TWI538831B - Vehicle autonomous assist driving system and method - Google Patents

Description

Vehicle self-assisted driving system and method

The present invention is a system and method for assisting vehicle driving, and more particularly to a vehicle assisted driving system and method with autonomous assisted driving.

Nowadays, society is gradually aging. Due to poor health conditions, the threat of road safety for elderly people is gradually increasing, and if the driver suffers from drowsiness after drinking alcohol or taking drugs, it also has a major impact on road safety. Impact, so the safety of drivers and passengers has become more important and regarded as the primary goal of vehicle development, in addition to increasing the safety factor of the car body and installing protective devices (such as AirBag) to reduce the chance of driving and passenger injury in the event of a collision And further development such as Advanced Driver Assistance System (ADAS), using a variety of sensors to provide parking assistance, 360-degree body view system, night driving, blind spot detection, automatic driving, body tilt, tire pressure detection system (TPMS) With various functions such as pedestrian detection, it can provide safer driving assistance for drivers and passengers.

For example, the road captain program developed by VOLVO detects all GPS-using vehicles on the road. If the system finds other vehicles with the same planned route, the system will send signals to the receivers of these same planned vehicles. Vehicles in the same planning path are automatically arranged in a row All vehicles follow the system-designated vehicle, and the vehicle is equipped with Lane Keeping and Forward Collision Warning (FCW) to maintain the vehicle in the lane and maintain a safe distance, but there is no lane on the road. Line or roadside edge, the system will not be able to achieve the lane maintenance and forward collision warning because the lane position cannot be recognized.

Another example is Google's self-driving car, which is equipped with 3D radar (3D LiDAR) to scan obstacles around the vehicle, establish an electronic environmental obstacle map, and use GPS to maintain the safety of the vehicle itself, but the system needs to be equipped with expensive 3D LiDAR. There is a need to establish an electronic map in advance, and there is a problem of increased costs.

In summary, the existing Advanced Driver Assistance System (ADAS) installed on the vehicle provides safer driving assistance for both the driver and the passenger. However, complicated or expensive systems are required, and not all road environments are applicable. The problem.

As mentioned above, in order to improve the driving assistance of the driver and the passenger, it is necessary to set up a complicated or expensive system, and not all road environments are applicable. Therefore, the main object of the present invention is to provide a vehicle autonomous driving system. And methods, mainly by detecting the driver's state and judging the collision probability of the vehicle, and then providing appropriate or corresponding driving assistance functions, thereby solving the existing problem of improving the driver's and passenger's safe driving assistance, and setting up an expensive detection system. The problem of increased costs.

The main technical means adopted to achieve the foregoing objective is that the autonomous vehicle assisted driving system is provided in a vehicle, which comprises: a row of vehicle dangerous state determining means for detecting the distance and direction of obstacles outside the vehicle and The state of the driver, and providing a collision prediction value according to the distance and direction of the obstacle, the collision prediction value is compared with a reference value to generate a collision probability of the vehicle, and the driver's behavior ability is judged according to the state of the driver. And a danger level; and a vehicle driving assistance device coupled to the driving danger state determining device, the vehicle driving assistance device comprising one or more controllers connected to the vehicle, the controller is based on the collision probability and the behavior of the driver Ability and hazard level, corresponding to the appropriate control method to control the vehicle.

The main technical means adopted to achieve the foregoing objectives is to enable the aforementioned vehicle self-assisted driving method, including: a driving danger state determining step: detecting a distance and a direction of the vehicle from the surrounding obstacle to generate a collision prediction value, and according to The collision prediction value calculates the collision probability and detects whether the driver state is normal; and the vehicle driving assistance step: when the vehicle collision prediction value is judged to be high and/or the driver's state is not good, the corresponding vehicle control is immediately selected. A method or system to intervene to control the manner in which the vehicle travels.

Using the vehicle autonomous assisted driving system and method composed of the aforementioned components, the system detects the state of the driver and determines the collision probability of the vehicle through the system, and if the driver is in a bad state and/or the vehicle collision probability is too high, the system Providing appropriate or corresponding driving assistance functions and intervening to control the vehicle in conjunction with the vehicle's original driver assistance system, such as issuing a hazard warning, stopping an emergency vehicle or actively avoiding obstacles, automatic emergency stop, or conducting a hazard notification with the outside, This solves the problem of increasing the cost of setting up an expensive detection system when it is desired to improve the safe driving assistance of drivers and passengers.

10‧‧‧Vehicle Autonomous Driving System

20‧‧‧Electronic Control Unit

30‧‧‧Dangerous state judgment device

31‧‧‧ millimeter wave sensor

32‧‧‧ camera

40‧‧‧Vehicle driving aids

41‧‧‧ Controller

42‧‧‧Wireless transmission

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of a circuit in accordance with a preferred embodiment of the present invention.

2 is a flow chart of a preferred embodiment of the present invention.

Referring to the preferred embodiment of the present invention, as shown in FIG. 1 , a vehicle autonomous assisted driving system 10 is provided on a vehicle (hereinafter referred to as the vehicle), and the vehicle self-guided driving system 10 is electronically controlled with the vehicle. The unit (ECU) 20 is electrically connected, so that the vehicle autonomous driving system 10 can control the running state of the vehicle through the electronic control unit (ECU) 20, such as acceleration/deceleration, steering wheel angle, and direction lamp number conversion. The vehicle self-supporting driving system 10 includes a row of vehicle danger state determining device 30 and a vehicle driving assisting device 40. The driving danger state determining device 30 is electrically connected to the vehicle driving assist device 40, and the vehicle driving assisting device 40 is electronically controlled. Unit 20 is electrically connected.

The driving danger state judging device 30 is for detecting an external obstacle (such as a guardrail, a separation island or a passerby) or an outside vehicle (hereinafter referred to as an external vehicle) The distance and direction of the car and the state of the driver of the vehicle, and provide a collision prediction value according to the distance and direction of the obstacle or the outer car. The collision prediction value is compared with a reference value to judge the vehicle and the obstacle. The collision probability between the object or the outer car is high, and the driving danger state judging device 30 judges the driver's behavior ability and the danger level according to the state of the driver.

In the preferred embodiment, the driving danger state determining device 30 has a plurality of sensors, and the sensors include a millimeter wave sensor 31 and a camera 32. The millimeter wave sensor 31 is mainly disposed at The front of the car is used to detect the distance and direction of obstacles or vehicles in front of the car, but many millimeter wave sensors (not shown) or most cameras (not shown) can be added to this car. The left side, the right side of the car and the rear of the car (such as the left and right rear view mirrors and the rear bumper) to increase the detection range of the sides and the rear of the car body. The camera 32 obtains an image of the interior of the vehicle to identify the state of the driver (such as dozing, distracting, or drunk driving) based on the internal image, and classify the driver's behavioral ability and risk level, and then according to the behavioral ability. The signal is sent to the vehicle driving assist device 40 in accordance with the level of the danger level.

The vehicle driving assisting device 40 is provided with a controller 41 which selects corresponding or appropriate control according to the calculated collision probability of the driving danger state determining device 30 and the behavioral ability and the dangerous level of the classified driver. The method controls the vehicle through the electronic control unit 20, and the control method includes acceleration, deceleration, and changing of the steering wheel angle (auxiliary Help steering) or switch the direction of the lights, etc., to avoid obstacles or vehicles that may collide, or to give an audible and visual warning to the driver through the electronic control unit 20 on the dashboard of the vehicle. The controller 41 can be further connected to a wireless transmission device 42 for transmitting the status message of the vehicle or the driver to the external rescue unit via wireless signals such as 2G, 3G, WiFi or LTE.

Regarding the flowchart of the vehicle autonomous assisted driving system 10 of the present invention for executing the vehicle autonomous assisted driving method, as shown in FIG. 2, the following steps are performed:

Obstacle and driver state detection (201): the millimeter wave sensor 31 and the camera 32 of the driving danger state determining device 30 respectively detect the distance, speed and bearing of the obstacle outside the vehicle and the interior of the vehicle. The driving state of the driver.

Collision probability estimation (202): Provide a collision prediction value according to the distance and direction of the obstacle or the outer vehicle. The collision prediction value is compared with a reference value to determine the collision probability between the vehicle and the obstacle or the outer vehicle. High and low.

Driver status judgment (203): According to the driver's facial expression or head posture, the driver's behavior ability and danger level are judged. For example, if the driver's eyelid is closed or the head is shaken, the driver is considered to be dozing off. , is a high risk level.

Judging the hazard level (204): determining the collision probability or the driver's behavior level according to the foregoing steps, and starting the auxiliary function selection (205), the auxiliary function selection is divided into the following four according to the collision probability or the driver behavior level: Advanced driving assistance function (206): When the above steps are judged to be low risk level, the driver's danger warning signal or emergency assist control is provided by the advanced driving assistance function (ADAS), which includes: lane offset LDW (Lane Departure Warning), Blind-Spot Detection (BSD), Forward Collision Warning (FCW), and Image-Based Obstacle Detection (IODS).

Anti-collision auxiliary function (207): When it is judged that the collision probability is medium or high, the vehicle may collide, and the controller 41 of the vehicle driving assistance device 40 intervenes in the braking or throttle control device of the vehicle through the electronic control unit 20, The vehicle is emergency stopped or accelerated to avoid collision; the anti-collision assist function controls the vehicle in the lane through the lane keeping system (LKS: Lane Keeping System) and passes through the adaptive cruise control system (ACC: Adaptive) Cruise Control) detects vehicles in front and maintains a safe distance.

Automatic emergency stop function (208): Actively controlled by the controller 41, according to the millimeter wave sensor 31 at the front of the vehicle or by a millimeter wave sensor or camera provided on both sides of the vehicle or at the rear of the vehicle with blind spot detection ( BSD) Detects obstacles (or outside vehicles) around the car to plan an unobstructed driving (or parking) route and park the car to the side of the road.

Emergency notification function (209): The controller 41 can transmit through the aforementioned wireless transmission device 42 after a driver's disability or a collision accident occurs. The network or mobile phone informs the rescue unit to rescue or notify the emergency contact.

Determine whether the auxiliary function is over (210): If the vehicle is still running, continue to provide the driving assistance function. If the vehicle has stopped at the roadside or has reached the destination, the driving assistance function is terminated.

The selection of the hazard level determination, the height of the collision estimate, the driver status and the auxiliary function of the present invention are as follows:

As can be seen from the above, the system detects the driver's state and calculates the collision probability of the vehicle. If the driver's condition is not good or the vehicle collision probability is too high, the system provides appropriate or corresponding driving assistance functions, and combines the vehicle's electronics. The control unit intervenes to operate the vehicle, thereby solving the problem of increasing the cost of setting up an expensive detection system when it is desired to improve the safe driving assistance of the driver and the passenger.

10‧‧‧Vehicle Autonomous Driving System

20‧‧‧Electronic Control Unit

30‧‧‧Dangerous state judgment device

31‧‧‧ millimeter wave sensor

32‧‧‧ camera

40‧‧‧Vehicle driving aids

41‧‧‧ Controller

42‧‧‧Wireless transmission

Claims (11)

A vehicle autonomous assisted driving system is provided in a vehicle, comprising: a row of vehicle danger state determining device for detecting a distance and a direction of an obstacle external to the vehicle and a state of the driver, and according to the distance of the obstacle The direction provides a collision prediction value, which is compared with a reference value to generate a collision probability of the vehicle, and determines a driver's behavior ability and a danger level according to the state of the driver; and a vehicle driving assistance device, The vehicle driving assistance device includes one or more controllers connected to the vehicle, and the controller controls the driving ability and the dangerous level according to the collision probability and the control function. The driving probability of the vehicle is divided into a low collision probability and a high collision probability. The dangerous level includes a low risk level and a high risk level, wherein: when determined to be a low risk level, the controller selects an advanced driving assistance function. (ADAS) to control the vehicle; when judged to be a high hazard level and low collision probability, the controller Selecting an automatic emergency stop function or an emergency notification function to control the vehicle; when determining a high risk level and a high collision probability, the controller selects the automatic emergency stop function, the emergency notification function or an anti-collision assistance function To control the vehicle. The vehicle autonomous assisted driving system according to claim 1, wherein the controller of the vehicle driving assistance device is electrically connected to an electronic control unit (ECU) of the vehicle for controlling acceleration, deceleration or changing a steering wheel angle of the vehicle. The vehicle autonomous assisted driving system according to claim 2, wherein: The advanced driving assistance function (ADAS) includes lane offset warning function, blind spot detection function, front collision warning function and image-based obstacle detection function; the automatic emergency stop function is planned by the controller to be an obstacle-free driving The path controls the vehicle to park the roadside; the anti-collision assistance function is controlled by the controller to intervene in the vehicle's brake or throttle control device to cause the vehicle to stop or accelerate the dodge. The vehicle autonomous assisted driving system according to claim 3, wherein the controller is connected to a wireless transmission device for transmitting a wireless signal, the wireless signal being a dangerous level or state corresponding to the vehicle or the driver; When the emergency notification function is executed, the controller sends a notification to a rescue unit or an emergency contact person through the wireless transmission device. The vehicle autonomous assisted driving system according to any one of claims 1 to 4, wherein the driving danger state determining device includes a plurality of sensors for detecting an obstacle outside the vehicle or with other vehicles. Distance and direction and obtaining vehicle interior images to identify the driver's status. The vehicle autonomous assisted driving system according to claim 5, wherein the sensor comprises one or more millimeter wave sensors and a camera, the millimeter wave sensor is for detecting an obstacle outside the vehicle or with other vehicles. The distance and direction of the camera is to obtain the internal image of the vehicle. A vehicle self-assisted driving method includes: a driving danger state determining step: detecting a distance and a direction of a vehicle from a surrounding obstacle to generate a collision prediction value, and calculating a collision probability according to the collision prediction value, and detecting Whether the driver's status is normal; Vehicle driving assistance step: according to the level of the collision probability and the driver's behavior ability and danger level, select a corresponding control function to control the driving of the vehicle; the collision probability is divided into a low collision probability and a high collision probability, the dangerous level includes low a hazard level and a high hazard level, wherein, in the vehicle assisting step: when it is judged to be a low hazard level, the vehicle is controlled by an advanced driving assistance function (ADAS); when it is judged to be a high hazard level and a low collision probability The vehicle is controlled by an automatic emergency stop function or an emergency notification function; when it is judged to be a high risk level and a high collision probability, the automatic emergency stop function, the emergency notification function or an anti-collision assist function is used to control the vehicle. . The vehicle self-adaptive driving method according to claim 7, wherein the collision prediction value is compared with a reference value to determine a collision probability between the vehicle and the obstacle or the outer vehicle. The vehicle self-assisted driving method according to claim 8, wherein the advanced driving assistance function includes a lane offset warning function, a blind spot detection function, a front collision warning function, and an image-based obstacle detection function. The vehicle self-assisted driving method according to claim 8, wherein the anti-collision assisting function is to brake or throttle the vehicle to make an emergency stop or accelerate dodge; the automatic emergency stop function is to plan a driving path of the obstacle-free object to The vehicle is parked to the side of the road. The vehicle self-supporting driving method according to claim 10, wherein the emergency notification function sends an emergency message to a rescue unit or an emergency contact person. interest.