CN117325886A - Driving control method, device, driving control equipment and storage medium - Google Patents

Abstract

The invention discloses a driving control method, a driving control device, driving control equipment and a storage medium. The method comprises the following steps: detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel; and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle. According to the technical scheme, the vehicle is in the driving assistance mode, the takeover intention signal of the driver is detected in real time, whether the vehicle exits the driving assistance mode is judged by judging whether the takeover intention signal meets the condition corresponding to the scene where the vehicle is located, and different scenes where the vehicle is currently located are fully considered so as to realize flexible driving control in different scenes, so that safe and efficient driving control is facilitated.

Description

Driving control method, device, driving control equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of intelligent driving, in particular to a driving control method, a driving control device, driving control equipment and a storage medium.

Background

With the continuous development of intelligent driving technology, the application scene of the intelligent driving auxiliary technology is wider and wider, but because unmanned driving cannot be promoted, in mass production products, drivers must participate in the monitoring driving process in the whole course, and control takeover is performed on vehicles when necessary. The intelligent driving system needs to quickly and accurately identify the intention of a driver and release the transverse control right of the vehicle when the driver takes over the vehicle.

At present, the mode of detecting the driver to take over the vehicle is simpler, the driver is usually detected through a steering wheel hand force sensor, but the road surface impact when the driver bumps the road surface is fed back to the steering wheel hand force sensor, so that the intelligent driving system is easy to generate misjudgment, and the user experience is influenced; in order to improve the problem, whether the driver takes over is judged through a plurality of periods of hand torque, the judging time is too long, the hand torque can reach a very high value along with the time, the intelligent driving system suddenly exits from the transverse control, the driver can apply a larger torque to the steering wheel, the transverse control of the vehicle is unstable, abrupt experience is brought to the driver, the user experience is also influenced, and the driving safety is influenced even at a high speed.

Disclosure of Invention

The invention provides a driving control method, a driving control device, driving control equipment and a storage medium, so as to realize safe and efficient driving control.

In a first aspect, an embodiment of the present invention provides a driving control method, including:

detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel;

and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle.

In a second aspect, an embodiment of the present invention provides a driving control apparatus including:

the signal detection module is used for detecting a takeover intention signal of a driver under the condition that the vehicle is in a driving auxiliary mode, and the takeover intention signal at least comprises a contact signal of the driver and a steering wheel;

and the takeover control module is used for exiting the driving auxiliary mode under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle so as to enable the driver to transversely take over and control the vehicle.

In a third aspect, an embodiment of the present invention provides a driving control apparatus including:

at least one processor; and

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

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the driving control method as described in the first aspect.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the driving control method according to the first aspect.

The embodiment of the invention provides a driving control method, a driving control device, driving control equipment and a storage medium, wherein the driving control method comprises the following steps: detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel; and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle. According to the technical scheme, the vehicle is in the driving assistance mode, the takeover intention signal of the driver is detected in real time, whether the vehicle exits the driving assistance mode is judged by judging whether the takeover intention signal meets the condition corresponding to the scene where the vehicle is located, and different scenes where the vehicle is currently located are fully considered so as to realize flexible driving control in different scenes, so that safe and efficient driving control is facilitated.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

Fig. 1 is a flowchart of a driving control method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a hand torque increasing trend according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a simulation of hand moment during bump on a road surface according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a simulation of hand moment when a driver needs to take over according to the first embodiment of the present invention;

fig. 5 is a flow chart of a driving control method according to a first embodiment of the present invention;

fig. 6 is a schematic structural diagram of a driving control device according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a driving control device according to a third embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

It should be noted that the concepts of "first," "second," and the like in the embodiments of the present invention are merely used to distinguish between different devices, modules, units, or other objects, and are not intended to limit the order or interdependence of functions performed by the devices, modules, units, or other objects.

Example 1

Fig. 1 is a flowchart of a driving control method according to a first embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is safely and efficiently controlled. In particular, the driving control method may be performed by a driving control device, which may be implemented in software and/or hardware and integrated in a driving control apparatus. Further, the driving control apparatus includes, but is not limited to: desktop computers, notebook computers, smart phones, servers, and other electronic devices.

As shown in fig. 1, the method specifically includes the following steps:

s110, detecting a takeover intention signal of a driver when the vehicle is in a driving assistance mode, wherein the takeover intention signal at least comprises a contact signal of the driver and a steering wheel.

In this embodiment, the driving assistance mode may be understood as a mode for providing assistance driving and supplement to the driver, may be provided with a lateral/longitudinal intelligent driving assistance function, may be used for controlling intelligent driving of the vehicle, and may include a lane keeping assistance system or an advanced cruise system, etc. The lateral intelligent driving assistance function may be understood as a function of maintaining a proper lateral position and posture of the vehicle during running, for example, controlling left and right steering of the vehicle; a lateral-longitudinal intelligent driving assistance function can be understood as a function of maintaining a proper lateral position and posture and a longitudinal position and posture of a vehicle during running. The take over intention signal may refer to a signal that the driver wishes to take over and autonomously control the vehicle according to actual conditions and demands.

Specifically, when the vehicle is in the driving assistance mode, that is, the vehicle is in the lateral control state, in this mode, the taking over intention of the driver can be detected in real time, and the taking over intention signal is obtained, so that whether to exit the driving assistance mode or not can be determined according to the taking over intention signal, the driver takes over and controls the vehicle, and the user requirement is met. The take over intention signal may include, among other things, a driver contact signal with the steering wheel, a voice signal related to take over intention, etc.

And S120, exiting the driving assistance mode under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, so that the driver transversely takes over and controls the vehicle.

In this embodiment, the scenes may include an emergency scene, a non-emergency scene, and a voice scene. Since the driver's attention, contact with the steering wheel, and what the driver speaks, etc. may be different in different scenarios, determining whether the take over intention signal is indicative of the condition that the driver is to take over the vehicle laterally may also be different, so that the driver's take over intention may be timely and clearly identified in different scenarios.

Specifically, when the vehicle is in the driving assistance mode, the takeover intention signal of the driver is detected in real time, and when the takeover intention signal meets the corresponding condition, the vehicle exits the driving assistance mode, so that the driver takes over and controls the vehicle. The condition may refer to a condition corresponding to a scene in which the vehicle is currently located. Whether the vehicle exits the driving auxiliary mode is judged by judging whether the take-over intention signal meets the condition corresponding to the scene where the vehicle is located or not, and different scenes where the vehicle is located are fully considered so as to realize flexible driving control under different scenes, thereby being beneficial to realizing safe and efficient driving control.

The first embodiment of the invention provides a driving control method, which comprises the following steps: detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel; and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle. According to the technical scheme, the vehicle is in the driving assistance mode, the takeover intention signal of the driver is detected in real time, whether the vehicle exits the driving assistance mode is judged by judging whether the takeover intention signal meets the condition corresponding to the scene where the vehicle is located, and different scenes where the vehicle is currently located are fully considered so as to realize flexible driving control in different scenes, so that safe and efficient driving control is facilitated.

Optionally, the scene includes a non-emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

detecting a concentration state of the driver within a set period of time by a visual sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

In one embodiment, a non-emergency scenario may be understood as a scenario where the current driving state of the vehicle and the driving environment are relatively smooth and safe. The grip sensor may be used to detect the contact state between the driver and each region (e.g., front left half, front right half, back) of the steering wheel, including but not limited to grip, put on, leave off, etc., and may determine whether the driver operates the steering wheel according to the combination of different regions, for example, may detect by using a capacitive grip sensor, and identify the position of the driver's hand in the steering wheel by determining the change of capacitance on the steering wheel, thereby determining the contact state. The visual sensor may be used to detect a driver's attentiveness state, identify whether the driver is attentive to a vehicle driving task, concentrate on a road condition ahead, determine whether the driver has an intention to take over, and detect the driver's attentiveness state by detecting an eyelid opening and closing degree, a pupil line of sight direction, etc., for example, when it is detected that the eyelid opening and closing degree of the driver is greater than a corresponding preset threshold value and the pupil line of sight direction is a vehicle driving direction, then determine that the driver is attentiveness state at this time, and the driver has an intention to take over. The hand torque sensor may be used to detect a driver hand torque. The hand torque may include torque magnitude, direction, rotational speed, or the like.

Optionally, the conditions corresponding to the non-emergency scene include:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

Fig. 2 is a schematic diagram illustrating a simulation of increasing hand torque according to an embodiment of the present invention. When the vehicle is in the driving assistance mode and in the non-emergency scene, the takeover intention signal of the driver is detected in real time, the hand torque of the driver in a set period is collected through the hand torque sensor, and when the hand torque is in an increasing trend in a specified number of periods (such as three periods), as shown in fig. 2, and the absolute value of the hand torque in each period is larger than the set threshold, the driver is determined to have the takeover intention at present, for example, the hand torque in three continuous periods is gradually increased, and the absolute value is larger than the threshold, i.e., |n _{Distance between hand and force} |≥N _{Threshold value} ，|N _{Distance t between hand and force} |≥|N _{Distance t-1 between hand and hand} |≥|N _{Distance t-2 between hand and hand} |，N _{Distance between hand and force} For hand moment detected in real time by hand moment sensor, N _{Distance t between hand and force} For the moment of the hand at the current moment, N _{Distance t-1 between hand and hand} For the hand torque of the previous cycle, N _{Distance t-2 between hand and hand} For the moment of the hand in the last two periods, N _{Threshold value} For a set hand moment threshold, the hand moment of the driver in a set period is used forThe trend judgment is carried out, so that obvious changes of hand force distance caused by bumpy road surfaces can be effectively distinguished, and the misjudgment influence caused by bumpy road surfaces is eliminated;

the contact state of the driver and the steering wheel in a set period is detected through the holding force sensor, when the contact state is detected to be a gripping state or a placing state, the driver is judged to have the intention of taking over currently, and the erroneous judgment is effectively reduced, meanwhile, the judgment time is reduced, the taking over efficiency is improved, the problem of transverse control instability of the vehicle when the driver takes over is avoided, and the comfort and the safety of taking over or driving control are improved;

detecting the concentration state of the driver in a set period through a visual sensor, and judging that the driver has a take over intention currently when the current concentration state of the driver is detected to be concentrated on a road area, namely, the driver is concentrated on a vehicle driving task, wherein the judgment of the concentration state of the driver in the set period is beneficial to accurately identifying the take over intention of the driver, so that the safety of taking over the vehicle by the driver is further ensured, and the user experience is improved; when all the three judging modes are met, namely the taking over intention signal meets the condition corresponding to the current scene of the vehicle, the driving auxiliary mode can be exited, and the driver can safely and efficiently take over and control the vehicle transversely.

It should be noted that, the take over intention signal of the driver is detected in real time, and there is no distinction between the tandem.

Fig. 3 is a schematic diagram illustrating simulation of hand moment during road bump according to an embodiment of the present invention. Fig. 4 is a schematic diagram of a simulation of hand moment when a driver needs to take over according to the first embodiment of the present invention. As shown in fig. 3, the hand moment caused by bumping the road surface is disordered, negligence is small, the curve is irregular, the peak hand moment reaches 2.5N, as shown in fig. 4, in a specified number of periods, the hand moment is in an increasing trend, and the absolute value of the hand moment in each period is larger than a set threshold (such as 2N), at this time, the driver can be judged to have the intention of taking over, although the peak hand moment (such as 2.5N) in fig. 3 is larger than the hand moment (such as 2N) in fig. 4, the hand moment in fig. 3 is not in an increasing trend in the specified period, so that taking over is not needed, namely, the obvious change of the hand moment caused by bumping the road surface can be effectively distinguished through trend judgment on the hand moment of the driver in the set period, and the false influence caused by bumping the road surface is eliminated.

Optionally, the scene includes a voice scene;

the detecting the takeover intention signal of the driver includes:

detecting a voice instruction sent by a driver in a set period through a microphone;

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the driver's concentration state within a set period of time is detected by a visual sensor.

In one embodiment, a voice scenario may be understood as a scenario when a driver expresses a take over intention through a corresponding voice signal in a non-emergency situation. The voice command may be understood as a voice command sent by the driver and intended to take over the vehicle, such as "exit from lateral control", "i want to take over the vehicle", etc., and it should be noted that the voice command may be detected by a microphone, or may be detected by other voice recognition modules, which is not limited thereto.

Optionally, the conditions corresponding to the voice scene include:

the voice instruction comprises a set keyword;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

In one embodiment, keywords may be understood as keywords that the driver uses to express intent to take over, such as "exit lateral control", "I want to take over the vehicle", and so on.

The method comprises the steps that an intention taking-over signal of a driver is detected in real time when a vehicle is in a driving auxiliary mode and in a voice scene, and when a microphone detects that a keyword expressing the vehicle to be taken over exists in a voice instruction sent by the driver within a set period of time, such as 'exit transverse control', 'I take over the vehicle', the driver is judged to have the intention taking over currently, the driver directly expresses the intention taking over through the voice instruction, the driver is proved to prepare for taking over the vehicle with high probability, abrupt sense caused by the moment that the driver takes over the vehicle can be effectively avoided, the comfort level of taking over or driving control is improved, and the judging time is saved;

when the contact state of the driver and the steering wheel in the set period is detected to be a gripping state or a placing state by the grip force sensor, the driver is judged to have the intention of taking over currently, and the erroneous judgment caused by the fact that the driver mistakenly sends out a voice command can be effectively reduced by judging the contact state of the driver and the steering wheel in the set period, so that the safety of taking over is improved;

when the visual sensor detects that the attention of the driver is concentrated in the road area within the set period, the driver is judged to have the taking over intention currently, and the attention concentrating state of the driver within the set period is judged, so that misjudgment caused by misgiving of a voice instruction by the driver is further reduced, misjudgment caused by mistouching of the steering wheel by the driver is reduced, the taking over intention of the driver is recognized more accurately, and the safety of taking over the vehicle by the driver is further ensured. When all the three judging modes are met, namely the taking over intention signal meets the condition corresponding to the current scene of the vehicle, the driving auxiliary mode can be exited, and the driver can safely and efficiently take over and control the vehicle transversely.

Optionally, the scene includes an emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

In one embodiment, the emergency scene may be understood as a scene in which the vehicle encounters a sudden dangerous emergency, for example, a scene in which a traffic accident is likely to occur such as sudden braking of a vehicle in front, and may be suitable for a situation in which the vehicle has an abnormal obstacle in other directions to attract the driver's line of sight, so that the visual sensor is not required to detect the concentration state of the driver in a set period of time.

Optionally, the conditions corresponding to the emergency scene include:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state.

In an embodiment, the threshold may be understood as an emergency threshold preset according to an actual situation, and it should be noted that the threshold in the emergency scene is far greater than the threshold in the non-emergency scene or in the normal working condition.

For example, when the vehicle is in the driving assistance mode and in the emergency scene, the takeover intention signal of the driver is detected in real time, the hand torque of the driver in the set period is collected by the hand torque sensor, and when the hand torque has an increasing trend in the specified number of periods (such as three periods), and the absolute value of the hand torque in each period is greater than the set emergency threshold, it is determined that the driver has the takeover intention at present, for example, the hand torque of three consecutive periods gradually increases, and the absolute value is greater than the emergency threshold, i.e., |n _{Distance between hand and force} |≥N _{Emergency threshold} ，|N _{Distance t between hand and force} |≥|N _{Distance t-1 between hand and hand} |≥|N _{Distance t-2 between hand and hand} |，N _{Distance between hand and force} For hand moment detected in real time by hand moment sensor, N _{Distance t between hand and force} For the moment of the hand at the current moment, N _{Distance t-1 between hand and hand} For the hand torque of the previous cycle, N _{Distance t-2 between hand and hand} For the moment of the hand in the last two periods, N _{Emergency threshold} The hand moment threshold value of the emergency scene is far greater than the hand moment threshold value in the non-emergency scene, namely N _{Emergency threshold} ＞N _{Threshold value} Under an emergency scene, the obvious change of the hand torque caused by the bumpy road surface can be effectively distinguished by carrying out trend judgment on the hand torque of the driver in a set period of time, thereby eliminating the problem caused by the bumpy road surfaceThe risk in the case of sudden dangerous emergency can be reduced while the erroneous judgment of (a) affects;

the contact state of the driver and the steering wheel in a set period is detected through the holding force sensor, when the contact state is detected to be a gripping state or a placing state, the driver is judged to have the intention of taking over currently, and the erroneous judgment is effectively reduced, meanwhile, the judgment time is reduced, the taking over efficiency is improved, the problem of transverse control instability of the vehicle when the driver takes over is avoided, and the comfort and the safety of taking over or driving control are improved; when the two judging modes are met, namely the taking over intention signal meets the condition corresponding to the current scene of the vehicle, the driving auxiliary mode can be exited, and the driver is enabled to safely take over the vehicle in the transverse direction in a high-suction mode and control the vehicle.

Optionally, the driving control method further includes:

determining a scene in which the vehicle is currently located according to at least one of the following:

road surface bumping degree, vehicle speed change degree, voice signal of a driver, change trend of hand torque and smoothness of hand torque.

For example, the scene in which the vehicle is currently located may be determined to be a non-emergency scene according to the road surface jolt degree, the change trend of the hand torque, and/or the smoothness degree of the hand torque, the scene in which the vehicle is currently located may be determined to be a voice scene according to the voice signal of the driver, and the scene in which the vehicle is currently located may be determined to be an emergency scene according to the road surface jolt degree, the change trend of the vehicle speed, and/or the change trend of the hand torque. According to different situations, different scenes where the vehicle is currently located are determined, driving control under different scenes is facilitated, the autonomous taking-over requirement of a driver is met, the actual situation is fully considered, safe and efficient driving control is facilitated, and user experience is improved.

Fig. 5 is a schematic flow chart of a driving control method according to an embodiment of the invention. As shown in fig. 5, in the driving assistance mode of the vehicle, the takeover intention signal of the driver is detected in real time, when the vehicle is in a non-emergency scene, the hand moment of the driver in a set period is collected by the hand moment sensor, whether the hand moment meets the takeover is judged, if not, the vehicle continues to run in the driving assistance mode, that is, the driver does not take over the vehicle, if yes, the contact state of the driver and the steering wheel in the set period is detected by the grip sensor, whether the grip meets the takeover is judged, if not, the vehicle continues to run in the driving assistance mode, that is, the contact state is a gripping state or a stacking state, whether the attention concentration state of the driver meets the takeover is judged, if not, the vehicle continues to run in the driving assistance mode, that is, the driver does not take over the vehicle, if yes, the driving assistance mode is controlled to exit, and the vehicle is taken over and controlled by the driver;

when the vehicle is in a voice scene, firstly judging whether a keyword for expressing the vehicle to be taken over is detected in a voice instruction sent by a driver in a set period, if not, continuing to run in a driving auxiliary mode, namely, the driver does not take over the vehicle, if so, detecting the contact state of the driver and the steering wheel in the set period through a holding force sensor, judging whether the holding force meets the take over, if not, continuing to run in the driving auxiliary mode, namely, the driver does not take over the vehicle, if so, namely, the contact state is a gripping state or a placing state, judging whether the concentration state of the attention of the driver meets the take over, if not, continuing to run in the driving auxiliary mode, namely, the driver does not take over the vehicle, if so, transversely controlling to exit by the driving auxiliary mode, and taking over and controlling the vehicle by the driver;

when the vehicle is in an emergency scene, firstly, the hand moment of a driver in a set period is collected through a hand moment sensor, whether the hand moment meets emergency takeover is judged, if not, the vehicle continues to run in a driving auxiliary mode, namely, the driver does not take over the vehicle, if yes, the contact state of the driver and the steering wheel in the set period is detected through a holding force sensor, whether the holding force meets takeover is judged, if not, the vehicle continues to run in the driving auxiliary mode, namely, the driver does not take over the vehicle, if yes, namely, the contact state is a gripping state or a placing state, the driving auxiliary mode is controlled to exit transversely, and the driver takes over and controls the vehicle.

Example two

Fig. 6 is a schematic structural diagram of a driving control device according to a second embodiment of the present invention, where the driving control device may execute the driving control method according to the second embodiment of the present invention. The driving control apparatus provided in this embodiment includes:

a signal detection module 210 for detecting a takeover intention signal of the driver, including at least a contact signal of the driver with the steering wheel, in a case where the vehicle is in the driving assistance mode;

the takeover control module 220 is configured to exit the driving assistance mode, so that the driver laterally takes over and controls the vehicle, if the takeover intention signal meets a condition corresponding to a scene in which the vehicle is currently located.

The second embodiment of the present invention provides a driving control device, which includes: detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel; and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle. According to the technical scheme, the vehicle is in the driving assistance mode, the takeover intention signal of the driver is detected in real time, whether the vehicle exits the driving assistance mode is judged by judging whether the takeover intention signal meets the condition corresponding to the scene where the vehicle is located, and different scenes where the vehicle is currently located are fully considered so as to realize flexible driving control in different scenes, so that safe and efficient driving control is facilitated.

Optionally, the scene includes a non-emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

detecting a concentration state of the driver within a set period of time by a visual sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

Optionally, the conditions corresponding to the non-emergency scene include:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

Optionally, the scene includes a voice scene;

the detecting the takeover intention signal of the driver includes:

detecting a voice instruction sent by a driver in a set period through a microphone;

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the driver's concentration state within a set period of time is detected by a visual sensor.

Optionally, the conditions corresponding to the voice scene include:

the voice instruction comprises a set keyword;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

Optionally, the scene includes an emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

Optionally, the conditions corresponding to the emergency scene include:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state.

Optionally, the scene in which the vehicle is currently located is determined according to at least one of the following:

road surface bumping degree, vehicle speed change degree, voice signal of a driver, change trend of hand torque and smoothness of hand torque.

The driving control device provided by the second embodiment of the present invention can be used to execute the driving control method provided by any of the above embodiments, and has corresponding functions and beneficial effects.

Example III

Fig. 7 shows a schematic structural diagram of a drive control apparatus 10 that may be used to implement an embodiment of the present invention. The drive control apparatus 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The driving control apparatus 10 may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, user equipment, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the driving control apparatus 10 includes at least one processor 11, and a memory such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the drive control apparatus 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A plurality of components in the driving control apparatus 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the driving control apparatus 10 to exchange information/data with other apparatuses through a computer network such as the internet and/or various telecommunication networks, wireless networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as a driving control method.

In some embodiments, the driving control method may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the driving control apparatus 10 via the ROM 12 and/or the communication unit 19. One or more steps of the methods described above may be performed when the computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the driving control method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here may be implemented on a communication node 10, the communication node 10 having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user may provide input to the communication node 10. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (11)

1. A driving control method, characterized by comprising:

detecting a takeover intention signal of the driver in case the vehicle is in a driving assistance mode, the takeover intention signal comprising at least a contact signal of the driver with the steering wheel;

and under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle, exiting the driving auxiliary mode so as to enable the driver to transversely take over and control the vehicle.

2. The method of claim 1, wherein the scene comprises a non-emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

detecting a concentration state of the driver within a set period of time by a visual sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

3. The method of claim 2, wherein the condition corresponding to the non-emergency scene comprises:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

4. The method of claim 1, wherein the scene comprises a speech scene;

the detecting the takeover intention signal of the driver includes:

detecting a voice instruction sent by a driver in a set period through a microphone;

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the driver's concentration state within a set period of time is detected by a visual sensor.

5. The method of claim 4, wherein the condition corresponding to the speech scene comprises:

the voice instruction comprises a set keyword;

the contact state is a gripping state or a placing state;

the concentrated state is concentrated on a road area.

6. The method of claim 1, wherein the scene comprises an emergency scene;

the detecting the takeover intention signal of the driver includes:

detecting a contact state of a driver and a steering wheel in a set period of time through a holding force sensor;

the hand moment of the driver in a set period of time is acquired by a hand moment sensor.

7. The method of claim 6, wherein the condition corresponding to the emergency scene comprises:

in the specified number of periods, the hand torque is in an increasing trend, and the absolute value of the hand torque in each period is larger than a set threshold value;

the contact state is a gripping state or a placing state.

8. The method as recited in claim 1, further comprising:

determining a scene in which the vehicle is currently located according to at least one of the following:

road surface bumping degree, vehicle speed change degree, voice signal of a driver, change trend of hand torque and smoothness of hand torque.

9. A driving control apparatus, characterized by comprising:

the signal detection module is used for detecting a takeover intention signal of a driver under the condition that the vehicle is in a driving auxiliary mode, and the takeover intention signal at least comprises a contact signal of the driver and a steering wheel;

and the takeover control module is used for exiting the driving auxiliary mode under the condition that the takeover intention signal meets the condition corresponding to the current scene of the vehicle so as to enable the driver to transversely take over and control the vehicle.

10. A driving control apparatus characterized by comprising:

at least one processor; and

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

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the driving control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the driving control method according to any one of claims 1 to 8.