CN112918474B - Method, device, electronic device and medium for reminding driver in lane keeping - Google Patents

Abstract

The invention relates to a method, a device, electronic equipment and a medium for reminding a driver in lane keeping. The method comprises the following steps: detecting a parallel moment acting on the center of a steering wheel; if the parallel moment is judged to be out of the range of the preset parallel moment, detecting a vertical moment acting on the center of the steering wheel; if the vertical moment is judged to be within a preset vertical moment range or the parallel moment is judged to be within a preset parallel moment range, detecting temperature information on the steering wheel; and if the temperature information is judged to be out of the preset temperature information range, reminding a driver to take over the vehicle. The method can ensure that when a driver normally supervises the vehicle, the lane keeping function can not generate false prompts due to self sensors and judgment logic problems, avoid the occurrence of false prompts due to false alarm to the maximum extent, improve the function reliability and the user satisfaction, simultaneously can avoid the situation that the driver adopts other objects to monitor the vehicle in a violation manner, and improve the driving safety.

Description

Method, device, electronic device and medium for reminding driver in lane keeping

technical field

The present invention relates to the field of intelligent driving, in particular, to a method, device, electronic device and medium for reminding a driver in lane keeping.

Background technique

The lane keeping function belongs to the L2 level driving assistance function. The national law stipulates that when the L2 level driving assistance function is running, the driver cannot deviate from the driving behavior, and it is necessary to maintain the supervision of the operation of the vehicle driving function. In other words: the driver is in the lane keeping function. During operation, hands cannot be taken off the steering wheel. Therefore, the lane keeping function will monitor the steering torque on the steering wheel when the function is running, thereby ensuring that the driver does not deviate from the driving behavior when the function is running, in line with the requirements of relevant national laws and regulations.

Since the steering system of the vehicle is taken over by the lane keeping function when the lane keeping function is running, the driver does not participate in the steering of the vehicle. Therefore, when some drivers supervise the vehicle, in order to prevent the steering torque acting on the steering wheel from being too large, they will put their arms on the upper and lower sides of the steering wheel, and some drivers have the supervision habit of putting their arms on the upper and lower sides of the steering wheel. However, when the driver puts his arms above and below the steering wheel, the vehicle's prompt is usually triggered to remind the driver to take over the vehicle.

Assuming that when the lane keeping function is running, the driver needs to provide a torque of 0.5-3N m, and the steering wheel radius is 0.2m. At this time, if the driver's hands are placed on the left and right sides of the steering wheel, and the force is 5N, about 5N can be generated. ×0.2m=1N·m torque (0.2m is the horizontal distance between the action point of the arm and the center of the steering wheel), which meets the requirements; if the driver's hands are placed on the upper and lower sides of the steering wheel and the acting force is 5N, the generated torque is only about 5N×0.05m=0.25N·m (0.05m is the horizontal distance between the arm action point and the center of the steering wheel), if the requirements are not met, the lane keeping function will remind the driver to take over the vehicle, causing false alarms and causing discomfort to the driver.

In view of this, the present invention is proposed.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method, device, electronic device and medium for reminding the driver in lane keeping, so as to ensure that when the driver is supervising the vehicle normally, the lane keeping function will not cause errors due to its own sensors and judgment logic problems. It can avoid the occurrence of false alarms and false prompts to the greatest extent, improve functional reliability and user satisfaction, and at the same time prevent drivers from using other objects to monitor vehicles in violation of regulations, and improve driving safety.

In order to achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, the present invention provides a method for reminding a driver during lane keeping, comprising the following steps:

Detecting a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located;

If it is judged that the parallel moment is outside the preset parallel moment range, detecting the vertical moment acting on the center of the steering wheel, where the vertical moment is the moment perpendicular to the plane where the steering wheel is located;

If it is judged that the vertical moment is within a preset vertical torque range or that the parallel torque is within a preset parallel torque range, detecting temperature information on the steering wheel;

If it is determined that the temperature information is outside the preset temperature information range, the driver is reminded to take over the vehicle.

As a further preferred technical solution, the method further includes: if it is determined that the vertical moment is outside the preset vertical moment range, reminding the driver to take over the vehicle.

As a further preferred technical solution, the method further includes: if it is determined that the vertical moment is outside the preset vertical moment range, detecting the change curve of the vertical moment; if determining the change curve of the vertical moment If the preset change curve is not met, the driver is reminded to take over the vehicle.

In a second aspect, the present invention provides a device for reminding a driver in lane keeping, comprising:

A parallel moment detection module, used to detect a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located;

a vertical moment detection module, configured to detect the vertical moment acting on the center of the steering wheel if it is determined that the parallel moment is outside the preset parallel moment range, where the vertical moment is a moment perpendicular to the plane where the steering wheel is located;

a temperature information detection module, configured to detect temperature information on the steering wheel if it is determined that the vertical moment is within a preset vertical torque range or that the parallel torque is determined to be within a preset parallel torque range;

The first takeover reminding module is used to remind the driver to take over the vehicle if it is determined that the temperature information is outside the preset temperature information range.

As a further preferred technical solution, the device further includes a second takeover reminding module, configured to remind the driver to take over the vehicle if it is determined that the vertical moment is outside the preset vertical moment range.

As a further preferred technical solution, the device further includes a third takeover reminder module, configured to detect the change curve of the vertical moment if it is determined that the vertical moment is outside the preset vertical moment range; If the change curve of the vertical moment does not conform to the preset change curve, the driver is reminded to take over the vehicle.

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

at least one processor, and a memory communicatively coupled to the at least one processor;

Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned method.

In a fourth aspect, the present invention provides a medium on which computer instructions are stored, and the computer instructions are used to cause the computer to execute the above method.

Compared with the prior art, the beneficial effects of the present invention are:

The method for reminding the driver in the lane keeping provided by the present invention firstly detects the parallel torque acting on the center of the steering wheel, determines that the parallel torque is outside the preset parallel torque range, then detects the vertical torque acting on the center of the steering wheel; detects the temperature information on the steering wheel , judging that the vertical torque is within the preset vertical torque range or judging that the parallel torque is within the preset parallel torque range, then detecting the temperature information on the steering wheel; judging that the temperature information is outside the preset temperature information range, Remind the driver to take over the vehicle. The method combines the parallel torque, the vertical torque and the temperature information on the steering wheel. If it is judged that the parallel torque is within the preset parallel torque range, the vertical torque is within the preset vertical torque range, and at the same time the temperature information on the steering wheel is within the preset parallel torque range. If the temperature information is set outside the range, it means that the driver may use other objects (non-human hands) to monitor the vehicle illegally, and there is a safety risk. At this time, the driver needs to be reminded to take over the vehicle. This method especially detects the vertical moment. When the driver's hands are on the left and right sides of the steering wheel, the vertical moment is very small because the difference between the height and the center of the steering wheel is very small; and when the driver's hands are on the upper end of the steering wheel or At the lower end of the steering wheel, due to the large gap between the height and the center of the steering wheel, the vertical moment is large. At this time, the vertical moment can reliably determine whether the driver's hand is on the steering wheel, that is, whether the driver is supervising the vehicle. In this way, false alarms caused by too small parallel torque caused by the driver's hands being placed on the upper and lower ends of the steering wheel are avoided.

Further, if it is judged that the vertical moment is outside the preset vertical moment range, it means that the driver may use other objects (non-human hands) to monitor the vehicle illegally, and there is a safety risk. At this time, the driver needs to be reminded to take over the vehicle.

Further, in addition to detecting the parallel moment, the vertical moment and the temperature information on the steering wheel, the method of the present invention also detects the change curve of the vertical moment, provides more detection directions, and further improves the reliability of the function and the user. satisfaction. In the actual situation, since the lane keeping function will fine-tune the driving direction of the vehicle in real time, the steering wheel will be turned during fine-tuning, thereby generating the corresponding fine-tuning torque. The vertical torque will produce a reaction force on the fine-tuning torque. According to the actual reaction force, the vertical torque change curve when the driver is taking over the vehicle can be reversed, and this vertical torque change curve is used as the preset change curve. When it is judged that the change curve of the vertical moment on the actual vehicle steering wheel does not conform to the preset change curve, the driver is reminded to take over the vehicle.

It can be seen that this method can ensure that when the driver is supervising the vehicle normally, the lane keeping function will not generate false prompts due to its own sensors and judgment logic problems, avoid false alarms and false prompts to the greatest extent, and improve functional reliability and user satisfaction. At the same time, it can prevent the driver from using other objects to monitor the vehicle illegally and improve the driving safety.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

1 is a flowchart of a method for reminding a driver in lane keeping provided by Embodiment 1 of the present invention;

2 is a flowchart of a method for reminding a driver in lane keeping provided by Embodiment 2 of the present invention;

3 is a schematic structural diagram of a device for reminding a driver in lane keeping provided by Embodiment 3 of the present invention;

FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention.

Detailed ways

Exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

It should be noted:

As used herein, "within" includes the endpoints of the range as well as the values between the endpoints of the range. For example, if the "range" is "a-b," "within the range" includes a, b, and all values between a and b.

As used herein, "outside the range" refers to all values outside the endpoints of the range, excluding the endpoints. For example, if the "range" is "a-b", then "outside the range" refers to all values less than a and greater than b.

Example 1

FIG. 1 is a flowchart of a method for reminding a driver in lane keeping provided by this embodiment, and this embodiment is suitable for reminding the driver to take over the vehicle when the vehicle keeping function is turned on. The method may be performed by a device for alerting the driver in lane keeping, the device may be composed of software and/or hardware, and is generally integrated in an electronic device.

As shown in FIG. 1 , this embodiment provides a method for reminding a driver during lane keeping, which includes the following steps:

S110. Detect a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located.

The method of this embodiment first needs to detect the parallel moment acting on the center of the steering wheel in real time, and by detecting the parallel moment, it can be known whether a hand or other object is controlling the steering wheel.

The parallel torque can be detected by electronic power steering (EPS, Electric Power Steering). The "center of the steering wheel" refers to the position where the steering wheel is connected to the steering shaft of the vehicle. "The plane on which the steering wheel is located" refers to the plane on which the steering wheel rim is located, and the steering wheel rim refers to the structure in the outermost periphery of the steering wheel, which is annular, elliptical, quasi-circular, or quasi-elliptical.

S120. Determine whether the parallel moment is outside a preset parallel moment range. If yes, go to S130; if not, go to S150.

S130. Detect a vertical moment acting on the center of the steering wheel, where the vertical moment is a moment perpendicular to the plane where the steering wheel is located.

If it is judged that the parallel torque is outside the preset parallel torque range, it means that the driver may not take over the vehicle, or even if he is taking over the vehicle, the parallel torque is too small due to insufficient pressure on the steering wheel by the driver. Only through reasonable steps to make judgments can you accurately know. If the driver's hand is placed on the upper or lower end of the steering wheel, a certain vertical moment will be provided to the steering wheel, so by detecting the vertical moment, it can be further judged whether the driver's hand is on the steering wheel.

The above-mentioned vertical torque can be acquired by using a torque sensor, and the torque sensor can be arranged between the steering wheel and the steering shaft.

Among them, "the upper end of the steering wheel" refers to starting from the first position with the highest vertical height in the steering wheel rim, and deflecting 30 degrees to the left and right to obtain the first left deflection position and the first right deflection position, which are located at the first left deflection position, the first left deflection position, and the first right deflection position. All positions in the steering wheel rim between the position and the first right deflection position. "The lower end of the steering wheel" means starting from the second position with the lowest vertical height in the steering wheel rim, and deflecting 30 degrees to the left and right to obtain the second left deflection position and the second right deflection position, which are located at the second left deflection position, the second position and the Second right deflection position All positions in the steering wheel rim between these three positions. The above-mentioned "vertical height" refers to the distance between a certain position and the ground.

S140. Determine whether the vertical moment is within a preset vertical moment range. If yes, go to S150; if not, go to S170.

S150. Detect temperature information on the steering wheel, and determine whether the temperature information is within a preset temperature information range. If yes, go to S160; if not, go to S170.

In order to further ensure the reliability of the determination, when it is determined that the vertical torque is within the preset vertical torque range or the parallel torque is within the preset parallel torque range, a step of detecting temperature information on the steering wheel is added.

Wherein, "temperature information" refers to information related to the temperature of the steering wheel surface, including the temperature or the temperature changing curve with time.

S160, do not remind the driver to take over the vehicle.

S170, reminding the driver to take over the vehicle.

If it is judged that the temperature information is outside the preset temperature information range, it means that it is not the driver's hand but other objects that are monitoring the vehicle at this time, and there is a safety risk, and the driver needs to be reminded to take over the vehicle.

It should be understood that if it is determined that the temperature information is within the preset temperature information range, indicating that the driver's hand is monitoring the vehicle, the vehicle maintains the function to operate normally and does not issue an alarm.

Example 2

This embodiment provides another method for reminding the driver during lane keeping, and on the basis of Embodiment 1, the step of detecting the change curve of the vertical moment is further added. Referring to Figure 2, the method includes the following steps:

S110. Detect a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located.

S120. Determine whether the parallel moment is outside a preset parallel moment range. If yes, go to S130; if not, go to S150.

S130. Detect a vertical moment acting on the center of the steering wheel, where the vertical moment is a moment perpendicular to the plane where the steering wheel is located.

S140. Determine whether the vertical moment is within a preset vertical moment range. If yes, jump to S150; if not, jump to S180.

The foregoing S110, S120, S130, and S140 are the same as those in Embodiment 2, and are not repeated in this embodiment.

S150. Detect temperature information on the steering wheel, and determine whether the temperature information is within a preset temperature information range. If yes, go to S160; if not, go to S170.

S170, reminding the driver to take over the vehicle.

S180. Detect the change curve of the vertical moment, and determine whether the change curve of the vertical moment conforms to a preset change curve. If yes, go to S150; if not, go to S170.

Example 3

As shown in FIG. 3 , this embodiment provides a device for reminding the driver during lane keeping, including:

The parallel moment detection module 101 is used to detect the parallel moment acting on the center of the steering wheel, and the parallel moment is the moment parallel to the plane where the steering wheel is located.

The vertical moment detection module 102 is configured to detect the vertical moment acting on the center of the steering wheel if it is determined that the parallel moment is outside the preset parallel moment range, where the vertical moment is a moment perpendicular to the plane where the steering wheel is located.

The temperature information detection module 103 is configured to detect the temperature information on the steering wheel if it is determined that the vertical torque is within a preset vertical torque range or that the parallel torque is determined to be within a preset parallel torque range.

The first takeover reminding module 104 is configured to remind the driver to take over the vehicle if it is determined that the temperature information is outside the preset temperature information range.

Further, the device further includes: a second takeover reminding module 105, configured to remind the driver to take over the vehicle if it is determined that the vertical moment is outside the preset vertical moment range.

Further, the device further includes: a third takeover reminder module 106, configured to detect the change curve of the vertical moment if it is determined that the vertical moment is outside the preset vertical moment range; The change curve of the direction torque does not conform to the preset change curve, and the driver is reminded to take over the vehicle.

The device is used to execute the method for reminding the driver in lane keeping in the above embodiment, and thus has functional modules and beneficial effects corresponding to the method.

Example 4

As shown in FIG. 4 , this embodiment provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method described above. At least one processor in the electronic device is capable of executing the above method and thus has at least the same advantages as the above method.

Optionally, the electronic device further includes interfaces for connecting various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or otherwise as desired. The processor may process instructions for execution within the electronic device, including storing in or on memory to display a GUI (Graphical User Interface) on an external input/output device, such as a display device coupled to the interface instruction for graphic information. In other embodiments, multiple processors and/or multiple buses may be used with multiple memories and multiple memories, if desired. Likewise, multiple electronic devices may be connected, each providing some of the necessary operations (eg, as a server array, a group of blade servers, or a multiprocessor system). A processor 201 is taken as an example in FIG. 4 .

As a computer-readable storage medium, the memory 202 can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for reminding the driver in lane keeping in the embodiment of the present invention (for example, lane keeping The parallel torque detection module 101, the vertical torque detection module 102, the temperature information detection module 103, and the first takeover reminder module 104) in the device for reminding the driver. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 202, ie, realizes the above-mentioned method for reminding the driver in lane keeping.

The memory 202 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Additionally, memory 202 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 202 may further include memory located remotely from processor 201, which may be connected to the device through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The electronic device may also include an input device 203 and an output device 204 . The processor 201 , the memory 202 , the input device 203 and the output device 204 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 4 .

The input device 203 can receive input digital or character information, and the output device 204 can include a display device, an auxiliary lighting device (eg, LED), and a tactile feedback device (eg, a vibration motor), and the like. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.

Example 5

This embodiment provides a medium, where computer instructions are stored on the medium, and the computer instructions are used to cause the computer to execute the above method. The computer instructions on the medium are used to cause a computer to perform the above-described method, and thus have at least the same advantages as the above-described method.

The medium in the present invention may adopt any combination of one or more computer-readable mediums. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this document, a medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical fiber cable, RF (Radio Frequency, radio frequency), etc., or any suitable combination of the above.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages - such as Java, Smalltalk, C++, but also conventional procedural Programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, no limitation is imposed herein.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (6)

1. A method of reminding a driver in lane keeping, comprising the following steps: Detecting a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located; If it is judged that the parallel moment is outside the preset parallel moment range, detecting the vertical moment acting on the center of the steering wheel, where the vertical moment is the moment perpendicular to the plane where the steering wheel is located; If it is judged that the vertical moment is within a preset vertical torque range or that the parallel torque is within a preset parallel torque range, detecting temperature information on the steering wheel; If it is determined that the temperature information is outside the preset temperature information range, reminding the driver to take over the vehicle; It also includes: if it is judged that the vertical torque is outside the preset vertical torque range, detecting the change curve of the vertical torque; if it is judged that the change curve of the vertical torque does not conform to the preset change curve, reminding the driver Take over the vehicle. 2 . The method for reminding a driver during lane keeping according to claim 1 , wherein the method further comprises: if it is determined that the vertical moment is outside a preset vertical moment range, reminding the driver to take over the vehicle. 3 . 3. A device for reminding a driver in lane keeping, characterized in that it comprises: A parallel moment detection module, used to detect a parallel moment acting on the center of the steering wheel, where the parallel moment is a moment parallel to the plane where the steering wheel is located; a vertical moment detection module, configured to detect the vertical moment acting on the center of the steering wheel if it is determined that the parallel moment is outside the preset parallel moment range, where the vertical moment is a moment perpendicular to the plane where the steering wheel is located; a temperature information detection module, configured to detect temperature information on the steering wheel if it is determined that the vertical moment is within a preset vertical torque range or that the parallel torque is determined to be within a preset parallel torque range; a first takeover reminder module, configured to remind the driver to take over the vehicle if it is determined that the temperature information is outside the preset temperature information range; It also includes a third takeover reminding module for detecting the change curve of the vertical moment if it is judged that the vertical moment is outside the preset vertical moment range; if it is judged that the change curve of the vertical moment does not meet the predetermined range. Set a change curve to remind the driver to take over the vehicle. 4 . The device for reminding the driver in lane keeping according to claim 3 , wherein the device further comprises a second takeover reminding module, which is used for determining that the vertical moment is outside a preset vertical moment range. 5 . , alerting the driver to take over the vehicle. 5. An electronic device, characterized in that, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of claim 1 or 2 . 6 . A medium, wherein computer instructions are stored on the medium, and the computer instructions are used to cause the computer to execute the method of claim 1 or 2 . 7 .

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