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CN112158204B - L2-level automatic driving vehicle take-over alarm system and method - Google Patents

L2-level automatic driving vehicle take-over alarm system and method Download PDF

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Publication number
CN112158204B
CN112158204B CN202011065750.9A CN202011065750A CN112158204B CN 112158204 B CN112158204 B CN 112158204B CN 202011065750 A CN202011065750 A CN 202011065750A CN 112158204 B CN112158204 B CN 112158204B
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alarm
takeover
vehicle
driver
level
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CN112158204A (en
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任传兵
马奉林
杨大谦
卢斌
肖雄
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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    • 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
    • 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
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • 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
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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
    • B60W2540/26—Incapacity

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an L2-grade automatic driving deviceThe method for taking over the alarm of the driving vehicle detects the state of the driver and calculates the revision coefficient K of the alarm of the taking over of the state of the driverDStsDetecting environmental conditions, calculating the alarm revision coefficient KEStsCalculating the revision coefficient K of the total take-over alarmDSts×KESts(ii) a And revising the total takeover alarm revision coefficient K to obtain revised takeover alarm conditions, judging whether to send a takeover alarm request or not according to the revised takeover alarm conditions, and if the takeover alarm request needs to be sent, triggering the highest-level takeover alarm. The invention also discloses an L2-grade automatic driving vehicle takeover alarm system, which can send takeover alarm with reasonable warning degree in time when the L2-grade automatic driving system is used.

Description

L2-level automatic driving vehicle take-over alarm system and method
Technical Field
The invention relates to the technical field of vehicle control, in particular to a taking-over alarm system and method for an L2-grade automatic driving vehicle.
Background
The L2 level automatic driving system is a key milestone technology for realizing unmanned driving of the vehicle, realizes automatic control of acceleration and deceleration of the vehicle, keeps the vehicle running in a lane, can also realize automatic parking and starting following the front vehicle, and can perform steering control following the track of the front vehicle. On the basis of an L2-level automatic driving system, the higher-level automatic driving can be realized step by improving the performances of the system in the aspects of perception capability, information fusion capability, reliability and the like.
The level L2 autopilot system is unable to cope with all abnormal events within its range of use. Therefore, when the L2-class automatic driving system is used, a driver needs to monitor the system operation state and the road environment in real time, and actively take over the control of the vehicle in time when the system cannot handle an abnormal event, so as to take necessary measures. For example, chinese patent document CN109070895A discloses a vehicle control system, a vehicle control method, and a vehicle control program, and the vehicle control system includes: an external recognition unit that recognizes an external situation; an automated driving control unit that performs automated driving for automatically controlling at least one of acceleration and deceleration and steering of the host vehicle, and that performs a handover from an automated driving mode to a manual driving mode based on the external situation recognized by the external situation recognition unit; a handover prediction unit that predicts a possibility of occurrence of the handover based on the recognized external environment; an output unit that outputs information; and an interface control unit that controls the output unit so as to output information urging preparation for handover to a vehicle occupant when the handover prediction unit predicts that the probability of occurrence of handover is high. However, the patent only considers the driving task handover prompt in the exit scene defined by the system, and does not consider the state of the driver, namely the influence of the taking over capacity of the driver on the handover timing of the driving task, or the influence of the taking over capacity of the driver on the handover timing of the driving task when different reasons interact with each other; moreover, various accidents occurring when the automatic driving system of the level L2 is used at present indicate that the accident is also an important factor due to the fact that the driver does not respond to the system takeover request in time and the system reserves insufficient takeover time for the possible emergency.
Disclosure of Invention
The invention aims to provide a taking-over alarm system and method for an L2-grade automatic driving vehicle, which can timely send out a taking-over alarm with reasonable warning degree when an L2-grade automatic driving system is used.
In order to achieve the aim, the invention provides an L2-grade automatic driving vehicle takeover alarming method, which comprises the following steps:
(S1) detecting the driver state, and acquiring the driver state taking over the alarm revision coefficient K corresponding to the driver stateDSts(ii) a Detecting the environmental conditions, and acquiring the revision coefficient K of the environmental condition taking over alarm under the corresponding environmental conditionsESts(ii) a Calculating the revision coefficient K of the total connecting pipe alarmDSts×KESts；
(S2) detecting the vehicle data information and the lane line information in real time, and calculating a revised collision time TTC ═ K × TTC, a revised deceleration difference Δ abs ═ K × Δ abs, and a revised lateral lane line distance offset ═ K × offset corresponding to the outer edge distance of the vehicle wheel; wherein, the offset is the transverse distance of the side lane line corresponding to the distance of the outer edge of the vehicle wheel; the collision time TTC is L/V, L is the relative longitudinal distance between the vehicle and the front vehicle, and V is the vehicle speed; the deceleration difference Δ abs is abs1-abs2, abs1 being the desired deceleration and abs2 being the system deceleration limit threshold;
(S3) if the calculated TTC' is less than or equal to a first preset time threshold value and the current vehicle speed is less than a first preset vehicle speed threshold value under the current state, judging that the following distance is too close, sending a takeover alarm request, and obtaining the following distance too close takeover alarm grade by inquiring a preset following distance too close takeover alarm grade table; otherwise, sending out a takeover alarm request is not needed;
if the calculated delta abs' value in the current state is greater than the first preset deceleration difference threshold value and the current vehicle speed is less than the second preset vehicle speed threshold value, the expected deceleration is judged to be too large, a takeover alarm request needs to be sent out, and the takeover alarm grade with the excessive expected deceleration is obtained by inquiring a preset takeover alarm grade table with the excessive expected deceleration; otherwise, sending out a takeover alarm request is not needed;
if the offset' value calculated in the current state is smaller than or equal to the first transverse distance threshold value and the current vehicle speed is smaller than a third preset vehicle speed threshold value; or if the offset' value calculated in the current state is greater than the first transverse distance threshold value and less than the second transverse distance threshold value, the current vehicle speed is less than a third preset vehicle speed threshold value, and the transverse offset vehicle speed of the vehicle towards the lane line is greater than the first transverse offset vehicle speed threshold value, determining that the vehicle deviates from the lane, sending a takeover alarm request and obtaining a takeover alarm grade of the vehicle deviating from the lane by inquiring a preset takeover alarm grade table of the vehicle deviating from the lane; otherwise, sending out a takeover alarm request is not needed;
wherein, the following distance over-close takes over the alarm grade table and is planned according to TTC' and the speed of the vehicle; the alarm grade table of the takeover for the excessive deceleration is planned according to the delta abs' and the vehicle speed of the vehicle; the departure lane takeover alarm grade table is planned according to offset' and the speed of the vehicle; the alarm levels are high, medium, low and no in sequence from high to low, four alarm levels of high, medium, low and no are contained in the alarm level table of the following vehicle over-close takeover alarm level table, the takeover alarm level table with over-large expected deceleration and the departure lane takeover alarm level table, the alarm level corresponding to the takeover alarm request is not required to be sent to be 'no', and the higher the takeover alarm level is, the stronger the alarm warning intensity is;
(S4) comparing the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level which are obtained by table lookup, and triggering the takeover alarm of the highest takeover alarm level if the highest takeover alarm level in the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level is 'high' or 'medium' or 'low'; and if the following distance is too close to the takeover alarm level, the expected deceleration is too large, the highest takeover alarm level in the takeover alarm level of the deviated lane is 'none', the takeover alarm is not triggered.
Further, the take-over alarm should at least comprise an audible and/or tactile alarm.
Further, the driver state takes over the alarm revision coefficient KDStsThe method comprises the steps that preset parameter values are set according to different driver states, wherein the driver states comprise whether the attention of a driver is dispersed or not and whether the driver is fatigue or not, and the response time of the driver is judged;
if the driver is in a state of concentration and no fatigue, judging that the reaction time of the driver is fast, and taking over the alarm revision coefficient K by the state of the driverDStsIs T1; if the driver is in the state of distraction and no fatigue, the reaction time of the driver is judged to be slow, and the driver state takes over the alarm revision coefficient KDStsIs T2;
if the driver is in the fatigue dispersion state, judging that the response time of the driver is slow, and taking over the alarm revision coefficient K by the state of the driverDStsIs T3; wherein, T1>T2>T3。
Further, the environmental condition takes over the alarm revision coefficient KEStsAccording to preset parameter values under different environmental conditions, wherein the environmental conditions comprise whether the weather is good or not, whether a road is smooth or not, the yaw rate of the vehicle and whether a large trailer or a truck exists around the vehicle or not;
if the weather is good, the road is smooth, the vehicle yaw rate is smaller than the first preset vehicle yaw rate, no large truck/trailer is arranged around the vehicle, and other environmental conditions are good, the risk level is judged to be low, and the environmental condition takes over the alarm revision coefficient KEStsIs T4;
if the weather difference and road congestion exist in the set time interval in front, a large truck/trailer exists, or the yaw rate of the vehicle is larger than the second preset yaw rate of the vehicle, the risk level is judged to be high, and the environmental condition takes over the alarm revision coefficient KEStsIs T5; wherein, T4>T5。
Further, T1 ═ 1, T2 ═ 0.8, T3 ═ 0.5; t4 ═ 1, T5 ═ 0.8; the first preset time threshold is 0.5s, the first preset vehicle speed threshold is 120km/h, and the following distance over-close takeover alarm level is divided as follows:
Figure GDA0003161595960000031
further, the first preset deceleration difference threshold value is 0.5 meter per square second, the second preset vehicle speed threshold value is 120km/h, and the alarm grade of the excessive takeover of the expected deceleration is divided as follows:
Figure GDA0003161595960000041
further, the first transverse distance threshold value is 0cm, the second transverse distance threshold value is 20cm, the third preset vehicle speed threshold value is 120km/h, the first transverse deviation vehicle speed threshold value is 0.5m/s, and the departure lane takeover alarm grades are divided as follows:
Figure GDA0003161595960000042
the invention also provides an L2-level automatic driving vehicle takeover alarm system, which executes the L2-level automatic driving vehicle takeover alarm method and comprises the following steps:
the driver state monitoring module is used for detecting whether the attention of a driver is dispersed and whether the driver is tired;
the environment condition detection module is used for detecting whether the environment weather is good, whether a road is smooth, the yaw rate of the vehicle and whether a large truck or a trailer is around the vehicle;
the system control target detection module is used for acquiring data information of a relative longitudinal distance L between the vehicle and a front vehicle, a vehicle speed V, a desired deceleration abs1, a system deceleration limit threshold abs2, a lateral distance offset of a side lane line corresponding to the outer edge distance of the vehicle wheels and a lateral offset speed;
and the take-over alarm judging module is used for calculating the total take-over alarm revision coefficient K and take-over alarm judging conditions, judging whether to send a take-over alarm request and obtain a corresponding alarm grade, and judging whether to trigger take-over alarm according to the alarm grade.
Further, the take-over alarm judging module comprises:
the system control capacity calculation module is used for calculating collision time TTC, deceleration difference delta abs, revised lateral distance offset' of a lane line corresponding to the distance of the outer edge of the wheels of the vehicle and lateral offset speed;
a revision coefficient calculation module for calculating a driver state takeover warning revision coefficient K according to the detected driver state and environmental conditionsDStsAlarm revision coefficient K is taken over by environmental conditionsEStsAnd calculating a total takeover alarm revision coefficient K;
the takeover request prejudging module is used for calculating revised collision time TTC ', revised deceleration difference delta abs ' and revised lateral lane line lateral distance offset ' corresponding to the distance of the outer edge of the vehicle wheel, and respectively judging whether a takeover alarm request is sent out and a corresponding takeover alarm grade is obtained;
the takeover request decision module is used for comparing the takeover alarm grade results and judging whether to trigger takeover alarm or not; the system is also used for controlling the takeover alarm module to trigger the highest-level takeover alarm;
and the takeover alarm module is used for triggering the takeover alarm of the highest grade.
Compared with the prior art, the invention has the following advantages:
aiming at the takeover alarm function of the L2-level automatic driving system, the takeover alarm system and the method of the invention can actively pre-judge the control capability of the system, revise the pre-judged result by combining the state and the environmental condition of the driver, finally compare the pre-judged result with the trigger threshold of the takeover alarm request to confirm whether to send the takeover alarm and the like, thereby achieving the takeover alarm grade which can automatically send out the alarm in advance with reasonable degree according to the state, the environmental condition and the system control capability of the driver, avoiding that the driver has insufficient reaction time and the alarm effect excessively affects the system experience when the request is too late or the alarm effect is insufficient, not only ensuring that the takeover alarm is sent to the driver when the control capability of the L2-level automatic driving system is exceeded, but also avoiding unnecessary interference to drivers and passengers.
Drawings
FIG. 1 is a schematic structural diagram of a takeover warning method for an automatic-driving vehicle of level L2 according to the present invention;
fig. 2 is a schematic structural diagram of the method for taking over the alarm of the automatic driving vehicle at the level of L2 according to the invention.
In the figure:
1-a driver state monitoring module; 2-an environmental condition detection module; 3-a system control target detection module; 4-a takeover alarm judgment module, 41-a system control capability calculation module, 42-a revision coefficient calculation module, 43-a takeover request prejudgment module, 44-a takeover request decision module and 45-a takeover alarm module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the embodiment discloses a takeover warning method for an L2-grade automatic driving vehicle, which includes the following steps:
(S1) detecting the driver state, and acquiring the driver state taking over the alarm revision coefficient K corresponding to the driver stateDSts(ii) a Detecting the environmental conditions, and acquiring the revision coefficient K of the environmental condition taking over alarm under the corresponding environmental conditionsESts(ii) a Calculating the revision coefficient K of the total connecting pipe alarmDSts×KESts。
(S2) detecting the vehicle data information and the lane line information in real time, and calculating a revised collision time TTC ═ K × TTC, a revised deceleration difference Δ abs ═ K × Δ abs, and a revised lateral lane line distance offset ═ K × offset corresponding to the outer edge distance of the vehicle wheel; wherein, the offset is the transverse distance of the side lane line corresponding to the distance of the outer edge of the vehicle wheel; the collision time TTC is L/V, L is the relative longitudinal distance between the vehicle and the front vehicle, and V is the vehicle speed; the deceleration difference Δ abs is abs1-abs2, abs1 being the desired deceleration and abs2 being the system deceleration limit threshold; calculating to obtain expected deceleration by combining setting of a cruising speed and a following vehicle distance; and calculating to obtain the lateral distance offset and the lateral offset speed of the side lane line corresponding to the distance of the outer edge of the vehicle wheel by combining the installation position of the sensor and the vehicle parameters.
(S3) if the calculated TTC' is less than or equal to a first preset time threshold value and the current vehicle speed is less than a first preset vehicle speed threshold value under the current state, judging that the following distance is too close, sending a takeover alarm request, and obtaining the following distance too close takeover alarm grade by inquiring a preset following distance too close takeover alarm grade table; otherwise, sending out a takeover alarm request is not needed; and the first preset time threshold and the first preset vehicle speed threshold both belong to calibration values.
If the calculated delta abs' value in the current state is greater than the first preset deceleration difference threshold value and the current vehicle speed is less than the second preset vehicle speed threshold value, the expected deceleration is judged to be too large, a takeover alarm request needs to be sent out, and the takeover alarm grade with the excessive expected deceleration is obtained by inquiring a preset takeover alarm grade table with the excessive expected deceleration; otherwise, sending out a takeover alarm request is not needed; and the first preset deceleration difference threshold and the second preset vehicle speed threshold belong to calibrated values.
If the offset' value calculated in the current state is smaller than or equal to the first transverse distance threshold value and the current vehicle speed is smaller than a third preset vehicle speed threshold value; or if the offset' value calculated in the current state is greater than the first transverse distance threshold value and less than the second transverse distance threshold value, the current vehicle speed is less than a third preset vehicle speed threshold value, and the transverse offset vehicle speed of the vehicle towards the lane line is greater than the first transverse offset vehicle speed threshold value, determining that the vehicle deviates from the lane, sending a takeover alarm request and obtaining a takeover alarm grade of the vehicle deviating from the lane by inquiring a preset takeover alarm grade table of the vehicle deviating from the lane; otherwise, sending out a takeover alarm request is not needed; the first transverse distance threshold value, the third preset vehicle speed threshold value, the first transverse deviation vehicle speed threshold value and the second transverse distance threshold value belong to calibration values.
Wherein, the following distance over-close takes over the alarm grade table and is planned according to TTC' and the speed of the vehicle; the alarm grade table of the takeover for the excessive deceleration is planned according to the delta abs' and the vehicle speed of the vehicle; the departure lane takeover alarm grade table is planned according to offset' and the speed of the vehicle; the alarm levels are high, medium, low and no in sequence from high to low, four alarm levels of high, medium, low and no are contained in the alarm level table of the following vehicle over-close takeover alarm level table, the takeover alarm level table with over-large expected deceleration and the departure lane takeover alarm level table, the alarm level corresponding to the takeover alarm request is not required to be sent to be 'no', and the higher the takeover alarm level is, the stronger the alarm warning intensity is.
(S4) comparing the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level which are obtained by table lookup, and triggering the takeover alarm of the highest takeover alarm level if the highest takeover alarm level in the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level is 'high' or 'medium' or 'low'; and if the following distance is too close to the takeover alarm level, the expected deceleration is too large, the highest takeover alarm level in the takeover alarm level of the deviated lane is 'none', the takeover alarm is not triggered.
In this embodiment, the takeover alarm should comprise at least an audible and/or tactile alarm. The distinction of the warning intensity is realized by one or more of sound frequency, sound volume, tactile alarm form and the like.
And triggering the take-over alarm, and mainly sending take-over alarm warning to a driver in the forms of an instrument, a loudspeaker, a HUD, a seat and the like.
The take-over alarm comprises three forms of auditory alarm, visual alarm and tactile alarm; the specific implementation manner is not limited, for example, the audible alarm includes a voice alarm, the visual alarm includes a text alarm, an animation alarm, and the like, and the tactile alarm includes seat vibration, seat belt tightening, inching brake, and the like.
When the driver is in a distracted state, a voice alarm is sent out;
when the driver is in a fatigue state, a tactile alarm is issued, which includes seat vibration and inching, and in some embodiments, other tactile alarm modes.
In the present embodiment, the driver state takes over the warning revision coefficient KDStsThe method comprises the steps that preset parameter values are set according to different driver states, wherein the driver states comprise whether the attention of a driver is dispersed or not and whether the driver is fatigue or not, and the response time of the driver is judged;
if the driver is in a state of concentration and no fatigue, judging that the reaction time of the driver is fast, and taking over the alarm revision coefficient K by the state of the driverDStsIs T1; if the driver is in the state of distraction and no fatigue, the reaction time of the driver is judged to be slow, and the driver state takes over the alarm revision coefficient KDStsIs T2;
if the driver is in the fatigue dispersion state, judging that the response time of the driver is slow, and taking over the alarm revision coefficient K by the state of the driverDStsIs T3; wherein, T1>T2>T3。
In this embodiment, the environmental condition takes over the alarm revision coefficient KEStsAccording to preset parameter values under different environmental conditions, wherein the environmental conditions comprise whether the weather is good or not, whether a road is smooth or not, the yaw rate of the vehicle and whether a large trailer or a truck exists around the vehicle or not;
if the weather is good, the road is smooth, the vehicle yaw rate is smaller than the first preset vehicle yaw rate, no large truck/trailer is arranged around the vehicle, and other environmental conditions are good, the risk level is judged to be low, and the environmental condition takes over the alarm revision coefficient KEStsIs T4;
if the weather difference and road congestion exist in the set time interval in front, a large truck/trailer exists, or the yaw rate of the vehicle is larger than the second preset yaw rate of the vehicle, the risk level is judged to be high, and the environmental condition takes over the alarm revision coefficient KEStsIs T5; wherein, T4>T5。
In this embodiment, T1 is 1, T2 is 0.8, and T3 is 0.5; t4 ═ 1, T5 ═ 0.8; the first preset time threshold is 0.5s, the first preset vehicle speed threshold is 120km/h, and the following distance over-close takeover alarm level is divided as follows:
Figure GDA0003161595960000081
in the embodiment, the first preset deceleration difference threshold is 0.5 meters per square second, the second preset vehicle speed threshold is 120km/h, and the desired deceleration over-takeover alarm level is divided as follows:
Figure GDA0003161595960000082
in this embodiment, the first lateral distance threshold is 0cm, the second lateral distance threshold is 20cm, the third preset vehicle speed threshold is 120km/h, the first lateral offset vehicle speed threshold is 0.5m/s, and the lane departure takeover alarm rating is as follows:
Figure GDA0003161595960000083
the embodiment also discloses an L2-level automatic driving vehicle takeover warning system, which executes the L2-level automatic driving vehicle takeover warning method, and comprises the following steps:
the driver state monitoring module 1 is used for detecting whether the attention of a driver is dispersed and whether the driver is tired;
the environmental condition detection module 2 is used for detecting whether the environmental weather is good, whether a road is smooth, the yaw rate of the vehicle and whether a large truck or a trailer is around the vehicle;
the system control target detection module 3 is used for acquiring data information of a relative longitudinal distance L between the vehicle and the front vehicle, a vehicle speed V of the vehicle, a desired deceleration abs1, a system deceleration limit threshold abs2, a lateral distance offset of a side lane line corresponding to the outer edge distance of the vehicle wheels and a lateral offset speed;
and the takeover alarm judging module 4 is used for calculating a total takeover alarm revision coefficient K and a takeover alarm judging condition, judging whether to send a takeover alarm request and obtain a corresponding alarm grade, and judging whether to trigger takeover alarm according to the alarm grade.
In this embodiment, the takeover alarm determining module 4 includes:
a system control capability calculation module 41, configured to calculate a collision time TTC, a deceleration difference Δ abs, a revised lateral lane line lateral distance offset' and a lateral offset speed of the vehicle corresponding to the outer edge distance of the vehicle wheel;
a revision coefficient calculation module 42 for calculating a driver state takeover warning revision coefficient K based on the detected driver state and environmental conditionsDStsAlarm revision coefficient K is taken over by environmental conditionsEStsAnd calculating a total takeover alarm revision coefficient K;
a takeover request prejudging module 43, configured to calculate revised collision time TTC ', revised deceleration difference Δ abs ', and revised lateral lane line lateral distance offset ' corresponding to the distance between the outer edge of the vehicle wheel, and respectively judge whether to send a takeover alarm request and obtain a corresponding takeover alarm level;
a takeover request decision module 44, configured to compare a takeover alarm level result and determine whether to trigger a takeover alarm; and is also used for controlling the takeover alarm module 45 to trigger the highest-level takeover alarm;
and the takeover alarm module 45 is used for triggering takeover alarm of the highest level.
Aiming at the takeover alarm function of the L2-level automatic driving system, the takeover alarm system and the method of the invention can actively pre-judge the control capability of the system, revise the pre-judged result by combining the state and the environmental condition of the driver, finally compare the pre-judged result with the trigger threshold of the takeover alarm request to confirm whether to send the takeover alarm and the like, thereby achieving the takeover alarm grade which can automatically send out the alarm in advance with reasonable degree according to the state, the environmental condition and the system control capability of the driver, avoiding that the driver has insufficient reaction time and the alarm effect excessively affects the system experience when the request is too late or the alarm effect is insufficient, not only ensuring that the takeover alarm is sent to the driver when the control capability of the L2-level automatic driving system is exceeded, but also avoiding unnecessary interference to drivers and passengers.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (9)

1. An L2-grade automatic driving vehicle takeover alarming method is characterized by comprising the following steps:
(S1) detecting the driver state, and acquiring the driver state taking over the alarm revision coefficient K corresponding to the driver stateDSts(ii) a Detecting the environmental conditions, and acquiring the revision coefficient K of the environmental condition taking over alarm under the corresponding environmental conditionsESts(ii) a Calculating the revision coefficient K of the total connecting pipe alarmDSts×KESts；
(S2) detecting the vehicle data information and the lane line information in real time, and calculating a revised collision time TTC ═ K × TTC, a revised deceleration difference Δ abs ═ K × Δ abs, and a revised lateral lane line distance offset ═ K × offset corresponding to the outer edge distance of the vehicle wheel; wherein, the offset is the transverse distance of the side lane line corresponding to the distance of the outer edge of the vehicle wheel; the collision time TTC is L/V, L is the relative longitudinal distance between the vehicle and the front vehicle, and V is the vehicle speed; the deceleration difference Δ abs is abs1-abs2, abs1 being the desired deceleration and abs2 being the system deceleration limit threshold;
(S3) if the calculated TTC' is less than or equal to a first preset time threshold value and the current vehicle speed is less than a first preset vehicle speed threshold value under the current state, judging that the following distance is too close, sending a takeover alarm request, and obtaining the following distance too close takeover alarm grade by inquiring a preset following distance too close takeover alarm grade table; otherwise, sending out a takeover alarm request is not needed;
if the calculated delta abs' value in the current state is greater than the first preset deceleration difference threshold value and the current vehicle speed is less than the second preset vehicle speed threshold value, the expected deceleration is judged to be too large, a takeover alarm request needs to be sent out, and the takeover alarm grade with the excessive expected deceleration is obtained by inquiring a preset takeover alarm grade table with the excessive expected deceleration; otherwise, sending out a takeover alarm request is not needed;
if the offset' value calculated in the current state is smaller than or equal to the first transverse distance threshold value and the current vehicle speed is smaller than a third preset vehicle speed threshold value; or if the offset' value calculated in the current state is greater than the first transverse distance threshold value and less than the second transverse distance threshold value, the current vehicle speed is less than a third preset vehicle speed threshold value, and the transverse offset vehicle speed of the vehicle towards the lane line is greater than the first transverse offset vehicle speed threshold value, determining that the vehicle deviates from the lane, sending a takeover alarm request and obtaining a takeover alarm grade of the vehicle deviating from the lane by inquiring a preset takeover alarm grade table of the vehicle deviating from the lane; otherwise, sending out a takeover alarm request is not needed;
wherein, the following distance over-close takes over the alarm grade table and is planned according to TTC' and the speed of the vehicle; the alarm grade table of the takeover for the excessive deceleration is planned according to the delta abs' and the vehicle speed of the vehicle; the departure lane takeover alarm grade table is planned according to offset' and the speed of the vehicle; the alarm levels are high, medium, low and no in sequence from high to low, four alarm levels of high, medium, low and no are contained in the alarm level table of the following vehicle over-close takeover alarm level table, the takeover alarm level table with over-large expected deceleration and the departure lane takeover alarm level table, the alarm level corresponding to the takeover alarm request is not required to be sent to be 'no', and the higher the takeover alarm level is, the stronger the alarm warning intensity is;
(S4) comparing the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level which are obtained by table lookup, and triggering the takeover alarm of the highest takeover alarm level if the highest takeover alarm level in the following vehicle distance over-close takeover alarm level, the expected deceleration over-large takeover alarm level and the lane departure takeover alarm level is 'high' or 'medium' or 'low'; and if the following distance is too close to the takeover alarm level, the expected deceleration is too large, the highest takeover alarm level in the takeover alarm level of the deviated lane is 'none', the takeover alarm is not triggered.
2. The level L2 takeover warning method for an autonomous vehicle, according to claim 1, wherein the takeover warning comprises at least an audible and/or tactile warning.
3. The class L2 autonomous vehicle takeover warning method of claim 1 or claim 2, wherein the driver status takeover warning revision factor KDStsThe method comprises the steps that preset parameter values are set according to different driver states, wherein the driver states comprise whether the attention of a driver is dispersed or not and whether the driver is fatigue or not, and the response time of the driver is judged;
if the driver is in a state of concentration and no fatigue, judging that the reaction time of the driver is fast, and taking over the alarm revision coefficient K by the state of the driverDStsIs T1; if the driver is in the state of distraction and no fatigue, the reaction time of the driver is judged to be slow, and the driver state takes over the alarm revision coefficient KDStsIs T2;
if the driver is in the fatigue dispersion state, judging that the response time of the driver is slow, and taking over the alarm revision coefficient K by the state of the driverDStsIs T3; wherein, T1>T2>T3。
4. The L2-level autonomous vehicle takeover warning method of claim 3, wherein the environmental condition takeover warning revision factor KEStsAccording to preset parameter values under different environmental conditions, wherein the environmental conditions comprise whether the weather is good or not and whether the road is smooth or notThe yaw rate of the vehicle is large or small, and whether a large trailer or a truck exists around the vehicle;
if the weather is good, the road is smooth, the vehicle yaw rate is smaller than the first preset vehicle yaw rate, no large truck/trailer is arranged around the vehicle, and other environmental conditions are good, the risk level is judged to be low, and the environmental condition takes over the alarm revision coefficient KEStsIs T4;
if the weather difference and road congestion exist in the set time interval in front, a large truck/trailer exists, or the yaw rate of the vehicle is larger than the second preset yaw rate of the vehicle, the risk level is judged to be high, and the environmental condition takes over the alarm revision coefficient KEStsIs T5; wherein, T4>T5。
5. The L2-grade autopilot vehicle takeover warning method of claim 4 wherein T1-1, T2-0.8, T3-0.5; t4 ═ 1, T5 ═ 0.8; the first preset time threshold is 0.5s, the first preset vehicle speed threshold is 120km/h, and the following distance over-close takeover alarm level is divided as follows:
Figure FDA0003161595950000021
6. the L2-level automatic driving vehicle takeover warning method according to claim 5, wherein the first preset deceleration difference threshold is 0.5 meters per square second, the second preset vehicle speed threshold is 120km/h, and the desired deceleration excessive takeover warning level is divided as follows:
Figure FDA0003161595950000031
7. the L2-level autonomous vehicle takeover warning method of claim 6, wherein the first lateral distance threshold is 0cm, the second lateral distance threshold is 20cm, the third preset vehicle speed threshold is 120km/h, the first lateral offset vehicle speed threshold is 0.5m/s, and the departure lane takeover warning level is divided as follows:
Figure FDA0003161595950000032
8. a class L2 automatic driving vehicle takeover warning system for performing the class L2 automatic driving vehicle takeover warning method of any one of claims 1 to 7, comprising:
the driver state monitoring module (1) is used for detecting whether the attention of a driver is dispersed and whether the driver is tired;
the environment condition detection module (2) is used for detecting whether the environment weather is good, whether a road is smooth, the yaw rate of the vehicle and whether a large truck or a trailer is around the vehicle;
the system control target detection module (3) is used for acquiring data information of a relative longitudinal distance L between the vehicle and a front vehicle, a vehicle speed V of the vehicle, a desired deceleration abs1, a system deceleration limit threshold abs2, a lateral distance offset of a side lane line corresponding to the outer edge distance of the vehicle wheels and a lateral offset speed;
and the take-over alarm judging module (4) is used for calculating a total take-over alarm revision coefficient K and a take-over alarm judging condition, judging whether to send a take-over alarm request and obtain a corresponding alarm grade, and judging whether to trigger take-over alarm according to the alarm grade.
9. The class L2 autonomous vehicle takeover warning system of claim 8, wherein said takeover warning judgment module (4) includes:
a system control ability calculation module (41) for calculating a collision time TTC, a deceleration difference Δ abs, a revised lateral lane line lateral distance offset' and a lateral offset speed of the vehicle corresponding to the outer edge distance of the vehicle wheel;
a revision coefficient calculation module (42) for calculating a driver state takeover warning revision coefficient K based on the detected driver state and environmental conditionsDStsAlarm revision coefficient K is taken over by environmental conditionsEStsAnd calculating a total takeover alarm revision coefficient K;
a takeover request prejudging module (43) for calculating revised collision time TTC ', revised deceleration difference delta abs ' and revised lateral lane line lateral distance offset ' corresponding to the distance of the outer edge of the vehicle wheel, and respectively judging whether to send a takeover alarm request and obtain a corresponding takeover alarm grade;
a takeover request decision module (44) for comparing the takeover alarm level results and judging whether to trigger takeover alarm; the system is also used for controlling the takeover alarm module (45) to trigger the highest-level takeover alarm;
and the takeover alarm module (45) is used for triggering the takeover alarm with the highest grade.
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