Transverse control method and device for driving assistance, vehicle and storage medium

Abstract

The invention relates to a transverse control method and device for driving assistance, a vehicle and a storage medium, and the method comprises the steps that the actual operation intention of a driver is recognized; under the condition that the actual operation intention is that the steering wheel is not actively controlled to take over the vehicle transverse control intention, the vehicle is controlled to be in a driving assistance activation mode; and under the condition that the actual operation intention is that the steering wheel is actively controlled to take over the transverse control intention of the vehicle, the vehicle is controlled to enter a temporary exit state of the driving assistance activation mode, and the transverse control action of the vehicle is responded based on the operation data until the vehicle exits or enters the driving assistance activation mode again. According to the embodiment of the invention, the vehicle can be controlled to enter the temporary exit state of the driving assistance activation mode under the condition that the actual operation intention of the driver is to actively control the steering wheel to take over the vehicle transverse control intention, so that the exit rate of the driving assistance transverse control function is reduced, the use continuity of the driving assistance function is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile driving assistance technology, and in particular to a lateral control method, device, vehicle and storage medium for driving assistance. Background Art

[0002] In recent years, the automobile industry has developed rapidly, and automobiles have gradually transformed from traditional fuel vehicles to new energy electric vehicles. Similarly, automobile driving has become more and more intelligent, and functions such as adaptive cruise control, automatic emergency braking, and driver takeover have appeared in the automobile's auxiliary driving system.

[0003] In the related technology, patent [202110129122.0] proposes a method for taking over the steering wheel of an intelligent driving vehicle, which can monitor in real time whether the electric power steering system is in an activated state; if it is activated, the hand torque applied to the steering wheel, the steering wheel angle, and the steering wheel angle speed are used to determine whether the hand torque meets the takeover conditions. If so, the automatic driving function is exited, and the electric power steering system follows the steering demand to provide assistance and take over.

[0004] However, the relevant technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome. It is impossible to accurately judge the driver's willingness to intervene and only define the exit timing from the perspective of functional design. It is difficult to improve the continuity of the control function, which reduces the driver's user experience and urgently needs to be improved. Summary of the invention

[0005] The present application provides a lateral control method, device, vehicle and storage medium for driving assistance to solve the problems that the related technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the lateral function of intelligent driving assistance is relatively cumbersome, and it is impossible to accurately judge the driver's willingness to intervene and only define the exit timing from the perspective of functional design, which makes it difficult to improve the continuity of the control function and reduces the driver's user experience.

[0006] A first aspect of the present application provides a lateral control method for driving assistance, comprising the following steps: identifying the actual operating intention of the driver based on the driver's operating data; controlling the vehicle to be in a driving assistance activation mode when the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle; and controlling the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operating intention is an intention to actively control the steering wheel to take over the lateral control of the vehicle, and responding to the lateral control action of the vehicle based on the operating data until exiting or re-entering the driving assistance activation mode.

[0007] According to the above-mentioned technical means, the embodiment of the present application can control the vehicle to enter a temporary exit state of the driving assistance activation mode when the driver's actual operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention. Otherwise, the vehicle is controlled to be in the driving assistance activation mode, thereby avoiding the driver's unexpected exit from the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of the driving assistance function, and enhancing the user experience.

[0008] Optionally, in some embodiments, identifying the driver's actual operating intention includes: obtaining the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information based on the operating data; determining the actual operating intention as the intention of not actively controlling the steering wheel to take over the vehicle's lateral control or the intention of actively controlling the steering wheel to take over the vehicle's lateral control based on the hand torque, the steering information and / or the braking information.

[0009] According to the above-mentioned technical means, the embodiment of the present application can obtain the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information based on the operation data, thereby helping to further determine the driver's actual operating intention; the embodiment of the present application can determine that the actual operating intention is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control or the intention of actively controlling the steering wheel to take over the vehicle's lateral control based on the hand torque, steering information and / or braking information, thereby improving the user experience and improving the intelligence and practicality of the vehicle.

[0010] Optionally, in some embodiments, the actual operation intention is determined as the intention of not actively controlling the steering wheel to take over the vehicle's lateral control or the intention of actively controlling the steering wheel to take over the vehicle's lateral control based on the hand torque, the steering information and / or the braking information, including: if the hand torque is greater than a preset threshold, then the driver's operation intention is determined to be the intention of actively controlling the steering wheel to take over the vehicle's lateral control, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control; if the steering information includes information that the driver turns on the turn signal, then the driver's operation intention is determined to be the intention of actively controlling the steering wheel to take over the vehicle's lateral control, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control; if the braking information includes information that the driver actively steps on the brakes, then the driver's operation intention is determined to be the intention of actively controlling the steering wheel to take over the vehicle's lateral control, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control.

[0011] According to the above-mentioned technical means, the embodiment of the present application can determine whether the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention or not to actively control the steering wheel to take over the vehicle's lateral control intention, thereby avoiding the driver's unexpected exit from the lateral control function, reducing the exit rate of the driving assistance lateral control function, and improving the continuity of the use of the driving assistance function.

[0012] Optionally, in some embodiments, before identifying the actual operating intention of the driver, it also includes: determining whether the vehicle is in a driving assistance activation mode; if in the driving assistance activation mode, allowing the actual operating intention to be identified.

[0013] According to the above-mentioned technical means, the embodiments of the present application can determine whether the vehicle is in the driving assistance activation mode, and provide support for the subsequent identification of the driver's operating intention; the embodiments of the present application can allow the driver's actual operating intention to be identified when the vehicle is in the driving assistance activation mode, thereby helping to determine whether the driver's actual operating intention is to actively control the steering wheel to take over the vehicle's lateral control, further avoiding the driver's unexpected exit from the lateral control function, and improving the intelligence of the vehicle.

[0014] Optionally, in some embodiments, after controlling the vehicle to enter the temporary exit state of the driving assistance activation mode, it also includes: generating a temporary exit reminder signal based on the temporary exit state; and controlling the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal.

[0015] According to the above technical means, the embodiment of the present application can control the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal, thereby improving the immediacy and effectiveness of the reminder and enhancing the user experience.

[0016] A second aspect of the present application provides a lateral control device for driving assistance, including: an identification module, for identifying the actual operating intention of the driver based on the driver's operating data; a first control module, for controlling the vehicle to be in a driving assistance activation mode when the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle; and a second control module, for controlling the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operating intention is an intention to actively control the steering wheel to take over the lateral control of the vehicle, and responding to the lateral control action of the vehicle based on the operating data until exiting or re-entering the driving assistance activation mode.

[0017] Optionally, in some embodiments, the identification module includes: an acquisition unit, used to acquire the driver's hand torque, the steering information of the vehicle and / or the braking information of the vehicle according to the operation data; a determination unit, used to determine that the actual operation intention is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control, or the intention of actively controlling the steering wheel to take over the vehicle's lateral control according to the hand torque, the steering information and / or the braking information.

[0018] Optionally, in some embodiments, the determination unit includes: a first determination subunit, used to determine that the driver's operating intention is the intention of actively controlling the steering wheel to take over the vehicle's lateral control when the hand torque is greater than a preset threshold, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control; a second determination subunit, used to determine that the driver's operating intention is the intention of actively controlling the steering wheel to take over the vehicle's lateral control when the steering information includes information that the driver turns on the turn signal, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control; a third determination subunit, used to determine that the driver's operating intention is the intention of actively controlling the steering wheel to take over the vehicle's lateral control when the braking information includes information that the driver actively steps on the brakes, otherwise it is not the intention of actively controlling the steering wheel to take over the vehicle's lateral control.

[0019] Optionally, in some embodiments, it also includes: a judgment module, used to judge whether the vehicle is in a driving assistance activation mode before identifying the driver's actual operating intention; and an intention recognition module, used to allow the actual operating intention to be recognized when in the driving assistance activation mode.

[0020] Optionally, in some embodiments, it also includes: a generation module, which is used to generate a temporary exit reminder signal based on the temporary exit state after controlling the vehicle to enter the temporary exit state of the driving assistance activation mode; and a reminder module, which is used to control the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal.

[0021] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lateral control method for driving assistance as described in the above embodiment.

[0022] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the lateral control method for driving assistance as described in the above embodiment.

[0023] Beneficial effects of the embodiments of the present application:

[0024] (1) In the embodiment of the present application, when the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle can be controlled to enter a temporary exit state of the driving assistance activation mode. Otherwise, the vehicle can be controlled to be in the driving assistance activation mode, thereby avoiding the driver's unexpected exit of the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of the driving assistance function, and enhancing the user experience.

[0025] (2) The embodiment of the present application can determine whether the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention or not to actively control the steering wheel to take over the vehicle's lateral control intention, thereby avoiding the driver's unexpected exit from the lateral control function, reducing the exit rate of the driving assistance lateral control function, and improving the continuity of the use of the driving assistance function.

[0026] (3) The embodiments of the present application can determine whether the vehicle is in the driving assistance activation mode, provide support for the subsequent identification of the driver's operating intention, and allow the driver's actual operating intention to be identified when the vehicle is in the driving assistance activation mode, thereby helping to determine whether the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, further avoiding the driver's unexpected exit from the lateral control function, and improving the intelligence of the vehicle.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0029] Figure 1 A flowchart of a lateral control method for driving assistance provided according to an embodiment of the present application;

[0030] Figure 2 is a flow chart of a lateral control method for driving assistance according to an embodiment of the present application;

[0031] Figure 3 is a flow chart of a lateral control method for driving assistance according to an embodiment of the present application;

[0032] Figure 4 It is a structural schematic diagram of a lateral control device for driving assistance provided according to an embodiment of the present application;

[0033] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0034] Among them, 10 is a lateral control device for driving assistance; 100 is an identification module, 200 is a first control module and 300 is a second control module; 501 is a memory, 502 is a processor and 503 is a communication interface. DETAILED DESCRIPTION

[0035] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0036] The following describes the lateral control method, device, vehicle and storage medium of the driving assistance of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the related technology mentioned in the above background technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome, it is impossible to accurately judge the driver's intention to intervene and only define the exit timing from the perspective of functional design, it is difficult to improve the continuity of the control function, and the driver's use experience is reduced, the present application provides a driving assistance lateral control method, in which the vehicle can be controlled to enter a temporary exit state of the driving assistance activation mode when the driver's actual operation intention is to actively control the steering wheel to take over the lateral control intention of the vehicle, otherwise the vehicle is controlled to be in the driving assistance activation mode, thereby avoiding the driver's unexpected exit of the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of the driving assistance function, and improving the user experience. Thus, the problem that the related technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome, it is impossible to accurately judge the driver's intention to intervene and only define the exit timing from the perspective of functional design, it is difficult to improve the continuity of the control function, and the driver's use experience is reduced.

[0037] Specifically, Figure 1 A schematic flow chart of a lateral control method for driver assistance provided in an embodiment of the present application.

[0038] like Figure 1 As shown, the lateral control method of driving assistance includes the following steps:

[0039] In step S101 , the actual operation intention of the driver is identified based on the operation data of the driver.

[0040] It is understandable that since the activation of the driving assistance lateral control function in the relevant technology is premised on the activation of the longitudinal function, when the longitudinal function is exited, the lateral function will also be exited. At the same time, when the driver intends to change lanes and turns on the turn signal, the lateral control function will also be exited immediately, which is specifically reflected in the following two scenarios: (1) When using the driving assistance lateral control function, the driver brakes to slow down and does not control the steering wheel. The current technical solution is to exit the longitudinal control function and the lateral control function when the driver brakes but does not control the steering wheel. This means that the driver only needs to take over the longitudinal control of the vehicle and has no intention of taking over the lateral control. At this time, the lateral function is exited and the lateral control of the vehicle is very likely to be out of control, posing a certain safety risk. At the same time, the driver needs to reactivate after exiting by braking, which increases the driver's operation and reduces the continuity of the use of the lateral function. (2) When using the driving assistance lateral control function, if the driver turns on the turn signal but does not control the steering wheel to start the lane change, the current technical solution is to exit the lateral control function when the turn signal is turned on. The driver turns on the turn signal but does not control the steering wheel. At this time, the driver does not need to start the lane change immediately. After the driver turns on the turn signal, it usually takes a certain amount of time to ensure that the lane change can be safe before controlling the steering wheel to change lanes. The lateral control function has been exited during this period. At this time, the driver's attention is on checking the lane change environment. Therefore, the vehicle's lateral control is very likely to be out of control, posing a certain safety risk.

[0041] Therefore, in the actual implementation process, the embodiments of the present application can identify the driver's actual operating intention based on the driver's operating data. For example, the driver's operating data in the embodiments of the present application includes but is not limited to the driver's control of the steering wheel, the brakes, and the turn signal, etc.; the driver's actual operating intention in the embodiments of the present application can be but is not limited to whether the driver actively controls the steering wheel to take over the lateral control of the vehicle, thereby being able to meet the driver's wishes and achieve good human-machine co-driving without exiting the driving assistance lateral control function, indirectly improving the continuity of the driving assistance lateral control function and improving the user experience.

[0042] Optionally, in some embodiments, identifying the driver's actual operating intention includes: obtaining the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information based on operating data; determining the actual operating intention as either an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control based on the hand torque, steering information and / or braking information.

[0043] Specifically, the embodiments of the present application can obtain the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information based on the operating data, thereby helping to further determine the driver's actual operating intention; the embodiments of the present application can determine that the actual operating intention is not the intention to actively control the steering wheel to take over the vehicle's lateral control or the intention to actively control the steering wheel to take over the vehicle's lateral control based on the hand torque, steering information and / or braking information, thereby improving the vehicle's intelligence and enhancing the user experience.

[0044] Optionally, in some embodiments, the actual operating intention is determined as either an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control based on hand torque, steering information and / or braking information, including: if the hand torque is greater than a preset threshold, then it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention, otherwise it is not an intention to actively control the steering wheel to take over the vehicle's lateral control intention; if the steering information includes information that the driver has turned on the turn signal, then it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention, otherwise it is not an intention to actively control the steering wheel to take over the vehicle's lateral control intention; if the braking information includes information that the driver actively steps on the brakes, then it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention, otherwise it is not an intention to actively control the steering wheel to take over the vehicle's lateral control intention.

[0045] It can be understood that the preset thresholds in the embodiment of the present application include but are not limited to threshold A, threshold B and threshold C, wherein threshold A can enable the driver to clearly distinguish between the function of the vehicle's lateral control right and the difference in the driver's steering wheel resistance, and the driver can clearly perceive the state of the vehicle's lateral control right through the steering wheel resistance; threshold B can enable the driver to control the steering wheel more easily to take over the vehicle's lateral control right, and the resistance of the driver taking over the steering wheel control should be small, so threshold B should be less than threshold A; threshold C can enable the driver to control the steering wheel more easily to take over the vehicle's lateral control right, and the resistance of the driver taking over the steering wheel control should not hinder the driver's smooth control, so threshold C should be less than threshold A. Threshold C and hand torque threshold B are respectively the hand torque thresholds in two different scenarios of the user turning on the turn signal and stepping on the brake. In these two scenarios, the resistance of the driver taking over the steering wheel control should not hinder the driver's smooth control, so threshold B and threshold C are both less than threshold A; at the same time, these two scenarios correspond to different driving operation intentions of the driver, and the values ​​of threshold B and threshold C are not necessarily related. It should be noted that in order to facilitate user learning, the specific values ​​can be calibrated to be equal or with a small difference in actual calibration.

[0046] For example, in an embodiment of the present application, when the function is in an activated state and the driver's steering wheel hand torque is greater than a threshold value A (in order to distinguish the differences between different thresholds, threshold A may be but is not limited to 2.2 Nm), it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention. At this time, the driving assistance lateral control function enters a temporary exit state, and the driving assistance lateral control function should temporarily exit the lateral control of the vehicle and return the lateral control of the vehicle to the driver; when the function is in an activated state and the driver's steering wheel hand torque is less than or equal to threshold value A, it is determined that the driver's operating intention is not to actively control the steering wheel to take over the vehicle's lateral control intention.

[0047] Furthermore, in the embodiment of the present application, when the driver's steering wheel hand torque is less than or equal to threshold A, the braking information can be further judged to determine whether the driver actively steps on the brake to take over the longitudinal control of the vehicle. When the driver actively steps on the brake to take over the longitudinal control of the vehicle, the hand torque of the driver turning the steering wheel can be judged to determine whether the driver's steering wheel hand torque is greater than threshold B (in order to distinguish the difference between different thresholds, threshold B can be but is not limited to 1.5Nm). When the driver's steering wheel hand torque is greater than threshold B, it is determined that the driver's operation intention is to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driving assistance lateral control function enters a temporary exit state, and the driving assistance lateral control function temporarily exits the lateral control of the vehicle and returns the lateral control right of the vehicle to the driver; when the function is in an activated state, when the driver's steering wheel hand torque is less than or equal to threshold B, it is determined that the driver's operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driving assistance lateral control function remains activated and continues to assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function.

[0048] Furthermore, the embodiment of the present application can further judge the steering information and whether the driver has turned on the turn signal when the driver's steering wheel hand torque is less than or equal to threshold A and the driver has not stepped on the brake to take over the longitudinal control of the vehicle. When the driver has not stepped on the brake and has not turned on the turn signal, it is determined that the driver's operating intention is not to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driving assistance lateral control function remains activated and continues to assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function; when the driver has not stepped on the brake and the driver has turned on the turn signal, it is judged whether the driver's steering wheel hand torque is greater than the threshold C (in order to distinguish The difference between different thresholds is determined, and the threshold C can be but is not limited to 1.5Nm). When the driver's steering wheel hand torque is greater than the threshold C, it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention. At this time, the driving assistance lateral control function enters a temporary exit state, and the driving assistance lateral control function temporarily exits the vehicle's lateral control and returns the vehicle's lateral control right to the driver; when the driver's steering wheel hand torque does not exceed the threshold C, it is determined that the driver's operating intention is not to actively control the steering wheel to take over the vehicle's lateral control intention. At this time, the driving assistance lateral control function remains activated and continues to assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function.

[0049] The embodiment of the present application can determine whether the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention or not to actively control the steering wheel to take over the vehicle's lateral control intention, thereby avoiding the driver's unexpected exit from the lateral control function, reducing the exit rate of the driving assistance lateral control function, and improving the continuity of the use of the driving assistance function.

[0050] It should be noted that the preset threshold can be set by technicians in this field according to different vehicle models based on actual calibration experience, and no specific limitation is made here.

[0051] Optionally, in some embodiments, before identifying the driver's actual operating intention, it also includes: determining whether the vehicle is in a driving assistance activation mode; if in the driving assistance activation mode, allowing the actual operating intention to be identified.

[0052] It can be understood that the driving assistance activation mode in the embodiment of the present application can be that the driving assistance lateral control function is in an activated state, the driving assistance lateral control function is in an operating state, and continuously assists the driver to control the lateral movement of the vehicle, and the lateral control right of the vehicle belongs to the driving assistance lateral control function, wherein the driving assistance lateral control function refers to a function of assisting in controlling the lateral movement behavior of the vehicle, such as assisting in controlling the vehicle to drive in the center of the lane, etc.

[0053] During the actual implementation process, the embodiments of the present application can determine whether the vehicle is in the driving assistance activation mode, providing support for the subsequent identification of the driver's operating intention; the embodiments of the present application can allow the driver's actual operating intention to be identified when the vehicle is in the driving assistance activation mode, thereby helping to determine whether the driver's actual operating intention is to actively control the steering wheel to take over the vehicle's lateral control, thereby avoiding the driver's unexpected exit from the lateral control function and reducing the exit rate of the driving assistance lateral control function.

[0054] In step S102 , when the actual operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to be in the driving assistance activation mode.

[0055] During the actual implementation process, the embodiments of the present application can control the vehicle to be in a driving assistance activation mode when the actual operation intention is not to actively control the steering wheel to take over the vehicle's lateral control. At this time, it can continue to assist the driver in controlling the vehicle's lateral movement and continue to judge the driver's operation intention. Then, when the user intervenes to take over the control of the vehicle and it is determined that the intention is not to actively control the steering wheel to take over the vehicle's lateral control, the method of maintaining the lateral control function can be maintained as expected by the user, thereby avoiding the driver's unexpected exit from the lateral control function.

[0056] In step S103, when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to enter a temporary exit state of the driving assistance activation mode, and based on the operation data, the lateral control action of the vehicle is responded to until the driving assistance activation mode is exited or re-entered.

[0057] It can be understood that the functional status in the embodiments of the present application includes but is not limited to an activated state and a temporary exit state, wherein temporary exit means that the driving assistance lateral control function temporarily exits the lateral control of the vehicle, and after the temporary exit, the function should be able to recover by itself; the temporary exit state can be that in the temporary exit state, the driving assistance lateral control function is in a non-operating state, and the lateral control of the vehicle belongs to the driver.

[0058] As a possible implementation method, the embodiment of the present application can control the vehicle to enter a temporary exit state of the driving assistance activation mode when the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle. According to the driver's operating data, the embodiment of the present application can respond to the vehicle's lateral control action and return the vehicle's lateral control to the driver until the driving assistance activation mode is exited or re-entered, thereby further improving the continuity of the use of the driving assistance function, improving the intelligence of the vehicle, and enhancing the user experience.

[0059] Optionally, in some embodiments, after controlling the vehicle to enter a temporary exit state of the driving assistance activation mode, it also includes: generating a temporary exit reminder signal based on the temporary exit state; and controlling the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal.

[0060] It is understandable that the temporary exit reminder in the embodiment of the present application can be, but is not limited to, reminding the driver to temporarily exit through acoustic, optical and / or text display reminders.

[0061] During the actual execution process, the embodiments of the present application can generate a temporary exit reminder signal based on the temporary exit status to provide support for the subsequent reminder to the driver to temporarily exit; the embodiments of the present application can control the vehicle to remind the driver to temporarily exit according to the temporary exit reminder signal. For example, the embodiments of the present application can control the vehicle to voice remind the driver to temporarily exit according to the temporary exit reminder signal; for another example, the embodiments of the present application can control the vehicle to remind the driver to temporarily exit by flashing lights on the display screen according to the temporary exit reminder signal; for another example, the embodiments of the present application can control the vehicle to remind the driver to temporarily exit by text on the display screen according to the temporary exit reminder signal.

[0062] The embodiment of the present application can control the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal, thereby improving the immediacy and effectiveness of the reminder and enhancing the user experience.

[0063] Specifically, it can be combined Figure 2 and Figure 3 As shown, the working principle of the lateral control method for driving assistance in the embodiment of the present application is described in detail with a specific embodiment.

[0064] like Figure 2 As shown, the embodiment of the present application may include the following steps:

[0065] Step S201: Activated state, judging the driver's operating intention through the driver's operation (steering wheel control, braking, turning on the turn signal).

[0066] Step S202: The driver's operation intention is to actively control the steering wheel to take over the lateral control of the vehicle.

[0067] Step S203: Entering a temporary exit state, returning the lateral control of the vehicle to the driver.

[0068] Step S204: The driver's operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0069] Furthermore, if Figure 3 As shown, the embodiment of the present application may include the following steps:

[0070] Step S301: The function is in an activated state.

[0071] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in an activated state and continuously assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function.

[0072] Step S302: Determine whether the hand torque is greater than a threshold value A. If yes, execute step S303; if no, execute step S304.

[0073] Among them, the embodiment of the present application can determine whether the hand torque is greater than the threshold A? If so, step S303 is executed, and the function enters a temporary exit state. If not, step S304 is executed to determine whether the user has stepped on the brake?

[0074] Step S303: The function enters a temporary exit state.

[0075] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in a non-operating state in a temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0076] Step S304: Determine whether the user has stepped on the brake. If yes, execute step S305; if no, execute step S306.

[0077] Among them, the embodiment of the present application can determine whether the user has stepped on the brake? If so, execute step S305 to determine whether the hand torque is greater than threshold B? If not, execute step S306 to determine whether the turn signal is turned on?

[0078] Step S305: Determine whether the hand torque is greater than a threshold value B. If yes, execute step S307; if no, execute step S308.

[0079] The embodiment of the present application can determine whether the hand torque is greater than a threshold value B. If so, step S307 is executed and the function enters a temporary exit state. If not, step S308 is executed and the function is in an activated state.

[0080] Step S306: Determine whether the turn signal is turned on. If yes, execute step S309; ​​if no, execute step S310.

[0081] Among them, the embodiment of the present application can determine whether the turn signal is turned on? If so, step S309 is executed to determine whether the hand torque is greater than the threshold C? If not, step S310 is executed, and the function is in an activated state.

[0082] Step S307: The function enters a temporary exit state.

[0083] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in a non-operating state in a temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0084] Step S308: The function is in an activated state.

[0085] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in an activated state and continuously assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function.

[0086] Step S309: Determine whether the hand torque is greater than the threshold value C. If yes, execute step S311; if no, execute step S308.

[0087] The embodiment of the present application can determine whether the hand torque is greater than a threshold value C. If so, step S311 is executed and the function enters a temporary exit state. If not, step S308 is executed and the function is in an activated state.

[0088] Step S310: The function is in an activated state.

[0089] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in an activated state and continuously assist the driver in controlling the lateral movement of the vehicle. The lateral control right of the vehicle belongs to the driving assistance lateral control function.

[0090] Step S311: The function enters a temporary exit state.

[0091] Among them, in the embodiment of the present application, the driving assistance lateral control function can be in a non-operating state in a temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0092] According to the lateral control method of driving assistance proposed in the embodiment of the present application, when the driver's actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle can be controlled to enter a temporary exit state of the driving assistance activation mode, otherwise the vehicle can be controlled to be in the driving assistance activation mode, thereby avoiding the driver's unexpected exit of the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of the driving assistance function, and improving the user experience. Thus, the problem that the related technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome, and it is impossible to accurately judge the driver's willingness to intervene and only define the exit timing from the perspective of functional design, which makes it difficult to improve the continuity of the control function and reduces the driver's user experience.

[0093] Next, the lateral control device for driving assistance proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0094] Figure 4 It is a schematic diagram of the structure of the lateral control device for driving assistance according to an embodiment of the present application.

[0095] like Figure 4 As shown, the driving assistance lateral control device 10 includes: an identification module 100 , a first control module 200 and a second control module 300 .

[0096] Specifically, the recognition module 100 is used to recognize the actual operation intention of the driver based on the operation data of the driver.

[0097] The first control module 200 is used to control the vehicle to be in a driving assistance activation mode when the actual operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0098] The second control module 300 is used to control the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, and respond to the lateral control action of the vehicle based on the operation data until exiting or re-entering the driving assistance activation mode.

[0099] Optionally, in some embodiments, the identification module 100 includes: an acquisition unit and a determination unit.

[0100] The acquisition unit is used to acquire the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information according to the operation data.

[0101] A determination unit is used to determine, based on hand torque, steering information and / or braking information, whether the actual operation intention is not an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control.

[0102] Optionally, in some embodiments, the determining unit includes: a first determining subunit, a second determining subunit and a third determining subunit.

[0103] Among them, the first determination subunit is used to determine that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention when the hand torque is greater than a preset threshold, otherwise it is not the intention to actively control the steering wheel to take over the vehicle's lateral control intention.

[0104] The second determination subunit is used to determine the driver's operation intention as actively controlling the steering wheel to take over the vehicle's lateral control intention when the steering information includes information that the driver has turned on the turn signal, otherwise it is not actively controlling the steering wheel to take over the vehicle's lateral control intention.

[0105] The third determination subunit is used to determine the driver's operating intention as actively controlling the steering wheel to take over the vehicle's lateral control intention when the braking information includes information that the driver actively stepped on the brakes, otherwise it is not the intention to actively control the steering wheel to take over the vehicle's lateral control intention.

[0106] Optionally, in some embodiments, the driving assistance lateral control device 10 further includes: a judgment module and an intention recognition module.

[0107] Among them, the judgment module is used to judge whether the vehicle is in the driving assistance activation mode before identifying the driver's actual operating intention.

[0108] Intention recognition module, used to allow recognition of actual operating intention when in driving assistance activation mode.

[0109] Optionally, in some embodiments, the driving assistance lateral control device 10 further includes: a generation module and a reminder module.

[0110] Among them, the generating module is used to generate a temporary exit reminder signal based on the temporary exit state after controlling the vehicle to enter the temporary exit state of the driving assistance activation mode.

[0111] The reminder module is used to control the vehicle to give a temporary exit reminder to the driver according to the temporary exit reminder signal.

[0112] It should be noted that the aforementioned explanation of the embodiment of the driving assistance lateral control method is also applicable to the driving assistance lateral control device of this embodiment, and will not be repeated here.

[0113] According to the lateral control device for driving assistance proposed in the embodiment of the present application, when the driver's actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle can be controlled to enter a temporary exit state of the driving assistance activation mode, otherwise the vehicle can be controlled to be in the driving assistance activation mode, thereby avoiding the driver's unexpected exit of the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of the driving assistance function, and improving the user experience. Thus, the problem that the related technology can only simply control the current vehicle to exit the activation state of the lateral driving system, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome, and it is impossible to accurately judge the driver's willingness to intervene and only define the exit timing from the perspective of functional design, which makes it difficult to improve the continuity of the control function and reduces the driver's user experience is solved.

[0114] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0115] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0116] When the processor 502 executes the program, the lateral control method for driving assistance provided in the above embodiment is implemented.

[0117] Furthermore, the vehicle also includes:

[0118] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0119] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0120] The memory 501 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0121] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0123] The processor 502 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0124] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned lateral control method for driving assistance.

[0125] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0126] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0127] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0128] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0129] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0130] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A lateral control method for driving assistance, characterized in that: The following steps are involved: Based on the operation data of the driver, identifying the actual operation intention of the driver; When the actual operation intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle, controlling the vehicle to be in a driving assistance activation mode; as well as When the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to enter a temporary exit state of the driving assistance activation mode, and based on the operation data, the lateral control action of the vehicle is responded to until exiting or re-entering the driving assistance activation mode.

2. The method according to claim 1, characterized in that The identifying the actual operation intention of the driver includes: Acquiring the driver's hand torque, the vehicle's steering information and / or the vehicle's braking information according to the operation data; The actual operation intention is determined according to the hand torque, the steering information and / or the braking information as the intention not to actively control the steering wheel to take over the vehicle's lateral control or the intention to actively control the steering wheel to take over the vehicle's lateral control.

3. The method according to claim 2, characterized in that The determining, according to the hand torque, the steering information and / or the braking information, that the actual operation intention is not the intention of actively controlling the steering wheel to take over the lateral control of the vehicle or the intention of actively controlling the steering wheel to take over the lateral control of the vehicle comprises: If the hand torque is greater than a preset threshold, it is determined that the driver's operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, otherwise it is determined that the driver's operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle; If the steering information includes information that the driver turns on the turn signal, then determining that the driver's operation intention is the intention to actively control the steering wheel to take over the lateral control of the vehicle, otherwise determining that the driver's operation intention is not the intention to actively control the steering wheel to take over the lateral control of the vehicle; If the braking information includes information that the driver actively brakes, it is determined that the driver's operating intention is to actively control the steering wheel to take over the vehicle's lateral control intention, otherwise it is determined that the driver's operating intention is not to actively control the steering wheel to take over the vehicle's lateral control intention.

4. The method according to claim 1, characterized in that Before identifying the actual operation intention of the driver, the method further includes: determining whether the vehicle is in a driving assistance activation mode; If in the driving assistance activation mode, the actual operation intention is allowed to be recognized.

5. The method according to claim 1, characterized in that After controlling the vehicle to enter the temporary exit state of the driving assistance activation mode, the method further includes: generating a temporary exit reminder signal based on the temporary exit state; The vehicle is controlled to give a temporary exit reminder to the driver according to the temporary exit reminder signal.

6. A lateral control device for driving assistance, characterized in that: include: an identification module, used for identifying the actual operation intention of the driver based on the operation data of the driver; A first control module is used to control the vehicle to be in a driving assistance activation mode when the actual operation intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle; as well as The second control module is used to control the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, and respond to the lateral control action of the vehicle based on the operation data until exiting or re-entering the driving assistance activation mode.

7. The device according to claim 6, characterized in that The identification module comprises: an acquisition unit, configured to acquire the hand torque of the driver, the steering information of the vehicle and / or the braking information of the vehicle according to the operation data; A determination unit is used to determine, based on the hand torque, the steering information and / or the braking information, whether the actual operation intention is not an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control.

8. The device according to claim 7, characterized in that The determining unit comprises: A first determining subunit is used to determine that the driver's operation intention is to actively control the steering wheel to take over the lateral control of the vehicle when the hand torque is greater than a preset threshold, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle; a second determining subunit, configured to determine, when the steering information includes information that the driver turns on a turn signal, that the driver's operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, and otherwise, that the driver's operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle; The third determination subunit is used to determine the driver's operating intention as the intention of actively controlling the steering wheel to take over the vehicle's lateral control when the braking information includes information that the driver actively stepped on the brakes, otherwise it is the intention of not actively controlling the steering wheel to take over the vehicle's lateral control.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lateral control method for driving assistance as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the lateral control method for driving assistance as described in any one of claims 1 to 5.

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