test method, system, storage medium and electronic equipment

Info

Publication number: CN116849660A
Application number: CN202310735485.8A
Authority: CN
Inventors: 马钰
Original assignee: Zhonggong Gaoyuan Beijing Automobile Testing Technology Co ltd
Current assignee: Zhonggong Gaoyuan Beijing Automobile Testing Technology Co ltd
Priority date: 2023-06-20
Filing date: 2023-06-20
Publication date: 2023-10-10
Anticipated expiration: 2043-06-20
Also published as: CN116849660B

Abstract

The application relates to the technical field of auxiliary driving test, in particular to an automatic auxiliary driving test method, an automatic auxiliary driving test system, a storage medium and electronic equipment, wherein the method comprises the following steps: when a driver drives a test vehicle on a test road, obtaining blink frequency of the driver in a current time period, and obtaining a viewing position of an eye focus of a broken driver at a current moment; judging whether the blink frequency in the current time period is in a preset blink frequency range, obtaining a first judgment result, and judging whether the checking position of the eye focus of the driver at the current moment is in the preset eye focus range, obtaining a second judgment result; and when at least one of the first judging result and the second judging result is negative, sending a prompt to a driver. The driving state of the driver can be judged in real time so as to ensure driving safety.

Description

Automatic auxiliary driving test method, system, storage medium and electronic equipment

Technical Field

The application relates to the technical field of auxiliary driving test, in particular to an automatic auxiliary driving test method, an automatic auxiliary driving test system, a storage medium and electronic equipment.

Background

The automatic driving auxiliary system relates to driving safety, so that strict tests are required before the automatic driving auxiliary system is brought to the market, the automatic driving auxiliary system is subjected to limited scene simulation tests in a scene simulation, field test or field reproduction road scene mode in the currently known scene-based automatic driving auxiliary system test method, the test equipment is expensive, the test preparation period is long, the test scene is difficult to completely reproduce a real public road scene, and the authenticity of a test result is questioned. Thus, current public road testing remains the most effective way of automated driving assistance system testing.

The automatic driving auxiliary public road test method in the prior art can monitor complex and changeable real road conditions, and the automatic driving test method can monitor whether a driver is tired to drive a vehicle or not, but the automatic driving auxiliary test method which combines the road conditions with the fatigue conditions of the driver is not available.

Disclosure of Invention

The application aims to solve the technical problem of providing an automatic auxiliary driving test method, an automatic auxiliary driving test system, a storage medium and electronic equipment aiming at the defects of the prior art.

The technical scheme of the automatic auxiliary driving test method is as follows:

when a driver drives a test vehicle on a test road, obtaining blink frequency of the driver in a current time period, obtaining a viewing position of breaking eye focuses of the driver at the current moment,

judging whether the blink frequency in the current time period is in a preset blink frequency range or not to obtain a first judgment result, and judging whether the checking position of the eye focus of the driver at the current moment is in the preset eye focus range or not to obtain a second judgment result;

and when at least one of the first judging result and the second judging result is NO, sending a prompt to the driver.

The technical scheme of the automatic auxiliary driving test system is as follows:

the system comprises an acquisition module, a judgment module and a reminding module;

the acquisition module is used for: when a driver drives a test vehicle on a test road, acquiring blink frequency of the driver in a current time period, and acquiring a viewing position of breaking the eye focus of the driver at the current moment;

the judging module is used for: judging whether the blink frequency in the current time period is in a preset blink frequency range or not to obtain a first judgment result, and judging whether the checking position of the eye focus of the driver at the current moment is in the preset eye focus range or not to obtain a second judgment result;

the reminding module is used for: and when at least one of the first judging result and the second judging result is NO, sending a prompt to the driver.

A storage medium of the present application has stored therein instructions that, when read by a computer, cause the computer to execute an automated driving assistance test method according to any one of the above.

An electronic device of the present application includes a processor and the storage medium described above, where the processor executes instructions in the storage medium.

The beneficial effects of the application are as follows:

when a driver drives a test vehicle on a test road, the driving state of the driver can be judged in real time so as to ensure driving safety.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings in which:

FIG. 1 is a flow chart of an automatic driving assisting test method according to an embodiment of the application;

FIG. 2 is a schematic diagram of a preset eye focus range;

FIG. 3 is a schematic illustration of offset angle and offset displacement;

fig. 4 is a schematic structural diagram of an automatic driving assisting test system according to an embodiment of the application.

Detailed Description

As shown in fig. 1, an automatic driving assisting test method according to an embodiment of the present application includes the following steps:

s1, when a driver drives a test vehicle on a test road, obtaining blink frequency of the driver in a current time period, and obtaining a viewing position of an eye focus of a broken driver at the current moment;

s2, judging whether the blink frequency in the current time period is in a preset blink frequency range, obtaining a first judgment result, and judging whether the checking position of the eye focus of the driver at the current moment is in the preset eye focus range, obtaining a second judgment result;

wherein the preset blink frequency range may be determined by:

1) The first way is: the blink frequency of a plurality of drivers can be counted, the maximum blink frequency and the minimum blink frequency are selected as the upper limit and the lower limit of a preset blink frequency range, and the preset blink frequency range is suitable for the plurality of drivers;

2) The second way is: because the physiological properties of each person are different, the blink frequency of the driver is detected before or at the beginning of the actual test work, the standard blink frequency of the driver is obtained, and the preset blink frequency range is obtained according to the standard blink frequency.

The process of determining the preset eye focus range is as follows:

as shown in fig. 2, after the driver sits on the cab of the test vehicle and adjusts the seat and ties the seat, the horizontal line where the eye focus is located in the sitting-straight state is the upper boundary x of the region, the horizontal line where the eye focus is located in the natural humpback state is the lower boundary y of the region, the vertical line where the eye focus is located after the left-moving upper body is the left boundary m of the region on the premise of tying the seat belt, the vertical line where the eye focus is located after the right-moving upper body is the right boundary n of the region on the premise of tying the seat belt, and the region corresponding to the eye focus of the driver can be obtained by enclosing the upper and lower boundaries and the left and right boundaries. For each driver, because personal habits and physiological characteristics are fixed, the area corresponding to the eye focus of the corresponding driver can be stored and recorded only by one measurement without multiple measurements.

S3, when at least one of the first judgment result and the second judgment result is NO, a prompt is sent to a driver, and specifically:

1) The blink frequency in the current time period is within the preset blink frequency range, at this time, the driver belongs to normal blink, namely, the first judgment result is no, and if the blink frequency at the previous moment is not within the preset blink frequency range, the following two possible dangerous situations exist:

(1) a first possible dangerous situation: if the blink frequency of the driver in the current time period is too high, namely exceeds the upper limit of the preset blink frequency range, dangerous situations such as foreign matters entering eyes of the driver or tearing against the wind can occur;

(2) a second possible dangerous situation: if the blink frequency of the driver in the current time period is too low, i.e. below the lower limit of the preset blink frequency range, dangerous situations such as "the driver is straying or closing eyes" may occur.

2) The driver is located in the main driving position, the eye focus is in a certain front area for most of time, even if the driver looks at the rearview mirror or the left and right sides of the vehicle, the driver looks at the rearview mirror briefly, and the subsequent eye focus still shifts to a certain front area, namely the preset eye focus range. Since the physiological properties of each person are different, the area corresponding to the eye focus of the driver, that is, the preset eye focus range is determined before or at the start of the actual test work. In the actual driving process, if the eye focus of the driver is not in the preset eye focus range for a long time, the dangerous situation that the driver may look at a mobile phone at low head or speak with passengers of the co-driver is indicated.

When at least one of the first judgment result and the second judgment result is negative, the driver is in a dangerous state, on one hand, an alarm can be given, on the other hand, an auxiliary driving function is started, after the auxiliary driving function is started, the vehicle speed, the vehicle running direction and the vehicle deviation degree can be monitored in real time, and a driving instruction is given by combining the road conditions.

Optionally, in the above technical solution, the method further includes:

s4, when a driver drives the test vehicle on the test road, determining the deviation degree of the test vehicle according to the position of the test vehicle at the current moment, the position of the test vehicle at the last moment and the central position of the test road;

s5, determining whether to send a prompt to a driver according to the deviation degree.

Wherein, the degree of deviation includes deviation contained angle and deviation displacement, and the deviation contained angle represents: an angle between the first line and the second line, the first line representing: a straight line passing through the position of the test vehicle at the current time and the position of the test vehicle at the previous time, the second straight line representing: a line perpendicular to a third line and at the position of the vehicle under test at the previous moment, the third line representing: the deviation displacement of the position of the tested vehicle at the current moment and the straight line perpendicular to the road center position is as follows: and testing the displacement between the position of the vehicle at the current moment and the position of the road center.

When auxiliary driving is needed on the straight road, the vehicle position is monitored in real time, the vehicle position can be represented by the vehicle center point, the vehicle position is obtained once at regular intervals, the current vehicle position C is compared with the last vehicle position B and the road center position A, and the deviation degree is determined so as to remind a driver to adjust the steering wheel in the opposite direction.

The degree of deviation can be characterized by the deviated included angle, which is the included angle between the current vehicle position C and the last vehicle position B, and the deviated displacement, which is the displacement between the current vehicle position C and the road center position a, shown in fig. 3.

If the deviation included angle between C and B is not larger than the set angle, and the deviation displacement AC between C and A is smaller than 1/2 of the road width, no reminding is performed.

If the included angle between C and B is larger than the set angle and the deviation displacement AC between C and A is smaller than 1/2 of the road width, remindingThe driver adjusts the steering wheel in a direction opposite to the current direction of departure. At the same time, determining what time is the next time to obtain the position of the vehicle, wherein the next time corresponds to the time when the vehicle runs from C to M at the current speed, specifically, determining the intersection point M of the deviation direction and the road edge according to the included angle, for example, the deviation included angle is 45 degrees, the distance between C and the road edge can be obtained after the C point is determined to be C, and calculating the distance between CM to beDetecting that the current speed of the vehicle is v, and driving from C to M for a period of time of +.>Then go through +.>A vehicle position is obtained once after the time of (a), wherein when the included angle is alpha, the distance between CM is (C/sin alpha), and the time from C to M is +.>

And if the displacement AC between the C and the A is not less than 1/2 of the road width, reminding a driver to brake and automatically starting dangerous alarm light.

Optionally, in the above technical solution, the test road includes at least one of a curve, a ramp, a pothole feature, a tunnel, and a roundabout.

When it is necessary to perform the auxiliary driving on a road having road characteristics (e.g., curve characteristics, ramp characteristics, road width characteristics, number of lanes characteristics, pothole characteristics, tunnel characteristics, roundabout characteristics, etc.), the driver is reminded of the front road condition before entering a road section having road characteristics.

And recording the reminding time of the system in the driving process after the selected road feature is driven, and recording specific reminding content. And if the reminding time and the reminding content are all correct, the automatic auxiliary driving system is described to be correct.

In the above embodiments, although steps S1, S2, etc. are numbered, only specific embodiments of the present application are given, and those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the scope of the present application, and it is understood that some embodiments may include some or all of the above embodiments.

As shown in fig. 4, an automatic driving assisting test system 200 according to an embodiment of the present application includes an obtaining module 210, a judging module 220, and a reminding module 230;

the acquisition module 210 is configured to: when a driver drives a test vehicle on a test road, obtaining blink frequency of the driver in a current time period, and obtaining a viewing position of an eye focus of a broken driver at a current moment;

the judging module 220 is configured to: judging whether the blink frequency in the current time period is in a preset blink frequency range, obtaining a first judgment result, and judging whether the checking position of the eye focus of the driver at the current moment is in the preset eye focus range, obtaining a second judgment result;

the reminding module 230 is used for: and when at least one of the first judging result and the second judging result is negative, sending a prompt to a driver.

Optionally, in the above technical solution, the device further includes a deviation degree calculating module, where the deviation degree calculating module is configured to: when a driver drives a test vehicle on a test road, determining the deviation degree of the test vehicle according to the position of the test vehicle at the current moment, the position of the test vehicle at the last moment and the central position of the test road;

the reminder module 230 is also for: and determining whether to give a prompt to the driver according to the deviation degree.

Optionally, in the above technical solution, the degree of deviation includes a deviation included angle and a deviation displacement;

the offset angle represents: an angle between the first line and the second line, the first line representing: a straight line passing through the position of the test vehicle at the current time and the position of the test vehicle at the previous time, the second straight line representing: a line perpendicular to a third line and at the position of the vehicle under test at the previous moment, the third line representing: the position of the tested vehicle at the current moment is perpendicular to the straight line where the road center position is located; the offset displacement is: and testing the displacement between the position of the vehicle at the current moment and the position of the road center.

The above steps for implementing the corresponding functions by the parameters and the unit modules in the automatic driving assistance test system 200 according to the present application may refer to the parameters and the steps in the above embodiments of the automatic driving assistance test method, which are not described herein.

The storage medium of the embodiment of the application stores instructions, and when the instructions are read by a computer, the computer is caused to execute an automatic driving assisting test method according to any one of the above.

An electronic device according to an embodiment of the present application includes a processor and the above-described storage medium, where the processor executes instructions in the storage medium. Wherein, the electronic equipment can be selected from computers, mobile phones and the like.

Those skilled in the art will appreciate that the present application may be implemented as a system, method, or computer program product.

Accordingly, the present disclosure may be embodied in the following forms, namely: either entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or entirely software, or a combination of hardware and software, referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the application may also be embodied in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code.

Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer-readable storage 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 thereof. In this document, a computer readable storage 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.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. An automated driving assistance testing method, comprising:

when a driver drives a test vehicle on a test road, acquiring blink frequency of the driver in a current time period, and acquiring a viewing position of breaking the eye focus of the driver at the current moment;

2. The automated driving assist test method of claim 1, further comprising:

when a driver drives a test vehicle on a test road, determining the deviation degree of the test vehicle according to the position of the test vehicle at the current moment, the position of the test vehicle at the last moment and the central position of the test road;

and determining whether to send a prompt to the driver according to the deviation degree.

3. A method of testing assisted steering according to claim 2, wherein the degree of deviation comprises a deviation angle and a deviation displacement;

the offset angle represents: an angle between the first line and the second line, the first line representing: a straight line passing through the position of the test vehicle at the current time and the position of the test vehicle at the previous time, wherein the second straight line represents: a line perpendicular to a third line from the position of the test vehicle at the previous time, the third line representing: the deviation displacement is that the position of the tested vehicle at the current moment and the straight line perpendicular to the road center position are: and the displacement between the position of the test vehicle at the current moment and the position of the road center is tested.

4. A method of testing automated driving assistance according to any one of claims 1 to 3, wherein the test road comprises at least one of a curve, a ramp, a pothole feature, a tunnel, a roundabout.

5. The automatic auxiliary driving test system is characterized by comprising an acquisition module, a judgment module and a reminding module;

6. The automated driving assist test system of claim 5, further comprising a degree of deviation calculation module for: when a driver drives a test vehicle on a test road, determining the deviation degree of the test vehicle according to the position of the test vehicle at the current moment, the position of the test vehicle at the last moment and the central position of the test road;

the reminding module is also used for: and determining whether to send a prompt to the driver according to the deviation degree.

7. The automated driving assist test system of claim 6, wherein the degree of deviation comprises a deviation angle and a deviation displacement;

the offset angle represents: an angle between the first line and the second line, the first line representing: a straight line passing through the position of the test vehicle at the current time and the position of the test vehicle at the previous time, wherein the second straight line represents: a line perpendicular to a third line from the position of the test vehicle at the previous time, the third line representing: passing the position of the test vehicle at the current moment and being perpendicular to a straight line where the road center position is located; the offset displacement is: and the displacement between the position of the test vehicle at the current moment and the position of the road center is tested.

8. An automated driving assist test system in accordance with any one of claims 5-7 wherein the test roadway comprises at least one of a curve, a ramp, a pothole feature, a tunnel, a roundabout.

9. A storage medium having instructions stored therein, which when read by a computer, cause the computer to perform an automated driving assistance test method according to any one of claims 1 to 4.

10. An electronic device comprising a processor and the storage medium of claim 9, the processor executing instructions in the storage medium.