Auxiliary driving method, device and equipment based on safety evaluation and medium

Abstract

The invention relates to an auxiliary driving method, device and equipment based on safety evaluation and a medium, and belongs to the field of intelligent auxiliary driving. The method comprises the steps that driving safety evaluation data are acquired through driving safety detection equipment, and a driving safety evaluation index is calculated; when the value of the driving safety evaluation index is 1, establishing a driving safety evaluation model according to the driving safety evaluation data and outputting driving risk information; and outputting an auxiliary driving scheme according to the driving risk information, wherein the auxiliary driving scheme comprises a warning prompt tone, automatic braking of the vehicle, ejection of a safety airbag and automatic driving of the vehicle taking over. The driving risk is comprehensively evaluated through the multi-stage model, the reasonable auxiliary driving scheme is output according to the risk level, risks possibly occurring in the driving process can be avoided, and the life and property safety of a driver is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent assisted driving, and specifically relates to an assisted driving method, device, equipment and medium based on safety assessment. Background Art

[0002] With the continuous advancement of science and technology, various assisted driving technologies have emerged, including lane keeping, automatic parking, brake assist, driving assistance and other assisted driving functions to provide auxiliary support for drivers in the process of driving vehicles, making driving difficulty plummet. However, this convenience also brings many risks. The driver's excessive reliance on assisted driving functions can easily reduce vigilance, which may cause serious consequences such as traffic accidents, causing loss of life or property to themselves and society. In addition, when an emergency occurs suddenly, the driver is prone to untimely reaction, and may not be able to distinguish between brakes and accelerators or swerve the steering wheel, causing the accident rate to increase. At the same time, if the driver is physically unwell during the assisted driving process, it is difficult to be monitored, which can also lead to serious consequences such as traffic accidents. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a driving assistance method, device, equipment and medium based on safety assessment.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] An assisted driving method based on safety assessment, the implementation of the assisted driving method comprising the following steps:

[0006] S1: Acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate and a real-time breathing rate of the driver;

[0007] S2: when the driving safety assessment index takes a value of 1, a driving safety assessment model is established according to the driving safety assessment data and driving risk information is output, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information;

[0008] S3: Outputting an assisted driving solution according to the driving risk information, wherein the assisted driving solution includes a warning tone, automatic vehicle braking, popping out of an airbag, and automatic driving taking over the vehicle.

[0009] Preferably, the step S1 specifically includes:

[0010] S101: Use a thermal imager to mark suspicious obstacles within a radius of 100 meters with the driving vehicle as the center. The suspicious obstacles include pedestrians, motor vehicles, non-motor vehicles, and animals.

[0011] S102: Acquire the suspected obstacle radial velocity and the suspected obstacle distance of the suspected obstacle by using a millimeter wave radar;

[0012] S103: Preset driving safety assessment thresholds, which include a suspected obstacle radial speed threshold, a suspected obstacle distance threshold, a driver's real-time heart rate threshold, and a driver's real-time breathing rate threshold, and calculate the driving safety assessment index. The calculation formula is:

[0013]

[0014] Among them, α is the driving safety assessment index, v is the radial speed of the suspicious obstacle, d is the distance of the suspicious obstacle, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, and v m is the radial velocity threshold of the suspected obstacle, d m is the distance threshold of the suspected obstacle, P m is the driver’s real-time heart rate threshold, G m It is the driver's real-time breathing rate threshold.

[0015] Preferably, the step S2 specifically includes:

[0016] S201: Acquire a safe driving distance according to the radial speed of the suspicious obstacle, establish the road safety assessment model based on the safe driving distance, and output the driving risk information;

[0017] S202: Calculate the driver safety index according to the driving safety assessment data, establish the driver safety assessment model according to the driver safety index and output the driving risk information.

[0018] Preferably, the step S201 specifically includes:

[0019] S201-1: Obtaining the brake clearance elimination time and the braking deceleration continuous growth time, wherein the brake clearance elimination time is the time interval from the issuance of a braking command to the actual start of the brake, and the braking deceleration continuous growth time is the time consumed for the braking deceleration to reach the expected value after the driving vehicle eliminates the brake actuator clearance;

[0020] S201-2: Obtaining a longitudinal safe driving distance according to the driving speed, wherein the longitudinal safe driving distance is a distance traveled by the vehicle in n seconds, where n is 1 / 10 of the driving speed;

[0021] S201-3: Calculate the driving safety distance and establish the road safety assessment model. The calculation formula is:

[0022]

[0023] Among them, L is the safe driving distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving;

[0024] S201-4: Acquire the driving risk information by comparing the driving safety distance and the suspicious obstacle distance;

[0025] Determining the distance of the suspected obstacle, when the distance of the suspected obstacle is greater than or equal to the driving safety distance, the road safety assessment model outputs the road safety low risk information;

[0026] When the suspicious obstacle distance is less than the driving safety distance, the road safety assessment model outputs the road safety high risk information.

[0027] Preferably, the step S202 specifically includes:

[0028] S202-1: The calculation formula of the driver safety index is:

[0029]

[0030] Among them, η is the driver's safety index, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, P m is the driver’s real-time heart rate threshold, G m It is the driver's real-time breathing rate threshold;

[0031] S202-2: Establishing the driver safety assessment model by determining the driver safety index and obtaining the driving risk information;

[0032] Determining the driver safety index, when the driver safety index is 1, the driver safety assessment model outputs the driver safety high risk information;

[0033] When the driver safety index is 0, the driver safety assessment model outputs the driver safety low risk information.

[0034] Preferably, the step S3 specifically includes:

[0035] S301: When the road safety assessment model outputs the low-risk road safety information, the main control emits a warning tone to alert the driver and the suspicious object and automatically reduces the vehicle speed; when the road safety assessment model outputs the high-risk road safety information, a multi-level safety distance is obtained according to the driving safety distance and the suspicious obstacle distance and the auxiliary driving solution is output, wherein the multi-level safety distance includes a third-level safety distance, a second-level safety distance, and a first-level safety distance;

[0036] S302: When the driver safety assessment model outputs the driver safety high risk information, the automatic driving takes over and the vehicle pulls over and calls for help; when the driver safety assessment model outputs the driver safety low risk information, the main control issues a warning tone.

[0037] Preferably, the step S301 specifically includes:

[0038] S301-1: The calculation formula for the third-level safety distance is:

[0039]

[0040] Among them, L3 is the third-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a max is the maximum deceleration of the vehicle, d safe It is the longitudinal safety distance for driving;

[0041] Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the third-level safety distance, the main control emits a warning sound and starts the vehicle's automatic braking, and pops out the airbag at the same time;

[0042] S301-2: The calculation formula of the secondary safety distance is:

[0043]

[0044] Among them, L2 is the secondary safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v cis the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving;

[0045] Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the second-level safety distance and greater than the third-level safety distance, the main control emits a warning sound and starts automatic braking of the vehicle;

[0046] S301-3: The calculation formula of the first-level safety distance is:

[0047]

[0048] Among them, L1 is the first-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe is the longitudinal safety distance for driving, t driver is the driver's reaction time, which is 1 second;

[0049] The distance of the suspected obstacle is determined. When the distance of the suspected obstacle is less than or equal to the first-level safety distance and greater than the second-level safety distance, the main control emits a warning tone.

[0050] An assisted driving device based on safety assessment, used to execute the above-mentioned assisted driving method based on safety assessment, characterized in that it includes a data acquisition module, a safety assessment module, and an assisted driving module;

[0051] The data acquisition module is used to acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate of the driver and a real-time breathing rate of the driver;

[0052] The safety assessment module is used to establish a driving safety assessment model according to the driving safety assessment data and output driving risk information when the driving safety assessment index takes a value of 1, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information;

[0053] The assisted driving module is used to output an assisted driving solution according to the driving risk information, and the assisted driving solution includes a warning tone, automatic vehicle braking, popping out of an airbag, and automatic driving taking over the vehicle.

[0054] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned assisted driving method when executing the program.

[0055] A storage medium containing computer executable instructions, which are used to execute the above-mentioned assisted driving method when executed by a computer processor.

[0056] The beneficial effects of the present invention are:

[0057] (1) Establish a driving safety assessment model based on driving safety assessment data and output driving risk information. Output an assisted driving plan based on the driving risk information, reasonably judge the risk level during driving and monitor the driver's vital signs in real time to ensure driving safety and reduce the probability of traffic accidents.

[0058] (2) Thermal imaging can be used to mark obstacles that may pose a threat to driving, thereby improving the efficiency and accuracy of obstacle detection. Thermal imaging also has a low cost.

[0059] (3) Obtain the radial velocity and distance of the suspected obstacle through the millimeter-wave radar. The millimeter-wave radar has the advantages of high resolution, small size, and anti-interference, and can directly measure distance and speed information, which has higher work efficiency;

[0060] (4) Output different assisted driving solutions according to different driving risk levels, so that the assisted driving solutions are more in line with the actual situation;

[0061] (5) By obtaining a multi-level safety distance based on the driving safety distance and the distance to a suspicious obstacle and outputting an assisted driving plan, the multi-level safety distance includes a third-level safety distance, a second-level safety distance, and a first-level safety distance, thereby achieving a more accurate assessment of the current driving risk level. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0063] Figure 1 The present invention is a flowchart of the steps of an assisted driving method based on safety assessment. DETAILED DESCRIPTION

[0064] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0065] The working principle and use process of the present invention:

[0066] See also Figure 1 , an assisted driving method based on safety assessment, comprising:

[0067] S1: Acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate and a real-time breathing rate of the driver;

[0068] S2: when the driving safety assessment index takes a value of 1, a driving safety assessment model is established according to the driving safety assessment data and driving risk information is output, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information;

[0069] S3: Outputting an assisted driving solution according to the driving risk information, wherein the assisted driving solution includes but is not limited to warning sound, automatic vehicle braking, airbag deployment, and automatic driving taking over the vehicle.

[0070] In this embodiment, driving safety assessment data is obtained and a driving safety assessment index is calculated by a driving safety detection device, the driving safety detection device includes a thermal imager and a millimeter wave radar, the driving safety assessment data includes road safety data and driving safety data, the road safety data includes a suspicious obstacle radial velocity and a suspicious obstacle distance, and the driving safety data includes a driver's real-time heart rate and a driver's real-time breathing rate. The specific implementation can be performed by the following steps:

[0071] S101: Use a thermal imager to mark suspicious obstacles within a radius of 100 meters with the driving vehicle as the center, thereby improving the efficiency and accuracy of obstacle detection. The thermal imaging cost is low. The suspicious obstacles include but are not limited to pedestrians, motor vehicles, non-motor vehicles, and animals.

[0072] S102: obtaining the radial velocity of the suspected obstacle and the distance of the suspected obstacle by means of a millimeter wave radar. The millimeter wave radar has the advantages of high resolution, small size, and anti-interference, and can directly measure distance and velocity information, thus having higher working efficiency;

[0073] S103: Preset driving safety assessment thresholds, which include a suspected obstacle radial speed threshold, a suspected obstacle distance threshold, a driver's real-time heart rate threshold, and a driver's real-time breathing rate threshold, and calculate the driving safety assessment index. The calculation formula is:

[0074]

[0075] Among them, α is the driving safety assessment index, v is the radial speed of the suspicious obstacle, d is the distance of the suspicious obstacle, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, and v m is the radial velocity threshold of the suspected obstacle, d m is the distance threshold of the suspected obstacle, P m is the driver’s real-time heart rate threshold, G m It is the driver's real-time breathing rate threshold.

[0076] In this embodiment, the radial velocity and distance of the suspected obstacle of the suspected obstacle are obtained by using a millimeter wave radar, which can be specifically implemented by the following steps:

[0077] S102-1: Preset a millimeter wave radar signal transmission period, and the millimeter wave radar transmits a linear frequency modulation pulse according to the millimeter wave radar signal transmission period and obtains the radial velocity of the suspected obstacle. The calculation formula of the radial velocity of the suspected obstacle is:

[0078]

[0079] Where v is the radial velocity of the suspected obstacle, λ is the maximum wavelength of the linear frequency modulation pulse, is the phase difference of linear frequency modulation pulse, T is the transmission period of millimeter wave radar signal;

[0080] S102-2: Obtain the transmission signal and the receiving signal of the millimeter wave radar. The expression of the transmission signal is:

[0081]

[0082] Among them, X t (t) is the transmitted signal, t is the time, f min is the initial frequency of the millimeter-wave radar, B is the bandwidth, and T is the millimeter-wave radar signal transmission period;

[0083] The expression of the received signal is:

[0084]

[0085] Among them, X r (t) is the received signal, t is the time, f min is the initial frequency of the millimeter-wave radar, B is the bandwidth, T is the millimeter-wave radar signal transmission period, t w is the signal round trip time;

[0086] S102-3: Perform I / Q modulation and low-pass filtering on the transmission signal and the reception signal through a mixer, and output an intermediate frequency signal. The expression of the intermediate frequency signal is:

[0087]

[0088] Among them, Y(t) is the intermediate frequency signal, t is the time, t w is the signal round trip time, S is the frequency growth slope of the millimeter wave radar, and f min is the initial frequency of the millimeter wave radar;

[0089] S102-4: Perform fast Fourier transform on the intermediate frequency signal to obtain the intermediate frequency signal frequency, and calculate the distance of the suspected obstacle according to the intermediate frequency signal frequency, and the calculation formula is:

[0090]

[0091] Where d is the distance of the suspected obstacle, c is the speed of light, and f IF is the intermediate frequency signal frequency, and S is the frequency growth slope of the millimeter wave radar.

[0092] In this embodiment, when the driving safety assessment index takes a value of 1, a driving safety assessment model is established according to the driving safety assessment data and driving risk information is output, the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, the driving risk information includes high-risk driving information and low-risk driving information, the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information, which can be specifically implemented by the following steps:

[0093] S201: Acquire a safe driving distance according to the radial speed of the suspicious obstacle, establish the road safety assessment model based on the safe driving distance, and output the driving risk information;

[0094] S202: Calculate the driver safety index according to the driving safety assessment data, establish the driver safety assessment model according to the driver safety index and output the driving risk information.

[0095] In this embodiment, the driving safety distance is obtained according to the radial speed of the suspicious obstacle, the road safety assessment model is established based on the driving safety distance, and the driving risk information is output, which can be specifically implemented by the following steps:

[0096] S201-1: Obtaining the brake clearance elimination time and the braking deceleration continuous growth time, wherein the brake clearance elimination time is the time interval from the issuance of a braking command to the actual start of the brake, and the braking deceleration continuous growth time is the time consumed for the braking deceleration to reach the expected value after the driving vehicle eliminates the brake actuator clearance;

[0097] S201-2: Obtaining a longitudinal safe driving distance according to the driving speed, wherein the longitudinal safe driving distance is a distance traveled by the vehicle in n seconds, where n is 1 / 10 of the driving speed;

[0098] S201-3: Calculate the driving safety distance and establish the road safety assessment model. The calculation formula is:

[0099]

[0100] Among them, L is the safe driving distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving;

[0101] S201-4: Acquire the driving risk information by comparing the driving safety distance and the suspicious obstacle distance;

[0102] Determining the distance of the suspected obstacle, when the distance of the suspected obstacle is greater than or equal to the driving safety distance, the road safety assessment model outputs the road safety low risk information;

[0103] When the suspicious obstacle distance is less than the driving safety distance, the road safety assessment model outputs the road safety high risk information.

[0104] In this embodiment, the driver safety index is calculated according to the driving safety assessment data, the driver safety assessment model is established according to the driver safety index, and the driving risk information is output, which can be specifically implemented by the following steps:

[0105] S202-1: The calculation formula of the driver safety index is:

[0106]

[0107] Among them, η is the driver's safety index, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, P m is the driver’s real-time heart rate threshold, G m Real-time breathing rate threshold for the driver;

[0108] S202-2: Establishing the driver safety assessment model by determining the driver safety index and obtaining the driving risk information;

[0109] Determining the driver safety index, when the driver safety index is 1, the driver safety assessment model outputs the driver safety high risk information;

[0110] When the driver safety index is 0, the driver safety assessment model outputs the driver safety low risk information.

[0111] In this embodiment, an assisted driving solution is output according to the driving risk information. The assisted driving solution includes but is not limited to warning sound, automatic vehicle braking, airbag deployment, and automatic driving taking over the vehicle. The assisted driving solution can be implemented by the following steps:

[0112] S301: When the road safety assessment model outputs the low-risk road safety information, the main control emits a warning tone to alert both the driver and the suspicious object and automatically reduces the vehicle speed; when the road safety assessment model outputs the high-risk road safety information, a multi-level safety distance is obtained according to the driving safety distance and the suspicious obstacle distance and the auxiliary driving solution is output, wherein the multi-level safety distance includes a third-level safety distance, a second-level safety distance, and a first-level safety distance, so as to achieve a more accurate assessment of the current driving risk level;

[0113] S302: When the driver safety assessment model outputs the driver safety high risk information, the automatic driving takes over and the vehicle pulls over and calls for help; when the driver safety assessment model outputs the driver safety low risk information, the main control issues a warning tone to remind the driver to pay attention to his physical condition.

[0114] In this embodiment, when the road safety assessment model outputs the low-risk road safety information, the main control emits a warning tone to alert both the driver and the suspicious object and automatically reduces the vehicle speed; when the road safety assessment model outputs the high-risk road safety information, a multi-level safety distance is obtained according to the driving safety distance and the suspicious obstacle distance and the assisted driving solution is output, the multi-level safety distance includes a third-level safety distance, a second-level safety distance, and a first-level safety distance, which can be specifically implemented by the following steps:

[0115] S301-1: The calculation formula for the third-level safety distance is:

[0116]

[0117] Among them, L3 is the third-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a max is the maximum deceleration of the vehicle, d safe It is the longitudinal safety distance for driving;

[0118] Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the third-level safety distance, the main control emits a warning sound and starts the vehicle's automatic braking, and pops out the airbag at the same time;

[0119] S301-2: The calculation formula of the secondary safety distance is:

[0120]

[0121] Among them, L2 is the secondary safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving;

[0122] Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the second-level safety distance and greater than the third-level safety distance, the main control emits a warning sound and starts automatic braking of the vehicle;

[0123] S301-3: The calculation formula of the first-level safety distance is:

[0124]

[0125] Among them, L1 is the first-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe is the longitudinal safety distance for driving, t driver is the driver's reaction time, which is 1 second;

[0126] The distance of the suspected obstacle is determined. When the distance of the suspected obstacle is less than or equal to the first-level safety distance and greater than the second-level safety distance, the main control sends a warning sound to prompt the driver to slow down and avoid the suspected obstacle.

[0127] An assisted driving device based on safety assessment includes a data acquisition module, a safety assessment module, and an assisted driving module;

[0128] The data acquisition module is used to acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate of the driver and a real-time breathing rate of the driver;

[0129] The safety assessment module is used to establish a driving safety assessment model according to the driving safety assessment data and output driving risk information when the driving safety assessment index takes a value of 1, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information;

[0130] The assisted driving module is used to output an assisted driving solution according to the driving risk information. The assisted driving solution includes but is not limited to warning prompt sound, automatic vehicle braking, popping out airbags, and automatic driving taking over the vehicle.

[0131] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0132] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. 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 above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0133] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0134] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An assisted driving method based on safety assessment, characterized in that: The implementation of the assisted driving method comprises the following steps: S1: Acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate and a real-time breathing rate of the driver; S2: when the driving safety assessment index takes a value of 1, a driving safety assessment model is established according to the driving safety assessment data and driving risk information is output, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information; S3: Outputting an assisted driving solution according to the driving risk information, wherein the assisted driving solution includes a warning tone, automatic vehicle braking, popping out of an airbag, and automatic driving taking over the vehicle.

2. The assisted driving method according to claim 1, characterized in that: The step S1 specifically includes: S101: Use a thermal imager to mark suspicious obstacles within a radius of 100 meters with the driving vehicle as the center. The suspicious obstacles include pedestrians, motor vehicles, non-motor vehicles, and animals. S102: Acquire the suspected obstacle radial velocity and the suspected obstacle distance of the suspected obstacle by using a millimeter wave radar; S103: Preset driving safety assessment thresholds, which include a suspected obstacle radial speed threshold, a suspected obstacle distance threshold, a driver's real-time heart rate threshold, and a driver's real-time breathing rate threshold, and calculate the driving safety assessment index. The calculation formula is: Among them, α is the driving safety assessment index, v is the radial speed of the suspicious obstacle, d is the distance of the suspicious obstacle, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, and v m is the radial velocity threshold of the suspected obstacle, d m is the distance threshold of the suspected obstacle, P m is the driver’s real-time heart rate threshold, G m It is the driver's real-time breathing rate threshold.

3. The assisted driving method according to claim 1, characterized in that: The step S2 specifically includes: S201: Acquire a safe driving distance according to the radial speed of the suspicious obstacle, establish the road safety assessment model based on the safe driving distance, and output the driving risk information; S202: Calculate the driver safety index according to the driving safety assessment data, establish the driver safety assessment model according to the driver safety index and output the driving risk information.

4. The assisted driving method according to claim 3, characterized in that: The step S201 specifically includes: S201-1: Obtaining the brake clearance elimination time and the braking deceleration continuous growth time, wherein the brake clearance elimination time is the time interval from the issuance of a braking command to the actual start of the brake, and the braking deceleration continuous growth time is the time consumed for the braking deceleration to reach the expected value after the driving vehicle eliminates the brake actuator clearance; S201-2: Obtaining a longitudinal safe driving distance according to the driving speed, wherein the longitudinal safe driving distance is a distance traveled by the vehicle in n seconds, where n is 1 / 10 of the driving speed; S201-3: Calculate the driving safety distance and establish the road safety assessment model. The calculation formula is: Among them, L is the safe driving distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving; S201-4: Acquire the driving risk information by comparing the driving safety distance and the suspicious obstacle distance; Determining the distance of the suspected obstacle, when the distance of the suspected obstacle is greater than or equal to the driving safety distance, the road safety assessment model outputs the road safety low risk information; When the suspicious obstacle distance is less than the driving safety distance, the road safety assessment model outputs the road safety high risk information.

5. The assisted driving method according to claim 3, characterized in that: The step S202 specifically includes: S202-1: The calculation formula of the driver safety index is: Among them, η is the driver's safety index, P is the driver's real-time heart rate, G is the driver's real-time breathing rate, P m is the driver’s real-time heart rate threshold, G m Real-time breathing rate threshold for the driver; S202-2: Establishing the driver safety assessment model by determining the driver safety index and obtaining the driving risk information; Determining the driver safety index, when the driver safety index is 1, the driver safety assessment model outputs the driver safety high risk information; When the driver safety index is 0, the driver safety assessment model outputs the driver safety low risk information.

6. The assisted driving method according to claim 1, characterized in that: The step S3 specifically includes: S301: When the road safety assessment model outputs the low-risk road safety information, the main control emits a warning tone to alert the driver and the suspicious object and automatically reduces the vehicle speed; when the road safety assessment model outputs the high-risk road safety information, a multi-level safety distance is obtained according to the driving safety distance and the suspicious obstacle distance and the auxiliary driving solution is output, wherein the multi-level safety distance includes a third-level safety distance, a second-level safety distance, and a first-level safety distance; S302: When the driver safety assessment model outputs the driver safety high risk information, the automatic driving takes over and the vehicle pulls over and calls for help; when the driver safety assessment model outputs the driver safety low risk information, the main control issues a warning tone.

7. The assisted driving method according to claim 6, characterized in that: The step S301 specifically includes: S301-1: The calculation formula for the third-level safety distance is: Among them, L3 is the third-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a max is the maximum deceleration of the vehicle, d safe It is the longitudinal safety distance for driving; Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the third-level safety distance, the main control emits a warning sound and starts the vehicle's automatic braking, and pops out the airbag at the same time; S301-2: The calculation formula of the secondary safety distance is: Among them, L2 is the secondary safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe It is the longitudinal safety distance for driving; Determine the distance of the suspected obstacle. When the distance of the suspected obstacle is less than or equal to the second-level safety distance and greater than the third-level safety distance, the main control emits a warning sound and starts automatic braking of the vehicle; S301-3: The calculation formula of the first-level safety distance is: Among them, L1 is the first-level safety distance, t1 is the time for the brake to eliminate the gap, t2 is the continuous increase time of the braking deceleration, v c is the driving speed, v is the radial speed of the suspected obstacle, a is the vehicle deceleration, d safe is the longitudinal safety distance for driving, t driver is the driver's reaction time, which is 1 second; The distance of the suspected obstacle is determined. When the distance of the suspected obstacle is less than or equal to the first-level safety distance and greater than the second-level safety distance, the main control emits a warning tone.

8. A safety assessment-based driving assistance device, characterized in that: Including data acquisition module, safety assessment module, and assisted driving module; The data acquisition module is used to acquire driving safety assessment data and calculate a driving safety assessment index through a driving safety detection device, wherein the driving safety detection device includes a thermal imager and a millimeter wave radar, wherein the driving safety assessment data includes road safety data and driving safety data, wherein the road safety data includes a radial speed of a suspicious obstacle and a distance of a suspicious obstacle, and wherein the driving safety data includes a real-time heart rate of the driver and a real-time breathing rate of the driver; The safety assessment module is used to establish a driving safety assessment model according to the driving safety assessment data and output driving risk information when the driving safety assessment index takes a value of 1, wherein the driving safety assessment model includes a road safety assessment model and a driver safety assessment model, and the driving risk information includes high-risk driving information and low-risk driving information, wherein the high-risk driving information includes high-risk road safety information and high-risk driver safety information, and the low-risk driving information includes low-risk road safety information and low-risk driver safety information; The assisted driving module is used to output an assisted driving solution according to the driving risk information, and the assisted driving solution includes a warning tone, automatic vehicle braking, popping out of an airbag, and automatic driving taking over the vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the assisted driving method based on safety assessment as described in any one of claims 1-7 is implemented.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the safety assessment-based assisted driving method as described in any one of claims 1 to 7 when executed by a computer processor.

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