CN118701097B

CN118701097B - Lane departure sensing method and system based on intelligent automobile steering wheel

Info

Publication number: CN118701097B
Application number: CN202411185146.8A
Authority: CN
Inventors: 布和; 郭明; 王宪伟; 孙贤乐; 李天祥; 李成雷; 海波
Original assignee: Shanghai Huibo Precision Work Electronic Technology Co ltd
Current assignee: Shanghai Huibo Precision Work Electronic Technology Co ltd
Priority date: 2024-08-27
Filing date: 2024-08-27
Publication date: 2024-11-15
Anticipated expiration: 2044-08-27
Also published as: CN118701097A

Abstract

The application provides a lane departure sensing method and system based on an intelligent automobile steering wheel. According to the method, obstacle information of an obstacle in the running direction of a vehicle is obtained through a sensing module, the obstacle information is sent to a vehicle control module, so that the vehicle control module generates an auxiliary driving avoidance route according to the obstacle information, when at least part of planned route needs to control the vehicle to cross from a first lane to a second lane on the auxiliary driving avoidance route, the vehicle control module sends a lane departure warning instruction to a microcontroller, the microcontroller responds to the lane departure warning instruction, an induction prompt instruction is generated, the induction prompt instruction is sent to an induction unit, lane departure warning prompt is carried out on a driver on the vehicle through the induction unit, and lane departure warning is sent to the driver in advance when the driver needs to cross the lane, so that the driver can drive in time, and the driving safety and the intelligent level are effectively improved.

Description

Lane departure sensing method and system based on intelligent automobile steering wheel

Technical Field

The application relates to a data processing technology, in particular to a lane departure sensing method and system based on an intelligent automobile steering wheel.

Background

With the development of automatic driving technology and advanced driving assistance systems, intelligent automobiles have become an important development direction of the automobile industry. To improve driving safety and driving experience, smart automobiles are often equipped with a series of sensors and actuators that can monitor the environment surrounding the vehicle in real time and assist the driver in making decisions. Among them, the lane departure warning system is an important active safety technique that can alert the driver when the vehicle unintentionally departs from the lane.

However, the conventional lane departure warning system usually adopts an acoustic or screen display warning mode to remind the driver of the lane departure, but cannot early warn the lane departure behavior of the vehicle in advance when the obstacle avoidance is required.

Disclosure of Invention

The application provides a lane departure sensing method and system based on an intelligent automobile steering wheel, which are used for automatically planning an avoidance route when obstacle information is monitored and responded in real time in the running process of a vehicle and sending lane departure early warning to a driver in advance when the vehicle needs to cross lanes.

The application provides a lane departure sensing method based on an intelligent automobile steering wheel, which is applied to an intelligent automobile control system, wherein the intelligent automobile control system comprises a sensing module, a vehicle control module and an intelligent steering wheel, the sensing module is in communication connection with the vehicle control module, the intelligent steering wheel comprises a steering wheel body, a microcontroller and a sensing unit, the microcontroller is respectively in communication connection with the vehicle control module and the sensing unit, and the sensing unit is arranged on the steering wheel body; the method comprises the following steps:

The method comprises the steps that obstacle information of an obstacle in the running direction of a vehicle is obtained through the sensing module, the obstacle information is sent to the vehicle control module, and the vehicle is currently running on a first lane;

The vehicle control module generates an auxiliary driving avoidance route according to the obstacle information, and the auxiliary driving avoidance route is used for indicating the vehicle to avoid the obstacle;

If at least part of planned routes exist on the auxiliary driving avoidance route and at least part of the vehicles need to be controlled to cross from the first lane to the second lane, the vehicle control module sends lane departure warning instructions to the microcontroller;

the microcontroller responds to the lane departure warning instruction, generates a sensing prompt instruction, and sends the sensing prompt instruction to the sensing unit so as to carry out lane departure warning prompt on a driver on the vehicle through the sensing unit.

In the scheme, the sensing module, the vehicle control module and the intelligent steering wheel in the intelligent automobile control system work cooperatively, so that the obstacle information can be monitored and responded in real time in the running process of the vehicle, the avoidance route can be automatically planned, and the lane departure early warning is sent to the driver in advance when the vehicle needs to cross the lane, so that the driver is provided for timely driving intervention, and the driving safety and the intelligent level are effectively improved.

Optionally, the sensing unit includes a vibration unit, and the vibration unit is disposed on the steering wheel body; correspondingly, before the vehicle control module sends a lane departure warning instruction to the microcontroller, the method further comprises:

the vehicle control module determines a number of crossing lanes crossing from the first lane to the second lane and a maximum steering angle on the auxiliary driving avoidance line according to the auxiliary driving avoidance line, wherein the first lane is not included in the number of crossing lanes count, but the second lane is included;

the vehicle control module obtains a current speed of the vehicle and a current distance between the vehicle and the obstacle;

the vehicle control module determines a vibration frequency based on the number of lanes traversed, the current speed, the current distance, and the maximum steering angle.

In the scheme, the vibration unit is added to serve as a part of the induction unit, and the vibration frequency is dynamically adjusted according to parameters such as the number of crossing lanes, the current speed, the current distance and the like, so that lane departure early warning is more accurate and personalized, early warning prompts with different intensities can be provided according to specific conditions, and the perception effect and the response speed of a driver are enhanced.

Optionally, before the determining the vibration frequency according to the number of crossing lanes, the current speed, the current distance, and the maximum steering angle, the method further includes:

The vehicle control module determines a first weight value for representing importance of the number of crossing lanes, a second weight value for representing importance of the current speed, a third weight value for representing importance of the current distance and a fourth weight value for representing importance of the maximum steering angle according to the number of crossing lanes, the current speed, the current distance and the maximum steering angle.

In the scheme, the adjusting mechanism of the vibration frequency is further refined, and the effect of each parameter in determining the vibration frequency is quantized and balanced by introducing the weight value of each influencing factor, so that the flexibility and adaptability of the early warning system are improved, and the requirements under different driving scenes can be better met.

The vehicle control module determines a number of spanned lanes spanned from the first lane to the second lane based on the assisted drive avoidance route Maximum steering angle on the assisted driving avoidance routeWherein the first lane is not included in the number of lanes crossed count, but the second lane is included;

The vehicle control module obtains a current speed of the vehicle And a current distance between the vehicle and the obstacle；

The vehicle control module uses equation 1 and based on the number of lanes spannedThe current speedThe current distanceThe maximum steering angleDetermining vibration frequencyThe lane departure warning command includes the vibration frequencyThe vibration frequencyFor a vibration frequency of the vibration unit in a period of time before the vehicle finishes avoiding the obstacle, the formula 1 is:

wherein, The lane departure risk level characteristic value is given; is a preset vibration frequency; the vibration frequency adjustment coefficient is used; As a result of the first weight value, For the second weight value to be a second weight value,For the third weight value to be the value of the third weight,And is a fourth weight value.

In the scheme, the maximum steering angle is introduced as one of parameters affecting the vibration frequency, and the factors such as the number of crossing lanes, the current speed, the current distance and the like are combined, so that the accuracy and the reliability of lane departure early warning are further improved.

Specifically, in the formula 1 of the above scheme, the vibration frequency is calculated by comprehensively considering four key factors, namely, the number of crossing lanes crossing from the first lane to the second lane, the current speed of the vehicle, the current distance between the vehicle and the obstacle, and the maximum steering angle on the driving assisting avoidance line. The calculation mode not only improves the accuracy of lane departure early warning, but also ensures the timeliness and effectiveness of early warning prompt. By taking the number of crossing lanes into account, the complexity and urgency of the avoidance maneuver is reflected, the more crossing lanes, the higher the risk, and therefore the vibration frequency should be increased accordingly to draw the attention of the driver. By taking the current speed into account, the faster the vehicle speed, the greater the difficulty and risk of the evasion operation, which urgency can be reflected by adjusting the vibration frequency. By taking into account the current distance, the closer the distance to the obstacle, the higher the urgency of avoidance, and the increase in vibration frequency can prompt the driver to react faster. By taking the maximum steering angle into account, the larger the maximum steering angle on the avoidance route of the driver is, meaning the higher the difficulty and complexity of the avoidance action, the driver needs to be reminded by increasing the vibration frequency. It can be seen that by quantifying and integrating these factors into equation 1, the system is able to dynamically calculate the vibration frequency that best suits the current driving situation, thereby providing the driver with an early warning cue that is neither too obtrusive nor too duller. The personalized early warning mode not only improves driving safety, but also enhances driving comfort and intelligent experience.

Optionally, in said step of determining the number of lanes to be crossedThe current speedThe current distanceThe maximum steering angleDetermining vibration frequencyBefore, still include:

The vehicle control module uses equation 2 and based on the number of lanes spanned The current speedThe current distanceThe maximum steering angleDetermining the first weight valueThe second weight valueThe third weight valueAnd the first four weight valuesThe formula 2 is:

wherein, For the preset first weight calibration value,For the preset second weight calibration value,For the preset third weight calibration value,For the preset fourth weight calibration value,For the preset first weight adjustment factor,For the preset second weight adjustment factor,For the preset third weight adjustment factor,For the preset fourth weight adjustment factor,In order to preset the maximum safe avoidance speed,In order to preset the maximum safe avoidance distance,Is a preset maximum safe steering angle.

In the scheme, the weight values corresponding to the factors are dynamically and pertinently adjusted, a more clear basis is provided for adjusting the vibration frequency, and the early warning system can more accurately reflect the risk degree of lane departure.

Specifically, the weight distribution mechanism enables the system to flexibly adjust the vibration frequency according to the relative importance of different factors, so that the accuracy and individuation degree of lane departure warning are further improved. The formula 2 dynamically calculates a first weight value, a second weight value, a third weight value and a fourth weight value by combining the current driving conditions (such as speed, distance, number of crossing lanes and maximum steering angle) through a preset weight calibration value and an adjustment coefficient. The weight values not only reflect the relative importance of each factor under a specific driving situation, but also consider the safety standard of the system and the preset safety boundary (such as the preset maximum safety avoidance speed, the preset maximum safety avoidance distance and the preset maximum safety steering angle). In this way, the system can more intelligently evaluate the lane departure risk and dynamically adjust the vibration frequency according to the actual situation. For example, in the case of a large number of crossing lanes but a low current speed, the system may increase the weight of the speed factor appropriately to reduce the vibration frequency and avoid excessive reminding; when the current distance is very close and the steering avoidance is required to be greatly achieved, the system correspondingly increases the weight of the distance and the maximum steering angle factor, and the vibration frequency is increased to warn the driver to respond quickly.

the vehicle control module acquires identity information of a driver on the vehicle and determines driving habit setting data according to the identity information, wherein the driving habit setting data comprises a preset vibration frequency adjustment coefficient;

the vehicle control module uses equation 3 and sets the number of lanes to be crossed according to the driving habit The current speedThe current distanceThe maximum steering angleDetermining the vibration frequency adjustment coefficientThe formula 3 is:

wherein, For the preset vibration frequency adjustment coefficient,For the purpose of presetting the overall adjustment factor,For the preset adjustment factor first component,The second component is a preset adjustment factor.

In the scheme, the personalized setting of the lane departure warning system is realized by introducing the driver identity information and the driving habit setting data. According to the driving habit of the driver, the vibration frequency adjusting coefficient is automatically adjusted, so that the early warning prompt accords with personal preference and habit of the driver, and driving experience and comfort are improved.

Specifically, by introducing the driver identity information and the driving habit setting data, the deep personalized customization of the lane departure warning system is realized. The formula combines the preset vibration frequency adjustment coefficient with the specific driving habit of the driver, and a dynamically adjusted vibration frequency adjustment coefficient is obtained through calculation, so that the actual requirements and preferences of each driver are more met. The formula 3 includes a preset vibration frequency adjustment coefficient, a preset overall adjustment factor, and a first component and a second component of the preset adjustment factor determined according to the driver identity information. These factors work together to adjust the vibration frequency adjustment coefficient according to the driving habits of the driver (e.g., whether to prefer strong warning cues, whether to drive at high speeds or under complex road conditions, etc.). Therefore, when the risk of lane departure is faced, the system can adjust the vibration frequency according to personal habits of the driver, so that the early warning prompt is ensured not to disturb the driver excessively, and the driver can be effectively attracted. Through the personalized adjustment mechanism, the satisfaction and acceptance of users of the lane departure warning system are improved through the formula 3, and the driving safety and comfort are also improved.

Optionally, the vibration unit includes a vibrator unit array including at least four vibrator units uniformly arranged in a circumferential direction of the steering wheel body; correspondingly, after the vehicle control module generates the driving assistance avoidance route according to the obstacle information, the driving assistance avoidance route further comprises:

The vehicle control module determines an avoidance direction according to the auxiliary driving avoidance route, wherein the avoidance direction is an avoidance vector direction pointing to the second lane from the first lane, and the lane departure early warning instruction comprises direction information corresponding to the vector direction;

The microcontroller determines at least one target vibrator unit from the vibrator unit array according to the direction information so as to send the induction prompt instruction to the target vibrator unit only, and a characteristic included angle between a characteristic vector of the setting position of the target vibrator unit on the steering wheel body, which points to the rotation center of the steering wheel body, and the vector direction is an acute angle.

In the scheme, the vibrator unit array is arranged on the steering wheel, and the target vibrator unit is determined to carry out vibration prompt according to the avoidance direction, so that the prompt mode of lane departure early warning is more visual and clear, and a driver can feel information of the avoidance direction through vibration of a specific position on the steering wheel, so that the driver can respond more quickly.

Optionally, the microcontroller determines at least one target vibrator unit from the vibrator unit array according to the direction information, including:

The microcontroller obtains the current rotation angle of the intelligent steering wheel so as to determine the current position of each vibrator unit according to the current rotation angle and the initial position of each vibrator unit in the vibrator unit array on the steering wheel body, wherein the initial position is the setting position of each vibrator unit on the steering wheel body when the rotation angle of the intelligent steering wheel is zero;

the microcontroller determines a candidate vibrator unit set according to the current positions of all vibrator units in the vibrator unit array, and the rotation center of the steering wheel body points to a characteristic included angle between a characteristic vector of the current position of each candidate vibrator unit in the candidate vibrator unit set and the vector direction is an acute angle;

the microcontroller determines the target vibrator unit according to the candidate vibrator unit set, wherein the target vibrator unit is the candidate vibrator unit with the minimum characteristic included angle in the candidate vibrator unit set.

Optionally, the sensing unit further includes a capacitive sensor and a warning light unit, where the capacitive sensor and the warning light unit are disposed on the steering wheel body; correspondingly, after the sensing prompt instruction is sent to the sensing unit, the method further comprises:

Acquiring a holding signal of the intelligent steering wheel through the capacitance sensor, and sending the holding signal to the microcontroller;

And if the microcontroller determines that the holding state is that the driver does not hold the intelligent steering wheel, the microcontroller responds to the induction prompt instruction to control the prompt lamp unit to carry out flickering prompt.

In the scheme, the intelligent level of the lane departure warning system is further improved by optimizing the determination method of the target vibrator unit and introducing the sensing units such as the capacitive sensor and the prompting lamp unit. The system can automatically select the most suitable vibrator unit for prompting according to the current rotation angle, the avoidance direction and other information of the steering wheel, and additionally prompts a driver who does not hold the steering wheel through the prompting lamp unit, so that the full coverage and effective transmission of early warning information are ensured.

Optionally, the indicator light unit includes indicator light sequences uniformly arranged in a circumferential direction of the steering wheel body; correspondingly, after the vehicle control module determines the avoidance direction according to the auxiliary driving avoidance route, the vehicle control module further includes:

The microcontroller determines the corresponding rotation direction of the intelligent steering wheel according to the avoidance direction;

The microcontroller is used for producing a prompt lamp lighting signal sequence according to the rotation direction, wherein the prompt lamp lighting signal sequence is used for sequentially lighting the prompt lamp sequence according to the first circumferential direction of the intelligent steering wheel, and the first circumferential direction is consistent with the rotation direction.

In the scheme, the dynamic prompt function of the prompt lamp unit is realized by determining the prompt lamp lighting signal sequence according to the avoidance direction. The prompt lamp sequences are sequentially lightened according to the rotation direction of the intelligent steering wheel, so that more visual and clear avoidance direction indication is provided for a driver, and the driver is helped to make a correct driving decision more quickly.

In a second aspect, the present application provides an intelligent automobile control system, comprising: the intelligent steering wheel comprises a steering wheel body, a microcontroller and an induction unit, wherein the microcontroller is respectively in communication connection with the vehicle control module and the induction unit, and the induction unit is arranged on the steering wheel body;

In a third aspect, the present application provides an electronic device comprising:

A processor; and

A memory for storing executable instructions of the processor;

Wherein the processor is configured to perform any one of the possible methods described in the first aspect via execution of the executable instructions.

In a fourth aspect, the present application provides a computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out any one of the possible methods described in the first aspect.

According to the lane departure sensing method and system based on the intelligent automobile steering wheel, the sensing module is used for acquiring the obstacle information of the obstacle in the driving direction of the vehicle, and transmitting the obstacle information to the vehicle control module, so that the vehicle control module generates an auxiliary driving avoidance route according to the obstacle information, and when at least part of planning routes on the auxiliary driving avoidance route need to control at least part of the vehicle to cross from a first lane to a second lane, the vehicle control module transmits lane departure warning instructions to the microcontroller, so that the microcontroller responds to the lane departure warning instructions, generates sensing prompt instructions, and transmits the sensing prompt instructions to the sensing unit, so that lane departure warning prompt is carried out on a driver on the vehicle through the sensing unit, the obstacle information can be monitored and responded in real time in the driving process of the vehicle, the lane departure warning route is automatically planned, and the lane departure warning is sent to the driver in advance when the lane crossing is needed, so that the driver can drive in time, and the driving safety and the intelligent level are effectively improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a flow chart diagram illustrating a lane departure sensing method based on a smart car steering wheel according to an example embodiment of the present application;

FIG. 2 is a flow chart diagram illustrating a lane departure sensing method based on a smart car steering wheel according to another example embodiment of the present application;

FIG. 3 is a schematic diagram of a smart car control system according to an example embodiment of the present application;

Fig. 4 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

In order to solve the above problems, according to the embodiment of the present application, an intelligent automobile control system including a sensor module, a vehicle control module and an intelligent steering wheel is constructed on a system architecture design. The sensing module is responsible for acquiring obstacle information in the running direction of the vehicle in real time, and the vehicle control module generates an auxiliary driving avoidance route according to the information and sends a lane departure early warning instruction to the intelligent steering wheel when necessary. The intelligent steering wheel is used as a key component, has the function of a traditional steering wheel, integrates a microcontroller and an induction unit, and is used for receiving early warning instructions and providing visual early warning prompts for a driver.

When an obstacle needing to be avoided is encountered in the running process of the vehicle and the avoiding route relates to lane change, the vehicle control module sends a lane departure early warning instruction to the intelligent steering wheel. The core of the mechanism is that whether the early warning needs to be sent to the driver is judged through comprehensive evaluation of obstacle information, vehicle states (such as current speed and distance from the obstacle) and avoidance routes.

In order to improve the early warning effect, the intelligent steering wheel is provided with the vibration unit serving as a part of the induction unit. The vehicle control module dynamically adjusts the vibration frequency according to parameters such as the number of crossing lanes, the current speed, the current distance, the maximum steering angle and the like, and individuation and precision of early warning prompt are realized. Through the formulated calculation method, the system can scientifically determine the vibration frequency, and ensure that the early warning prompt is neither too abrupt nor too duller, thereby effectively improving the perception effect and the response speed of the driver.

In order to further improve the flexibility and adaptability of the early warning system, a weight value calculation formula is also introduced in the application. The vehicle control module dynamically calculates the weight value of each parameter according to the current driving condition (such as the number of crossing lanes, the current speed, the current distance and the maximum steering angle) and by combining a preset weight calibration value and an adjustment coefficient. These weight values reflect the relative importance of the factors in a particular driving scenario, helping the system to more accurately assess lane departure risk and adjust vibration frequency.

In addition, the application also considers the personalized requirements of the driver. By acquiring the identity information of the driver and determining the driving habit setting data (such as a preset vibration frequency adjusting coefficient), the system can automatically adjust the early warning prompting mode to better adapt to personal preference and habit of the driver. The personalized setting not only improves the comfort level of driving, but also is beneficial to improving the acceptance and response speed of drivers to early warning prompts.

In order to ensure the whole coverage and effective transmission of the early warning information, the intelligent steering wheel is also provided with sensing units such as a capacitive sensor, a prompting lamp unit and the like. When the driver does not hold the steering wheel, the system can draw the attention of the driver through the blinking prompt of the warning light unit. Meanwhile, by optimizing the generation mode of the prompt lamp lighting signal sequence (for example, the prompt lamp sequence is sequentially lighted according to the avoidance direction), the system can also provide more visual and clear avoidance direction indication for a driver.

Fig. 1 is a flow chart illustrating a lane departure sensing method based on a steering wheel of a smart car according to an exemplary embodiment of the present application. As shown in fig. 1, the method provided in this embodiment includes:

s101, obstacle information of an obstacle in the running direction of the vehicle is acquired through the sensing module, and the obstacle information is sent to the vehicle control module.

The method provided by the embodiment can be applied to an intelligent automobile control system, the intelligent automobile control system comprises a sensing module, a vehicle control module and an intelligent steering wheel, the sensing module is in communication connection with the vehicle control module, the intelligent steering wheel comprises a steering wheel body, a microcontroller and an induction unit, the microcontroller is in communication connection with the vehicle control module and the induction unit respectively, and the induction unit is arranged on the steering wheel body.

In this step, obstacle information of an obstacle in the traveling direction of the vehicle is acquired through the sensing module, and the obstacle information is sent to the vehicle control module, and the vehicle is currently traveling on the first lane.

Specifically, during the running process of the intelligent automobile, the built-in sensing module (such as a laser radar, a radar sensor, a camera and the like) can continuously monitor the road condition information in front of and at the side of the automobile. When it is detected that there are obstacles in the traveling direction of the vehicle, the sensing module immediately captures detailed information of the obstacles, including but not limited to the distance, size, position, moving speed, etc. of the obstacles. Then, the sensing module sends the acquired obstacle information to the vehicle control module in real time through a communication interface (such as a CAN bus) so as to facilitate subsequent processing.

S102, the vehicle control module generates an auxiliary driving avoidance route according to the obstacle information.

In this step, the vehicle control module generates an assisted driving avoidance route according to the obstacle information, and the assisted driving avoidance route is used to instruct the vehicle to avoid the obstacle.

Specifically, the vehicle control module immediately starts the avoidance route planning algorithm after receiving the obstacle information sent by the sensing module. The algorithm can comprehensively consider the factors of the current position, speed and acceleration of the vehicle, the specific position, the size and the like of the obstacle, and calculate an optimal auxiliary driving avoidance line. This route is intended to guide the vehicle to safely and effectively avoid obstacles and minimize the impact on the surrounding traffic flow. After planning, the vehicle control module stores the auxiliary driving avoidance line information in the memory for subsequent use. It should be noted that, in the intelligent automobile system, the vehicle control module generates an auxiliary driving avoidance line according to the obstacle information provided by the sensing module, and this process generally depends on the path planning and decision algorithm. These algorithms aim to find a safe, efficient path that allows the vehicle to avoid obstacles and continue its driving mission.

Alternatively, path finding and graph traversal algorithms may be employed, suitable for finding the shortest path between two points. In smart car obstacle avoidance applications, the starting location of the vehicle, the target location, and the location of the obstacle may be considered to find an optimal avoidance route by evaluating the cost of each possible path (typically including distance costs and heuristic costs). Assuming that the vehicle is traveling on a straight road, a stationary obstacle suddenly appears in front. The vehicle control module uses a path finding and graph traversing algorithm to set the current position of the vehicle as a starting point, a certain safe position without a barrier in front as an ending point, and meanwhile consider the barrier as an unpercable area. The algorithm will calculate and compare multiple paths that may bypass the obstacle, and eventually select the path with the lowest cost (i.e., the shortest path and highest safety) as the avoidance line.

Alternatively, a dynamic window algorithm may be employed that predicts the likely trajectory of the vehicle in a short future time based on the current speed and acceleration constraints of the vehicle and selects an optimal trajectory from which to avoid the obstacle and proceed toward the target. When the intelligent automobile detects that an obstacle exists in front, the dynamic window method simulates a series of tracks which the automobile can possibly run in the next few seconds according to the current speed, acceleration and steering capability of the automobile. By evaluating the distance between the tracks and the obstacle, the smoothness of the tracks, whether the tracks are close to the target point or not and other factors, the optimal track is selected as an avoidance line.

Alternatively, an artificial potential field algorithm may be used which simulates a virtual force field, wherein the target point generates an attractive force on the vehicle and the obstacle generates a repulsive force. The vehicle moves under the combined action of these forces, avoiding the obstacle and advancing toward the target. In intelligent car obstacle avoidance, the artificial potential field approach would consider the obstacle as a high potential energy region (generating repulsive force) and the target location as a low potential energy region (generating attractive force). Under the action of the forces, the vehicle plans a path which avoids a high potential energy area (obstacle) and faces a low potential energy area (target point) as an avoidance route.

It should be noted that, in the present embodiment, the specific form of the sensing module and the specific form of the generation of the driving assistance avoidance line algorithm are not limited.

S103, the vehicle control module sends a lane departure warning instruction to the microcontroller.

If at least part of the planned route needs to control at least part of the vehicle to cross from the first lane to the second lane on the auxiliary driving avoidance route, the vehicle control module sends a lane departure warning instruction to the microcontroller.

Specifically, after the vehicle control module generates the driving assistance avoidance line, it further determines whether the line involves a lane change. If at least a portion of the planned route exists in the avoidance route that requires control of at least a portion of the vehicle to traverse from the current driving lane (first lane) to an adjacent lane (second lane), the vehicle control module may determine that there is a lane departure risk. At this time, the vehicle control module may send a lane departure warning command to a microcontroller in the intelligent steering wheel. The instructions contain detailed information about the risk of lane departure, such as direction of departure, degree of departure, and expected duration.

And S104, the microcontroller responds to the lane departure warning instruction, generates a sensing prompt instruction and sends the sensing prompt instruction to the sensing unit.

In the step, the microcontroller responds to the lane departure warning instruction, generates a sensing prompt instruction, and sends the sensing prompt instruction to the sensing unit so as to carry out lane departure warning prompt on a driver on the vehicle through the sensing unit.

Specifically, when the microcontroller receives a lane departure warning command from the vehicle control module, the warning prompt mechanism is started immediately. According to a preset prompting strategy, the microcontroller generates corresponding induction prompting instructions and sends the instructions to an induction unit on the intelligent steering wheel. The sensing unit is typically comprised of a variety of sensors and actuators for receiving and responding to the commands of the microcontroller to provide visual early warning cues to the driver.

After receiving the induction prompt instruction, the induction unit on the intelligent steering wheel can immediately execute corresponding early warning actions. Optionally, the sensing unit includes a vibration unit and a warning light unit. The vibration unit vibrates according to the vibration frequency and the mode in the instruction, and the driver is reminded of the lane departure risk through the tactile feedback of the steering wheel. Meanwhile, the indicator lamp unit can also light a corresponding indicator lamp or carry out flashing indication according to the instruction, so that the early warning effect is further enhanced in a visual mode. Through the multi-sense early warning prompt mode, the invention can more effectively improve the perception capability and the response speed of a driver on the lane departure risk.

In this embodiment, the sensing module obtains the obstacle information of the obstacle in the driving direction of the vehicle, and sends the obstacle information to the vehicle control module, so that the vehicle control module generates an auxiliary driving avoidance route according to the obstacle information, and when at least a part of planned route needs to control the vehicle to cross from the first lane to the second lane on the auxiliary driving avoidance route, the vehicle control module sends a lane departure warning instruction to the microcontroller, so that the microcontroller responds to the lane departure warning instruction, generates an induction prompt instruction, and sends the induction prompt instruction to the sensing unit, so that lane departure warning prompt is carried out on a driver on the vehicle through the sensing unit, thereby being capable of monitoring and responding to the obstacle information in real time in the driving process of the vehicle, automatically planning the avoidance route, and sending the lane departure warning to the driver in advance when the vehicle needs to cross the lane, so as to provide timely driving intervention of the driver, and effectively improving the driving safety and the intelligent level.

Fig. 2 is a flow chart illustrating a lane departure sensing method based on a steering wheel of a smart car according to another exemplary embodiment of the present application. As shown in fig. 2, the lane departure sensing method based on the intelligent automobile steering wheel provided in this embodiment includes:

S201, obstacle information of an obstacle in the running direction of the vehicle is obtained through the sensing module, and the obstacle information is sent to the vehicle control module.

S202, the vehicle control module generates an auxiliary driving avoidance route according to the obstacle information.

S203, the vehicle control module determines the number of crossing lanes crossing from the first lane to the second lane and the maximum steering angle on the auxiliary driving avoidance line according to the auxiliary driving avoidance line.

In this embodiment, the sensing unit may further include a vibration unit disposed on the steering wheel body.

In this step, the vehicle control module determines a number of crossing lanes crossing from the first lane to the second lane based on the assisted driving avoidance lineMaximum steering angle on a drive assisting avoidance lineWherein the first lane is not included in the crossing lane number count, but the second lane is included.

S204, the vehicle control module obtains the current speed of the vehicle and the current distance between the vehicle and the obstacle.

In this step, the vehicle control module obtains the current speed of the vehicleAnd the current distance between the vehicle and the obstacle。

S205, the vehicle control module determines the vibration frequency according to the number of crossing lanes, the current speed, the current distance and the maximum steering angle.

In this step, the vehicle control module uses equation 1 and depends on the number of lanes spannedCurrent speedCurrent distanceMaximum steering angleDetermining vibration frequencyThe lane departure warning command includes vibration frequencyFrequency of vibrationFor the vibration frequency of the vibration unit in the period before the vehicle finishes avoiding the obstacle, equation 1 is:

It should be noted that for the first weight valueSecond weight valueThird weight valueFourth weight valueMay be the vehicle control module utilizing equation 2 and based on the number of lanes traversedCurrent speedCurrent distanceMaximum steering angleDetermining a first weight valueSecond weight valueThird weight valueFourth weight valueEquation 2 is:

In addition, for the above-mentioned vibration frequency adjustment coefficientThe determining of (1) may be that the vehicle control module obtains identity information of a driver on the vehicle, and determines driving habit setting data according to the identity information, where the driving habit setting data includes a preset vibration frequency adjustment coefficient;

the vehicle control module uses equation 3 and sets the number of lanes to be crossed according to the driving habit Current speedCurrent distanceMaximum steering angleDetermining vibration frequency adjustment coefficientsEquation 3 is:

S206, the vehicle control module sends a lane departure warning instruction to the microcontroller.

S207, the microcontroller responds to the lane departure warning instruction, generates a sensing prompt instruction and sends the sensing prompt instruction to the sensing unit.

In one possible implementation, the vibration unit includes an array of vibrator units including at least four vibrator units uniformly arranged in a circumferential direction of the steering wheel body.

The vehicle control module determines an avoidance direction according to the auxiliary driving avoidance route, wherein the avoidance direction is an avoidance vector direction pointing from the first lane to the second lane, and the lane departure early warning instruction comprises direction information corresponding to the vector direction.

The microcontroller determines at least one target vibrator unit from the vibrator unit array according to the direction information so as to send an induction prompt instruction to the target vibrator unit only, and a characteristic included angle between a characteristic vector of a rotation center of the steering wheel body, which points to a setting position of the target vibrator unit on the steering wheel body, and a vector direction is an acute angle.

Further, for the microcontroller to determine at least one target vibrator unit from the vibrator unit array according to the direction information, it may be that includes:

The microcontroller obtains the current rotation angle of the intelligent steering wheel so as to determine the current position of each vibrator unit according to the current rotation angle and the initial position of each vibrator unit on the steering wheel body in the vibrator unit array, wherein the initial position is the setting position of the vibrator unit on the steering wheel body when the rotation angle of the intelligent steering wheel is zero;

The microcontroller determines a candidate vibrator unit set according to the current positions of all vibrator units in the vibrator unit array, and the rotation center of the steering wheel body points to a characteristic included angle between a characteristic vector of the current position of each candidate vibrator unit in the candidate vibrator unit set and a characteristic included angle between the vector direction are acute angles;

The microcontroller determines a target vibrator unit according to the candidate vibrator unit set, wherein the target vibrator unit is the candidate vibrator unit with the minimum characteristic included angle in the candidate vibrator unit set.

In another possible implementation manner, the sensing unit further comprises a capacitive sensor and a warning light unit, and the capacitive sensor and the warning light unit are arranged on the steering wheel body.

The holding signal of the intelligent steering wheel can be acquired through the capacitive sensor and sent to the microcontroller. If the microcontroller determines that the holding state is that the driver does not hold the intelligent steering wheel, the microcontroller responds to the induction prompt instruction to control the prompt lamp unit to carry out flickering prompt.

The intelligent level of the lane departure warning system is further improved by optimizing the determination method of the target vibrator unit and introducing sensing units such as a capacitive sensor, a prompting lamp unit and the like. The system can automatically select the most suitable vibrator unit for prompting according to the current rotation angle, the avoidance direction and other information of the steering wheel, and additionally prompts a driver who does not hold the steering wheel through the prompting lamp unit, so that the full coverage and effective transmission of early warning information are ensured.

Further, the indicator light unit includes indicator light sequences uniformly arranged in the circumferential direction of the steering wheel body. The microcontroller can determine the corresponding rotation direction of the intelligent steering wheel according to the avoidance direction. Then, microcontroller produces the warning light signal sequence of lighting up according to the direction of rotation, and the warning light signal sequence of lighting up is used for lighting up the warning light sequence in proper order according to the first circumferencial direction of intelligent steering wheel, and first circumferencial direction is consistent with the direction of rotation.

The dynamic prompt function of the prompt lamp unit is realized by determining the prompt lamp lighting signal sequence according to the avoidance direction. The prompt lamp sequences are sequentially lightened according to the rotation direction of the intelligent steering wheel, so that more visual and clear avoidance direction indication is provided for a driver, and the driver is helped to make a correct driving decision more quickly.

Fig. 3 is a schematic structural view of a control system for a smart car according to an exemplary embodiment of the present application. As shown in fig. 3, the intelligent automobile control system 300 provided in this embodiment includes: the intelligent steering wheel 330 comprises a steering wheel body, a microcontroller and an induction unit, wherein the microcontroller is respectively in communication connection with the vehicle control module 320 and the induction unit, and the induction unit is arranged on the steering wheel body;

Acquiring obstacle information of an obstacle in the running direction of the vehicle through the sensing module 310, and sending the obstacle information to the vehicle control module 320, wherein the vehicle is currently running on a first lane;

The vehicle control module 320 generates an auxiliary driving avoidance route according to the obstacle information, where the auxiliary driving avoidance route is used to instruct the vehicle to avoid the obstacle;

if at least a portion of the planned route exists on the assisted driving avoidance route and at least a portion of the vehicle is required to be controlled to cross from the first lane to the second lane, the vehicle control module 320 sends a lane departure warning command to the microcontroller;

Optionally, the sensing unit includes a vibration unit, and the vibration unit is disposed on the steering wheel body; correspondingly, before the vehicle control module 320 sends the lane departure warning command to the microcontroller, the method further includes:

The vehicle control module 320 determines a number of crossing lanes crossing from the first lane to the second lane and a maximum steering angle on the assisted drive avoidance line from the assisted drive avoidance line, wherein the first lane is not included in the number of crossing lanes count but the second lane is included;

the vehicle control module 320 obtains a current speed of the vehicle and a current distance between the vehicle and the obstacle;

the vehicle control module 320 determines a vibration frequency based on the number of lanes traversed, the current speed, the current distance, and the maximum steering angle.

the vehicle control module 320 determines a first weight value for characterizing the importance of the number of spanned lanes, a second weight value for characterizing the importance of the current speed, a third weight value for characterizing the importance of the current distance, and a fourth weight value for characterizing the importance of the maximum steering angle based on the number of spanned lanes, the current speed, the current distance, and the maximum steering angle.

The vehicle control module 320 determines a number of spanned lanes spanned from the first lane to the second lane based on the assisted drive avoidance route Maximum steering angle on the assisted driving avoidance routeWherein the first lane is not included in the number of lanes crossed count, but the second lane is included;

the vehicle control module 320 obtains the current speed of the vehicle And a current distance between the vehicle and the obstacle；

The vehicle control module 320 uses equation 1 and is based on the number of lanes spannedThe current speedThe current distanceThe maximum steering angleDetermining vibration frequencyThe lane departure warning command includes the vibration frequencyThe vibration frequencyFor a vibration frequency of the vibration unit in a period of time before the vehicle finishes avoiding the obstacle, the formula 1 is:

The vehicle control module 320 uses equation 2 and is based on the number of lanes traversed The current speedThe current distanceThe maximum steering angleDetermining the first weight valueThe second weight valueThe third weight valueAnd the first four weight valuesThe formula 2 is:

The vehicle control module 320 obtains identity information of a driver on the vehicle, and determines driving habit setting data according to the identity information, wherein the driving habit setting data comprises a preset vibration frequency adjustment coefficient;

The vehicle control module 320 uses equation 3 and sets data according to the driving habit, and further includes:

the vehicle control module 320 uses equation 3 and sets the number of lanes crossed according to the driving habit The current speedThe current distanceThe maximum steering angleDetermining the vibration frequency adjustment coefficientThe formula 3 is:

Optionally, the vibration unit includes a vibrator unit array including at least four vibrator units uniformly arranged in a circumferential direction of the steering wheel body; correspondingly, after the vehicle control module 320 generates the driving assistance avoidance line according to the obstacle information, the driving assistance avoidance line further includes:

The vehicle control module 320 determines an avoidance direction according to the assisted driving avoidance route, wherein the avoidance direction is an avoidance vector direction pointing from the first lane to the second lane, and the lane departure warning command includes direction information corresponding to the vector direction;

The microcontroller obtains the current rotation angle of the intelligent steering wheel 330 to determine the current position of each vibrator unit according to the current rotation angle and the initial position of each vibrator unit in the vibrator unit array on the steering wheel body, wherein the initial position is the setting position of each vibrator unit on the steering wheel body when the rotation angle of the intelligent steering wheel 330 is zero;

acquiring a holding signal of the intelligent steering wheel 330 through the capacitance sensor, and sending the holding signal to the microcontroller;

If the microcontroller determines that the holding state is that the driver does not hold the intelligent steering wheel 330, the microcontroller responds to the induction prompt instruction to control the prompt lamp unit to perform flickering prompt.

Optionally, the indicator light unit includes indicator light sequences uniformly arranged in a circumferential direction of the steering wheel body; correspondingly, after the vehicle control module 320 determines the avoidance direction according to the auxiliary driving avoidance line, the method further includes:

the microcontroller determines the corresponding rotation direction of the intelligent steering wheel 330 according to the avoidance direction;

The microcontroller generates a warning light lighting signal sequence according to the rotation direction, wherein the warning light lighting signal sequence is used for sequentially lighting the warning light sequence according to a first circumferential direction of the intelligent steering wheel 330, and the first circumferential direction is consistent with the rotation direction.

Fig. 4 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application. As shown in fig. 4, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein:

A memory 402 for storing a computer program, which memory may also be a flash memory.

A processor 401 for executing the execution instructions stored in the memory to implement the steps in the above method. Reference may be made in particular to the description of the embodiments of the method described above.

Alternatively, the memory 402 may be separate or integrated with the processor 401.

When the memory 402 is a device separate from the processor 401, the electronic apparatus 400 may further include:

a bus 403 for connecting the memory 402 and the processor 401.

The present embodiment also provides a readable storage medium having a computer program stored therein, which when executed by at least one processor of an electronic device, performs the methods provided by the various embodiments described above.

The present embodiment also provides a program product comprising a computer program stored in a readable storage medium. The computer program may be read from a readable storage medium by at least one processor of an electronic device, and executed by the at least one processor, causes the electronic device to implement the methods provided by the various embodiments described above.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A lane departure sensing method based on an intelligent automobile steering wheel, characterized in that it is applied to an intelligent automobile control system, wherein the intelligent automobile control system comprises a sensor module, a vehicle control module and an intelligent steering wheel, wherein the sensor module is communicatively connected to the vehicle control module, and the intelligent steering wheel comprises a steering wheel body, a microcontroller and a sensing unit, wherein the microcontroller is communicatively connected to the vehicle control module and the sensing unit respectively, and the sensing unit is arranged on the steering wheel body; the method comprises:

Obtaining obstacle information of obstacles in the driving direction of the vehicle through the sensor module, and sending the obstacle information to the vehicle control module, the vehicle is currently traveling in the first lane;

The vehicle control module generates an assisted driving avoidance route according to the obstacle information, and the assisted driving avoidance route is used to instruct the vehicle to avoid the obstacle;

If at least part of the planned route on the assisted driving avoidance route requires controlling at least part of the vehicle to cross from the first lane to the second lane, the vehicle control module sends a lane departure warning instruction to the microcontroller;

The microcontroller generates a sensing prompt instruction in response to the lane departure warning instruction, and sends the sensing prompt instruction to the sensing unit, so as to provide a lane departure warning prompt to the driver of the vehicle through the sensing unit;

The sensing unit includes a vibration unit, and the vibration unit is arranged on the steering wheel body; correspondingly, before the vehicle control module sends a lane departure warning instruction to the microcontroller, it also includes:

The vehicle control module determines the number of crossing lanes from the first lane to the second lane and the maximum steering angle on the assisted driving avoidance route according to the assisted driving avoidance route, wherein the first lane is not included in the counting of the number of crossing lanes but the second lane is included;

The vehicle control module obtains the current speed of the vehicle and the current distance between the vehicle and the obstacle;

The vehicle control module determines the vibration frequency according to the number of lanes crossed, the current speed, the current distance, and the maximum steering angle;

Before determining the vibration frequency according to the number of lanes crossed, the current speed, the current distance and the maximum steering angle, the method further includes:

The vehicle control module determines, according to the number of lanes crossed, the current speed, the current distance and the maximum steering angle, a first weight value for representing the importance of the number of lanes crossed, a second weight value for representing the importance of the current speed, a third weight value for representing the importance of the current distance and a fourth weight value for representing the importance of the maximum steering angle;

The vibration unit includes a vibration subunit array, and the vibration subunit array includes at least four vibration subunits evenly arranged in the circumferential direction of the steering wheel body; correspondingly, after the vehicle control module generates an assisted driving avoidance route according to the obstacle information, it also includes:

The vehicle control module determines an avoidance direction according to the assisted driving avoidance route, the avoidance direction being an avoidance vector direction pointing from the first lane to the second lane, and the lane departure warning instruction includes direction information corresponding to the vector direction;

The microcontroller determines at least one target vibrator unit from the vibrator unit array according to the direction information, so as to send the sensing prompt instruction only to the target vibrator unit, and a characteristic angle between a characteristic vector of a setting position of the target vibrator unit on the steering wheel body and the vector direction, the characteristic angle being an acute angle;

The microcontroller determines at least one target vibrator unit from the vibrator unit array according to the direction information, including:

The microcontroller acquires a current rotation angle of the smart steering wheel, so as to determine a current position of each vibrator unit according to the current rotation angle and an initial position of each vibrator unit in the vibrator unit array on the steering wheel body, wherein the initial position is a setting position of the vibrator unit on the steering wheel body when the rotation angle of the smart steering wheel is zero;

The microcontroller determines a candidate vibrator unit set according to the current position of each vibrator unit in the vibrator unit array, and a characteristic angle between a characteristic vector of the current position of each candidate vibrator unit in the candidate vibrator unit set pointed by the rotation center of the steering wheel body and the vector direction is an acute angle;

The microcontroller determines the target vibrator subunit according to the candidate vibrator subunit set, and the target vibrator subunit is a candidate vibrator subunit with the smallest characteristic angle in the candidate vibrator subunit set.

2. The lane departure sensing method based on the smart car steering wheel according to claim 1 is characterized in that the sensing unit also includes a capacitive sensor and a warning light unit, and the capacitive sensor and the warning light unit are arranged on the steering wheel body; correspondingly, after the sensing prompt instruction is sent to the sensing unit, it also includes:

Acquire a holding signal of the smart steering wheel through the capacitive sensor, and send the holding signal to the microcontroller;

If the microcontroller determines that the holding state corresponding to the holding signal is that the driver is not holding the smart steering wheel, the microcontroller controls the warning light unit to flash for a warning in response to the sensing prompt instruction.

3. The lane departure sensing method based on the smart car steering wheel according to claim 2 is characterized in that the warning light unit includes a warning light sequence evenly arranged in the circumferential direction of the steering wheel body; correspondingly, after the vehicle control module determines the avoidance direction according to the auxiliary driving avoidance route, it also includes:

The microcontroller determines the corresponding rotation direction of the smart steering wheel according to the avoidance direction;

The microcontroller generates a warning light lighting signal sequence according to the rotation direction, and the warning light lighting signal sequence is used to light up the warning light sequence in sequence according to a first circumferential direction of the smart steering wheel, and the first circumferential direction is consistent with the rotation direction.

4. An intelligent automobile control system, characterized in that it comprises: a sensor module, a vehicle control module and an intelligent steering wheel, wherein the sensor module is communicatively connected with the vehicle control module, the intelligent steering wheel comprises a steering wheel body, a microcontroller and a sensing unit, the microcontroller is communicatively connected with the vehicle control module and the sensing unit respectively, and the sensing unit is arranged on the steering wheel body;

The vehicle control module generates an assisted driving avoidance route according to the obstacle information, wherein the assisted driving avoidance route is used to instruct the vehicle to avoid the obstacle;

5. An electronic device, comprising:

processor; and,

A memory, configured to store executable instructions of the processor;

The processor is configured to perform the method of any one of claims 1 to 3 by executing the executable instructions.

6. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 3.