CN113532452A

CN113532452A - Driving assistance system, method, vehicle and medium for continuation of vehicle automatic mode

Info

Publication number: CN113532452A
Application number: CN202010297150.9A
Authority: CN
Inventors: 唐帅
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2020-04-15
Filing date: 2020-04-15
Publication date: 2021-10-22
Also published as: WO2021209448A1

Abstract

A driving assistance system and method that continues a vehicle automatic mode are disclosed. The system comprises: a vehicle take-over detection unit configured to detect whether a driver is ready to take over the vehicle in response to detecting that an automatic mode of the vehicle is about to end; a route calculation unit configured to recalculate a new navigation route to the vehicle target location along an automatic mode support road in response to detecting that a driver is not ready to take over the vehicle; an execution unit configured to cause the vehicle to continue traveling in an automatic mode along the new navigation path. By means of the scheme, when the driver is not ready to take over the vehicle when the automatic mode is finished, the vehicle can continue to run in the automatic mode along the new navigation path, and safe running of the automatic mode of the vehicle is achieved to the maximum extent.

Description

Driving assistance system, method, vehicle and medium for continuation of vehicle automatic mode

Technical Field

The present disclosure relates to the field of vehicle driving technology, and more particularly, to a driving assistance system, method, vehicle, and medium where a driver is not ready to take over a situation at the end of a vehicle automatic mode.

Background

The automatic mode of the vehicle is that the vehicle automatically controls the steering wheel, brakes and accelerates in certain situations, such as on a highway. When these conditions are over (e.g., exit the highway), the vehicle issues a "take over" warning to the driver. However, if the driver is not ready to take over (e.g. the driver is dozing), the vehicle's handling of this is critical. In this regard, the prior art approach is to slow the vehicle down on the highway, but doing so is dangerous.

Therefore, there is a need for a driving assistance scheme for handling situations where the driver is not ready to take over at the end of the vehicle automatic mode.

Disclosure of Invention

An object of the present disclosure is to, when it is detected that a driver is not ready to take over a vehicle at the end of a vehicle automatic mode, implement a countermeasure to a situation where the driver is not ready to take over at the end of the vehicle automatic mode by recalculating a new navigation path along an automatic mode support road to a target position and instructing the vehicle to travel along the new navigation path, and avoid a safety accident caused by an improper countermeasure.

Thus, according to a first aspect of the present disclosure, there is provided a driving assistance system that continues an automatic mode of a vehicle, the system comprising:

a vehicle take-over detection unit configured to detect whether a driver is ready to take over the vehicle in response to detecting that an automatic mode of the vehicle is about to end;

a route calculation unit configured to recalculate a new navigation route to the vehicle target location along an automatic mode support road in response to detecting that a driver is not ready to take over the vehicle;

an execution unit configured to cause the vehicle to continue traveling in an automatic mode along the new navigation path.

In one embodiment, the vehicle takeover detection unit detects whether the driver is ready to take over the vehicle by detecting a manipulation of the vehicle and/or an input of an automatic mode end button.

In one embodiment, the vehicle takeover detection unit detects whether the driver is ready to take over the vehicle by means of a camera and/or a biosensor.

In one embodiment, the automatic mode support links include, but are not limited to, any one or combination of any of the following: highways, urban expressways, roads with highly autonomous driving map data and roads with high definition map data.

In one embodiment, the new navigation path comprises a time-optimal path or a distance-optimal path to the vehicle target location via the automatic mode support road.

In one embodiment, the execution unit further comprises a warning device for sending a warning message to remind the driver.

In one embodiment, the execution unit further comprises an information issuing device for presenting or notifying the driver of the new navigation path.

According to the embodiment of the disclosure, the information issuing device comprises a display device and/or a loudspeaker device, and is used for displaying or informing the new navigation path to the driver.

According to a second aspect of the present disclosure, there is provided a vehicle or mobile device comprising a driving assistance system according to the present disclosure that extends the vehicle automatic mode.

According to a third aspect of the present disclosure, there is provided a driving assistance method that continues an automatic mode of a vehicle, the method including:

(1) in response to detecting that the automatic mode of the vehicle is about to end, detecting whether a driver is ready to take over the vehicle;

(2) in response to detecting that the driver is not ready to take over the vehicle, recalculating a new navigation path along the automatic mode support road to the vehicle target location;

(3) causing the vehicle to continue traveling in the autonomous mode along the new navigation path.

In one embodiment, in (1), it is detected whether the driver is ready to take over the vehicle by detecting a manipulation of the vehicle and/or an input of an automatic mode end button.

In one embodiment, in (1), it is detected by means of a camera and/or a biosensor whether the driver is ready to take over the vehicle.

In one embodiment, in (2), the automatic mode support link includes, but is not limited to, any one or a combination of any plurality of the following: highways, urban expressways, roads with highly autonomous driving map data and roads with high definition map data.

In one embodiment, in (2), the new navigation path includes a time-optimal path or a distance-optimal path to the vehicle target location via the automatic mode support road.

In one embodiment, in (3), a warning message is also issued to alert the driver.

In one embodiment, in (3), the new navigation path is also presented or notified to the driver.

According to an embodiment of the present disclosure, the new navigation path is shown or notified to the driver by a display device and/or a speaker device.

According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the above.

By means of the scheme, when the driver is not ready to take over the vehicle when the automatic mode is finished, the vehicle can continue to run in the automatic mode along the new navigation path, and the situation that the driver is not ready to take over when the automatic mode is finished is processed.

Drawings

The present disclosure may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like reference numerals identify identical or functionally similar elements.

Fig. 1 shows a schematic view of a system according to one embodiment of the present disclosure.

Fig. 2 shows a block flow diagram of a method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure are described with reference to the drawings. The following detailed description and drawings are provided to illustrate the principles of the disclosure, which is not to be limited to the preferred embodiments described, but is to be defined by the appended claims. The disclosure will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present disclosure. Rather, these aspects are merely examples of systems and methods according to various aspects of the present disclosure recited in the appended claims.

The driving assistance system continuing the vehicle automatic mode according to the present disclosure may be mounted on or applied to a vehicle. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source. The drive assist system that continues the vehicle automatic mode according to the present disclosure is preferably applied to a vehicle having an automatic driving mode.

The vehicle with autonomous driving mode described herein has the following basic features: for example, such vehicles are mounted with a plurality of sensors or positioning devices, such as an image pickup device, a laser radar, a millimeter wave radar, an ultrasonic sensor, a vehicle networking communication (V2X) device, a High Automated Driving (HAD) map, and the like, which are capable of detecting the environment around the vehicle such as surrounding objects, obstacles, infrastructure, and the like; these vehicles are able to detect the location of the current vehicle through Global Navigation Satellite System (GNSS) and one or a combination of sensor detection and HAD maps; the vehicles can obtain a new navigation path through the online server; these vehicles are able to plan a route to be traveled based on the perception and location results; such vehicles can also send control signals to the powertrain, steering system, braking system, etc. based on the planned route.

Fig. 1 shows a schematic view of a driving assistance system 100 that continues a vehicle automatic mode according to an embodiment of the present disclosure. As shown in fig. 1, the driving assistance system 100 that extends the vehicle automatic mode includes a vehicle takeover detection unit 110, a path calculation unit 120, and an execution unit 130.

In fig. 1, in response to detecting that the automatic mode of the vehicle is about to end, a vehicle take-over detection unit 110 is used to detect whether the driver is ready to take over the vehicle. The imminent ending of the automatic mode of the vehicle may be determined based on the position of the vehicle on the navigation path, e.g., the vehicle is about to leave an automatic mode support road, e.g., an exit highway. The automatic mode support road includes, but is not limited to, any one or a combination of any of the following: highways, urban expressways, roads with HAD map data, and roads with High Definition (HD) map data. At this time, the driver needs to take over the control of the vehicle because the automatic mode cannot be continued. For the immediate conclusion of the automatic mode of the vehicle, a time limit for the take-over action may be set, and if the driver does not take over the vehicle control before this time, it is determined that the driver is not ready to take over the vehicle. For example, the time limit is 10 seconds before leaving the highway. It will of course be appreciated that the automatic mode vehicle may be decelerated prior to the time limit in preparation for a smooth transition to the next phase. When the automatic mode of the vehicle is about to end, alarm information can be sent out through an alarm device to remind a driver that the automatic mode of the vehicle is about to end. The alert information may be visual information, audible information, and/or tactile information.

In one example, the vehicle takeover detection unit 110 may determine whether the driver is ready to take over the vehicle by detecting a manipulation of the vehicle. For example, the driver begins to operate the braking system, the powertrain system, and/or the steering system, and a determination is made that the driver is ready to take over the vehicle. The driver's initiation of steering system operation may be determined by the vehicle's steering angle by the driver (not by the automatic mode system) being greater than a threshold; the driver starts to operate the brake system, and the judgment can be carried out by that the height change of the brake pedal caused by the driver (not by the automatic mode system) is more than a threshold value; the driver's initiation of operation of the powertrain system may be determined by a change in accelerator pedal height caused by the driver (not by the automatic mode system) being greater than a threshold. In another example, for a vehicle provided with an automatic mode end button, the vehicle takeover detection unit may determine whether the driver is ready to take over the vehicle by obtaining an input of the automatic mode end button. In yet another example, the vehicle takeover detection unit 110 may detect whether the driver is ready to take over the vehicle through a camera and/or a biosensor. The camera device may be mounted inside the vehicle and may detect that the driver is not ready to take over, for example, when the sleep time exceeds a threshold. The biosensor may be mounted on, for example, a steering wheel or on a connected wearable device (e.g., a smart band). The condition that the driver is not ready to take over can be judged by the fact that the parameters detected by the biosensor correspond to the preset state type of the driver. The parameters detected by the biosensor corresponding to the preset state type of the driver may be determined by a preset rule or machine learning. And, determining whether the driver is ready to take over the vehicle may be performed by a combination of any of the sensors described above.

In fig. 1, in response to detecting that the driver is not ready to take over the vehicle, the path calculation unit 120 is configured to recalculate a new navigation path along the automatic mode support road to the target position of the vehicle. In one example, the new navigation path comprises a time-optimal path or a distance-optimal path to the vehicle target location via the automatic mode support road. The new navigation path does not necessarily have to be an automatic mode support road all the way through, but the first segment needs to be an automatic mode support road. In fact, for most cases, the target position of the vehicle is not located on the automatic mode support road, and it is difficult to ensure that the new navigation path is the automatic mode support road throughout.

In fig. 1, the execution unit 130 is configured to enable the vehicle to continue to travel along the new navigation path in the automatic mode. For example, the vehicle automatically changes lane back to the forward driving lane (from the current exit lane). And then, sending control signals to a power system, a steering system and a braking system based on the new navigation path so that the vehicle continues to run in the automatic mode. In one example, the execution unit 130 further includes a warning device for sending a warning message to remind the driver. In particular, the warning information may be visual, audible and/or tactile information and the warning information is continuously enhanced until the driver notices the reminder. In a preferred example, the execution unit 130 further includes an information issuing device for displaying or notifying the driver of the new navigation path. In particular, the information issuing means may include a display means and/or a speaker means for showing or notifying the driver of the new navigation path.

Further, it should be understood that each unit in the above-described driving assistance system 100 for vehicle may be entirely or partially implemented by software, hardware, and a combination thereof. The units can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the units.

Those skilled in the art will appreciate that the schematic diagram of the driving assistance system 100 shown in fig. 1 is merely a block diagram of a portion of the structure associated with the present application, and does not constitute a limitation on the computer device to which the present application is applied, and a particular computer device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

A driving assistance method that continues a vehicle automatic mode according to an embodiment of the present disclosure will be described below with reference to the accompanying drawings. Fig. 2 is a flowchart illustrating a driving assistance method S100 that continues the vehicle automatic mode according to an embodiment of the present disclosure. The driving assistance method S100 that continues the vehicle automatic mode may be performed by the driving assistance system 100 that continues the vehicle automatic mode described above.

As shown in fig. 2, in S110, in response to detecting that the automatic mode of the vehicle is about to end, it is detected whether the driver is ready to take over the vehicle. The imminent ending of the automatic mode of the vehicle may be determined based on the position of the vehicle on the navigation path, e.g., the vehicle is about to leave an automatic mode support road, e.g., an exit highway. At this time, the driver needs to take over control of the vehicle, otherwise the automatic mode cannot be continued. For the immediate conclusion of the automatic mode of the vehicle, a time limit for the take-over action may be set, and if the driver does not take over the vehicle control before this time, it is determined that the driver is not ready to take over the vehicle. When the automatic mode of the vehicle is about to end, alarm information can be sent out through an alarm device to remind a driver that the automatic mode of the vehicle is about to end.

In one example, it may be determined whether a driver is ready to take over the vehicle by detecting a maneuver on the vehicle. For example, the driver begins to operate the braking system, the powertrain system, and/or the steering system, and a determination is made that the driver is ready to take over the vehicle. In another example, for a vehicle in which an automatic mode end button is provided, it may be determined whether the driver is ready to take over the vehicle by obtaining an input of the automatic mode end button. In yet another example, it may be detected by a camera and/or a biosensor whether the driver is ready to take over the vehicle. The camera device may be mounted inside the vehicle and may detect that the driver is not ready to take over, for example, when the sleep time exceeds a threshold. The biosensor may be mounted on, for example, a steering wheel or on a connected wearable device (e.g., a smart band). The condition that the driver is not ready to take over can be judged by the fact that the parameters detected by the biosensor correspond to the preset state type of the driver. The parameters detected by the biosensors corresponding to the preset state type of the driver can be determined by rules or machine learning. And, determining whether the driver is ready to take over the vehicle may be performed by a combination of any of the sensors described above.

In S120, in response to detecting that the driver is not ready to take over the vehicle, a new navigation path along the automatic mode support road to the vehicle target location is recalculated. In one example, the new navigation path comprises a time-optimal path or a distance-optimal path to the vehicle target location via the automatic mode support road. The new navigation path does not necessarily have to be an automatic mode support road all the way through, but the first segment needs to be an automatic mode support road. In fact, for most cases, the target position of the vehicle is not located on the automatic mode support road, so it is difficult to ensure that the new navigation path is the automatic mode support road all the way through.

In S130, the vehicle is caused to continue traveling in the automatic mode along the new navigation path. For example, the vehicle automatically changes lane back to the forward driving lane (from the current exit lane). And then, sending control signals to a power system, a steering system and a braking system based on the new navigation path so that the vehicle continues to run in the automatic mode. In one example, issuing a warning message to alert the driver, such as by a warning device, is also included in S130. In particular, the warning information may be visual, audible and/or tactile information and the warning information is continuously enhanced until the driver notices the reminder. In a preferred example, S130 further includes showing or notifying the driver of the new navigation path, for example, by an information issuing device. In particular, the information issuing means may include a display means and/or a speaker means for showing or notifying the driver of the new navigation path.

Another invention of the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above. It will be understood by those of ordinary skill in the art that all or part of the steps in the methods for implementing the above-described embodiments according to the present disclosure may be directed to implementation by associated hardware, and that such computer programs may be stored in a non-volatile computer-readable storage medium, and that such computer programs, when executed, may include the steps of the above-described embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.

It will be understood by those skilled in the art that the division and order of the various steps in the disclosed driving assistance method for continuation of the automatic mode of a vehicle are merely illustrative and not restrictive, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While the present disclosure has been described in connection with embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the disclosure.

Claims

1. A driving assistance system that continues a vehicle automatic mode, the system comprising:

a path calculation unit configured to recalculate a new navigation path along the automatic mode support road to a vehicle target location in response to detecting that the driver is not ready to take over the vehicle;

2. The driving assist system according to claim 1, wherein the vehicle takeover detection unit detects whether the driver is ready to take over the vehicle by detecting an input of a manipulation of the vehicle and/or an automatic mode end button or by a camera device and/or a biosensor.

3. The driving assist system according to claim 1 or 2, characterized in that the automatic mode support road includes, but is not limited to, any one of or a combination of any plural of: highways, urban expressways, roads with highly autonomous driving map data and roads with high definition map data.

4. The drive assist system according to any one of claims 1 to 3, characterized in that the new navigation path includes a time-optimal path or a distance-optimal path to the vehicle target position via the automatic mode support road.

5. The drive assist system according to any one of claims 1 to 4, characterized in that the execution unit further includes a warning device for issuing warning information to remind the driver and/or an information issuing device for presenting or notifying the driver of the new navigation path.

6. The driving assist system according to claim 5, wherein the information issuing means includes a display means and/or a speaker means for showing or notifying the driver of the new navigation path.

7. A vehicle, characterized in that the vehicle comprises a driving assistance system for an automatic mode according to any one of claims 1 to 6.

8. A driving assistance method that continues a vehicle automatic mode, characterized by comprising:

9. The method according to claim 8, characterized in that in (1) it is detected whether the driver is ready to take over the vehicle by detecting an input to a steering and/or automatic mode end button of the vehicle or by means of a camera device and/or a biosensor.

10. The method according to claim 8 or 9, wherein in (2), the automatic mode support road includes, but is not limited to, any one or a combination of any plurality of: highways, urban expressways, roads with highly autonomous driving map data and roads with high definition map data.

11. The method according to any one of claims 8-10, wherein in (2), the new navigation path comprises a time-optimal path or a distance-optimal path to the vehicle target location via the automatic mode support road.

12. The method according to any one of claims 8 to 11, characterized in that in (3) a warning message is also issued to remind the driver and/or the driver is also presented or informed about the new navigation path.

13. The method according to claim 12, characterized in that the new navigation path is presented or notified to the driver by means of a display device and/or a loudspeaker device.

14. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the method according to any one of the claims 8-13.