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CN1755740A - Driver assistance method and device - Google Patents

Driver assistance method and device Download PDF

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Publication number
CN1755740A
CN1755740A CNA2005101086034A CN200510108603A CN1755740A CN 1755740 A CN1755740 A CN 1755740A CN A2005101086034 A CNA2005101086034 A CN A2005101086034A CN 200510108603 A CN200510108603 A CN 200510108603A CN 1755740 A CN1755740 A CN 1755740A
Authority
CN
China
Prior art keywords
driver
track
notice
quality
history
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CNA2005101086034A
Other languages
Chinese (zh)
Inventor
阿恩德·恩格尔恩
扬·埃格尔哈夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN1755740A publication Critical patent/CN1755740A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Advise a kind of driver assistance method and device, wherein, under predetermined case, send warning to the driver.At this, driver's rut behavior history and/or the quality that lane for driver keeps are depended in this warning.

Description

Driver assistance method and device
Technical field
The present invention relates to a kind of driver assistance method and device.
Background technology
These class methods or device, promptly so-called driver assistance system is by with different feature descriptions.An example for this driver assistance system is that alarm (Lane-Departure-Warning) is left in a track, and it is leaving alerting driver maybe will leave the track time.In EP 1 074 430 A1, describe this track and left an example of alarm.Detect at this, whether automobile leaves maybe will be left the track of for example being defined by the runway graticule.If this is the case, alerting driver then.
Summary of the invention
According to the present invention, a kind of driver assistance method has been proposed, wherein, under some predetermined cases, send warning to the driver, wherein, control this warning according to the quality that the history of driver's rut behavior and/or driver's track keeps.
According to the present invention, a kind of driver assistance device has also been proposed, has a processing unit, it sends warning to the driver under some predetermined cases, wherein, this processing unit is such configuration, makes this warning depend on driver's rut behavior history and/or the quality that lane for driver keeps.
By considering, have only when the driver being decided to be when absent minded, at driver assistance system, particularly leave in the warning horn in the track and just can report to the police.To the whether notice judgement of concentrating (or tired or absent-minded) of driver, keep the quality (good degree) in track and/or derive by the history of rut behavior by the driver.If be not intended to and distinguishing between the changing Lane intentionally by ways and means described below thus, can realize: when being not intended to leave the track, sending an alarm, and report to the police many next abandoning of situation of deliberately leaving the track.Make the false alarm frequency significantly reduce thus, make the track leave the acceptable of alarm and obviously improve.
Particularly advantageously be: this ways and means does not have additional sensing mechanism, especially not having additional inner room sensing mechanism or be used to, to detect the sensing mechanism of driver's physiological situation good.Significantly reduced expense thus.In addition, provide thus cost low, notice concentrate and tired aspect to driver's judge.
Advantageously, described predetermined case is meant to leave maybe and will leaves the track.
Advantageously, according to the track data, for example automobile is determined the history of driver's rut behavior with respect to the lateral separation of traffic lane line.
Advantageously, form the history of the rut behavior of trying to achieve the driver according to the mean value of the track data value in past.
Advantageously, derive the quality of driver's track maintenance with reference to the driver's who obtains rut behavior according to current track data value.
Advantageously, according to driver's track maintenance quality or its activity, whether notice is concentrated to pass judgment on the driver.
Advantageously, derive driver's notice centrality value.
Advantageously, when identifying driver's notice centrality and lower, report to the police,, suppress or reduce and report to the police when identifying driver's notice centrality when high.
Other advantage obtains from the explanation of following embodiment.
Description of drawings
According to the form of implementation shown in the accompanying drawing the present invention is explained in detail below.
Fig. 1 illustrates the calcspar that the processing unit of alarm is left in a track.
Fig. 2 is the process flow diagram of a preferred embodiment, and it has kept describing on the basis of quality the concrete embodiment that alarm is left in the track in rut behavior history or track.
Embodiment
Fig. 1 illustrates a device, and this device is the part (for example leaving the executive component that is used to warn and/or be used to control a laterally steering automobile maybe will leave the track time) of driver assistance system.Shown is a control-or evaluation unit 10, and this control or evaluation unit have 12, one microcomputers 14 of at least one input circuit and an output circuit 16.These parts interconnect by a bus system 18, so that swap data each other.Some input leads lead to input circuit 12 from each measurement mechanism, send measuring-signal and metrical information by these measurement mechanisms.One first input lead 20 makes input circuit 12 be connected with an image sensor system 22, the picture of this image sensor system picked-up automobile front.Corresponding view data transmits by input lead 20.In addition, also be provided with input lead 24 to 28, they are connected input circuit 12 with measurement mechanism 30 to 34.These measurement mechanisms for example are some measured automobiles speed, measure steering angle (Lenkwinkel) and/or deflection ratio (Gierrate), measure a measurement mechanism that quickens other operational factor of the parameter (for example degree of driver's operation accelerator pedal) of hope, the speed that detects automobile and/or acceleration and measured automobiles representing the driver, and these parameters have meaning explicitly with the ways and means that describes below.By output circuit 16 and output lead 36 at least one warning device 38 of control, a warning light and/or be used for loudspeaker audible alarm and/or that be used for voice output and/or be used for display that image shows and/or the executive component that is used for the sense of touch indication for example, auxiliary by means of them, the relevant track of driver (will) information left.Scheme additionally or as an alternative in addition, designed in certain embodiments, by output circuit 16 and executive system 42 of output lead 40 controls, it for example automatically makes automobile sail loop (laterally steering) again by the intervention in the steering gear of automobile, and has prevented to leave the track like this.
By image analysis method, leave among the embodiment of alarm in the track, on view data basis, obtain the curve of representing the track and the track data of parameter by the automobile front picture of image sensor system input.Detected for example runway graticule (Fahrspurrandmarkierungen) (lane line on left side and/or right side) like this, and for example be similar to out corresponding lane line curve with polynomial expression (third power function).In addition, by the automobile geometric parameter, current and car speed parameter that pass by in case of necessity, steering angle and/or deflection ratio etc. is calculated the curve of the automobile rut of the right side for example and/or revolver, and is expressed as polynomial expression equally.Calculate other track data according to the tangent line contrast from above-mentioned data, for example (the right is with respect to right line for the lateral separation between lane markings line and automobile rut, the left side is with respect to left line), the curvature of rut, and/or the angle between rut and the lane markings line (right rut is with respect to right line, and left rut is with respect to left line).In a testing, also calculate scheduled time (time to line crossing) thus in case of necessity to the intersection of line.In a preferred embodiment, surpassing a predetermined lateral separation or when being lower than a predetermined time value, reporting to the police.
In this function, importantly, do not have only when the driver crosses the lane markings line really wittingly and just report to the police to the driver.
Now, basic design is: the quality that keeps according to the history of rut behavior and/or track and therefore concentrate according to driver's notice or fatigability is distinguished and had a mind to leave the track and be not intended to leave the track.By the history of rut behavior and/or the quality of track maintenance, feasible notice intensity or the fatigability that can pass judgment on the driver, and, then send a warning when when keeping the judgement of the quality of (Spurhaltung) to obtain driver's notice to the history of rut behavior (Spurverhalten) and/or track concentrating the conclusion that program descends or degree of fatigue improves.Obviously reduce the frequency of false alarm by this way and improve acceptance system.
Being used for the attenuating of identification of driver notice intensity or these required information of fatigability raising all is to be derived by the rut identification based on shooting.The sensing mechanism that does not need other.Employed algorithm, this algorithm will describe in detail below, not only make to be used for the present case of automobile in the track sending of caution signal judged, but also additionally consider the history of rut behavior and/or the quality that the track keeps.
At first obtain driver's rut behavior.It for example realizes as follows, and for example the lateral separation with (or dividually to two lane markings lines) between automobile and the lane markings line stores, and this distance is obtained with method in the rut identified range in known manner.Obtain the tolerance of the history of the rut behavior that is used for the driver according to the variation of storage numerical value, for example obtain many mean values that are stored numerical value.Can distinguish that thus whether the driver for example prefers travelling or he does not for example get over line by crosscut continually in bend basically with keeping left or keep right in the track.
In addition, by these data evaluations calculations and memory of driving person's activity (number of times of steering engagement) or the quality that his track keeps.This can be for example realized by the standard broken curve of each measured value of described lateral separation.Can judge on these parameter bases that then for the notice intensity of his driving task how or he is not absent-minded and/or tired the driver.Obtain according to the quality of track maintenance or according to steering procedure: how and when should report to the police to the driver.Do not need to be used to detect driver's eye or for example analyze the additional inner room video camera that its eyelid is closed behavior.
In order when leaving the track, to send or to suppress one and report to the police and for example following the carrying out of evaluation,, carry out early warning from the track when automobile when for example no steering correction ground rolls away from lentamente on a definite time interval to turning to activity or track to keep quality.In this case, the driver may not watch runway attentively perhaps he falls asleep.Another kind of scene is that standard deviation increases before leaving the track, that is to say the quality variation of track maintenance.The general notice intensity that must be the driver has in this case reduced (fatigue), and because the attenuating of notice intensity also will be sent a warning when leaving the track.
Fig. 2 illustrates a process flow diagram, and this figure summary illustrates a preferred implementation of said method mode.Process flow diagram is represented the program of moving in the microcomputer at processing unit at this.
When leaving alarm work in the track, the program that this signal is described carries out.In first step 200, read in the important parameter of the position in the track about track geometric parameter and automobile from graphical analysis.These parameters especially automobile with respect to one or with respect to lateral separation and some parameters of two lane line marks, for example automobile is with respect to the angle of one or two lane line mark.Scheme is obtained automobile until surmounting the required time value of lane line mark (" to the time of getting over line ") as an alternative.These current measurement parameters be stored and with previously stored measurement parameter according to method evaluation described below.
In the step of following 206, the mean value of the measured value of coupling and the standard deviation of definite currency on the basis of currency.In following step 208, determine a notice intensity according to the parameter of obtaining.Will consider at this: whether the driver travels on a bend or is not.Driver's notice intensity will be obtained on the basis of the curve of the standard deviation of mean value curve, standard deviation and each measured value of track data.Work as standard deviation, mainly be at short notice, very large variation is arranged when (very little track keeps quality), and/or when having only very little standard deviation variation to discern in time (very little turn to activity or track keep quality), and/or when show mean value reduce (continuously near a lane line mark) continuously the time, all come from the notice centrality of an attenuating.
The concentrative identification of notice is in one embodiment only carried out outside negotiation of bends (Kurvenfahrten).To consider various traffic conditions in another form of implementation, negotiation of bends is for example determined notice centrality value by criterion adaptive.
In the step of following 210, connect or close warning function according to the driver's who obtains notice centrality.The notice centrality lower or seldom turn to activity the time connect the warning possibility, otherwise close or reduce it.
When the warning possibility is switched on, implement to report to the police or carry out steering engagement maybe will surpass the runway graticule time surpassing so that keep the track, when closing the warning possibility, when exceeding the track, do not report to the police to the driver.

Claims (9)

1. driver assistance method wherein, sends warning to the driver under some predetermined cases, it is characterized in that, controls this warning according to the quality that the history of driver's rut behavior and/or driver's track keeps.
2. according to the method for claim 1, it is characterized in that described predetermined case is meant to leave maybe and will leaves the track.
3. one method is characterized in that according to the track data, for example automobile is determined the history of driver's rut behavior with respect to the lateral separation of traffic lane line in requiring according to aforesaid right.
4. according to the method for claim 3, it is characterized in that, form the history of the rut behavior of trying to achieve the driver according to the mean value of the track data value in past.
5. one method is characterized in that in requiring according to aforesaid right, derives the quality of driver's track maintenance with reference to the driver's who obtains rut behavior according to current track data value.
6. one method is characterized in that in requiring according to aforesaid right, and according to driver's track maintenance quality or its activity, whether notice is concentrated to pass judgment on the driver.
7. according to the method for claim 6, it is characterized in that, derive driver's notice centrality value.
8. one method is characterized in that in requiring according to aforesaid right, when identifying driver's notice centrality and lower, reports to the police, and when identifying driver's notice centrality when high, suppresses or reduces and report to the police.
9. driver assistance device, have a processing unit, it sends warning to the driver under some predetermined cases, it is characterized in that, this processing unit is such configuration, makes this warning depend on driver's rut behavior history and/or the quality that lane for driver keeps.
CNA2005101086034A 2004-10-01 2005-10-08 Driver assistance method and device Pending CN1755740A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004047889A DE102004047889A1 (en) 2004-10-01 2004-10-01 Driver supporting process, involves outputting warning of driver in predetermined situation, and warning driver depending on history of tracing performance of driver and/or performance tracking by driver
DE102004047889.9 2004-10-01

Publications (1)

Publication Number Publication Date
CN1755740A true CN1755740A (en) 2006-04-05

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DE (1) DE102004047889A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101126640B (en) * 2006-08-16 2010-05-26 鸿富锦精密工业（深圳）有限公司 Automobile and its safety system
CN102060018A (en) * 2009-11-18 2011-05-18 德国曼商用车辆股份公司 Lane guidance method for a vehicle, in particular for a commercial vehicle and lane guidance system
CN103043054A (en) * 2011-10-17 2013-04-17 罗伯特·博世有限公司 Method and device for controlling a lane departure warning system
CN104691333A (en) * 2015-03-30 2015-06-10 吉林大学 Lane departure frequency-based method for evaluating state of fatigue of long-distance bus driver
CN104871224A (en) * 2012-10-25 2015-08-26 罗伯特·博世有限公司 Method and device for driver condition recognition
CN111344765A (en) * 2017-12-15 2020-06-26 株式会社电装 Road map generation system and road map generation method

Families Citing this family (7)

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Publication number Priority date Publication date Assignee Title
JP2010237969A (en) * 2009-03-31 2010-10-21 Aisin Aw Co Ltd Vehicle operation diagnosis device, vehicle operation diagnosis method and computer program
DE102010002067A1 (en) * 2010-02-18 2011-08-18 ZF Lenksysteme GmbH, 73527 Driver assistance method for a motor vehicle with a guidance assistance function
DE102012001741A1 (en) * 2012-01-28 2013-08-01 Volkswagen Aktiengesellschaft Apparatus and method for monitoring the operation of a vehicle and apparatus and method for warning the driver
DE102012210224A1 (en) 2012-06-18 2013-12-19 Bayerische Motoren Werke Aktiengesellschaft Method for controlling driver assistance system to support driver for following selected traffic lane, involves changing predetermined operating conditions upon exceeding predetermined number of warnings within predetermined time interval
DE102018203287B4 (en) * 2018-03-06 2024-03-07 Audi Ag Method and system for operating a lane keeping assistance device of a motor vehicle
DE102021109496A1 (en) 2021-04-15 2022-10-20 Bayerische Motoren Werke Aktiengesellschaft Method and device for monitoring the tracking of a vehicle
DE102023130877A1 (en) 2023-11-08 2025-05-08 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system and driver assistance method for a vehicle

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101126640B (en) * 2006-08-16 2010-05-26 鸿富锦精密工业（深圳）有限公司 Automobile and its safety system
CN102060018A (en) * 2009-11-18 2011-05-18 德国曼商用车辆股份公司 Lane guidance method for a vehicle, in particular for a commercial vehicle and lane guidance system
CN103043054A (en) * 2011-10-17 2013-04-17 罗伯特·博世有限公司 Method and device for controlling a lane departure warning system
CN104871224A (en) * 2012-10-25 2015-08-26 罗伯特·博世有限公司 Method and device for driver condition recognition
CN104691333A (en) * 2015-03-30 2015-06-10 吉林大学 Lane departure frequency-based method for evaluating state of fatigue of long-distance bus driver
CN104691333B (en) * 2015-03-30 2017-03-15 吉林大学 Coach driver fatigue state evaluation method based on the deviation frequency
CN111344765A (en) * 2017-12-15 2020-06-26 株式会社电装 Road map generation system and road map generation method

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