Driving assistance method and driving assistance device

Abstract

The application provides a driving assistance method and a driving assistance device, which can be applied in the field of automatic driving or intelligent driving. The driving assistance method comprises the following steps: determining that a driver is in an abnormal state; determining that a first operation of the driver on a first terminal is an abnormal operation; and performing a first processing, which comprises outputting indication information and / or control information, the indication information or the control information being used for indicating a second operation on the first terminal, or the first processing comprising controlling the first terminal to perform the second operation. The first terminal may, for example, comprise a vehicle, an airplane, a drone, a ship, a tower crane, a tower crane, or a mobile device capable of moving a spatial position or changing a spatial shape through human operation. The driving assistance method provided by the application can avoid unnecessary or unpleasant alarms, improve the efficiency and accuracy of the driver monitoring system (DMS), and further reduce the incidence of traffic accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of autonomous driving, and more particularly, to a driving assistance method and a driving assistance device. BACKGROUND

[0002] The state of a driver is highly related to the safety of driving or operating a mobile device (e.g., a vehicle, etc.). When a driver is in an abnormal driving state such as drunk driving, fatigue driving, distracted by handling other things (e.g., making a phone call, picking up something, etc.), the driver cannot concentrate on driving, which greatly increases the possibility of traffic accidents and is an important cause of traffic accidents.

[0003] In order to reduce the occurrence of such accidents, currently, a driver monitoring system (DMS) is provided on a vehicle to realize monitoring and early warning of a driver, so as to improve driving safety and reduce the accident rate.

[0004] The DMS can give feedback such as an alarm to the driver according to the detected state of the driver.

[0005] However, the DMS can give an alarm that is offensive or unnecessary. This seriously affects the actual role of the DMS, resulting in low efficiency of the DMS and the inability to effectively reduce the occurrence of traffic accidents. SUMMARY

[0006] The present application provides a driving assistance method and a driving assistance device, which can avoid unnecessary or offensive alarms, improve the efficiency and accuracy of the DMS, and further reduce the occurrence of traffic accidents.

[0007] In a first aspect, a driving assistance method is provided. The driving assistance method can be executed by a driving assistance device, a driving assistance module (unit) or a driving assistance system integrated in a first terminal, or a chip or an integrated circuit on the first terminal, for example, the chip can be a chip in a sensor, a fusion module or a vehicle-mounted processor, etc. The fusion module can be understood as a module or a unit composed of multiple modules or units, or the fusion module can also be understood as a module that obtains information from multiple other modules and fuses and outputs the fused information. Alternatively, the driving assistance method can also be executed by the first terminal, and the first terminal is integrated with the above-mentioned chip or integrated circuit. The first terminal can be a mobile device, which can include a vehicle, an airplane, a drone, a ship, a crane, a tower crane, etc. The method comprises: determining that a driver is in an abnormal state; determining that a first operation of the driver on the first terminal is an abnormal operation; and performing a first processing, the first processing comprising outputting indication information and / or control information, the indication information or the control information being used to indicate a second operation on the first terminal, or the first processing comprising controlling the first terminal to perform the second operation.

[0008] The driving assistance method provided in the first aspect does not immediately trigger an alarm to the driver or other responses to the driver when detecting that the driver is in an abnormal state of driving the first terminal, but further determines whether the operation of the driver on the first terminal is a misoperation, and only when the operation of the driver on the first terminal is a misoperation, the first processing is performed to respond to or adjust the misoperation of the driver on the mobile device. Therefore, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver are improved, and the incidence of traffic accidents is further reduced.

[0009] It should be understood that in the embodiments of the present application, the specific manner of determining that the first operation of the driver on the first terminal is an abnormal operation can be the same or different for different abnormal states, and the first processing performed can be the same or different for different abnormal states, which is not limited in the present application.

[0010] In a possible implementation manner of the first aspect, the determining that the first operation of the driver on the first terminal is an abnormal operation comprises: determining that the first operation satisfies at least one of the following conditions:

[0011] The operation change rate of the first terminal is greater than or equal to a first threshold value;

[0012] The operation amplitude of the first terminal is greater than or equal to a second threshold value;

[0013] the operation indicated by the operation decision from the first auxiliary system is inconsistent with the operation of the first terminal by the driver; or

[0014] the operation indicated by the operation information from the second auxiliary system is inconsistent with the operation of the first terminal by the driver. Further, the first auxiliary system is different from the second auxiliary system.

[0015] wherein the operation indicated by the operation decision or the operation indicated by the operation information is inconsistent with the operation of the mobile device by the driver includes that the operation type is different or the operation type is the same but the difference (or the absolute value of the difference) of the strength (amplitude) of the operation is greater than a certain threshold. The operation type may, for example, include at least one of an acceleration device operation type, a deceleration device operation type, a direction change device operation type, a height change device operation type, and the like.

[0016] In this implementation, whether the first operation is a misoperation is determined by the above-mentioned condition, and the determination result is more accurate and simpler to implement.

[0017] In a possible implementation of the first aspect, the first operation includes an operation of controlling the first terminal to change a motion state. In this implementation, only the operation of controlling the first terminal to change a motion state is considered, and low-risk or risk-free operations that do not change the motion state of the first terminal are ignored, thereby improving the efficiency and accuracy of feedback or response to the driver.

[0018] In a possible implementation of the first aspect, the first operation includes at least one of an operation on an acceleration device of the first terminal, an operation on a brake device of the first terminal, or an operation on a steering device of the first terminal.

[0019] In a possible implementation of the first aspect, the device for controlling the mobile device to change a motion state may include an acceleration device (such as an accelerator pedal), a deceleration device (such as a brake pedal), a steering device (such as a steering wheel), a device for controlling the height of motion (such as a high-lift lever on an airplane), and the like.

[0020] In a possible implementation of the first aspect, the first auxiliary system or the second auxiliary system includes at least one of an automatic driving (AD) system, an advanced driver assistance system (ADAS), or a driving assistance system including at least one driving assistance function.

[0021] wherein the driving assistance function includes a function of determining that the first terminal meets a preset condition and determining to change the motion state of the first terminal when the preset condition is met; and / or a function of determining that the first terminal meets a preset condition and controlling the first terminal to change the motion state when the preset condition is met.

[0022] In a possible implementation of the first aspect, the driving assistance function can include: AEB, LKA, LCA, ACC, etc.

[0023] In a possible implementation of the first aspect, the operation indicated by the operation decision from the first assistance system, or the operation indicated by the operation information from the second assistance system, includes:

[0024] one or more of the following: operation of an acceleration device of the first terminal, operation of a braking device of the first terminal, and operation of a steering device of the first terminal.

[0025] In a possible implementation of the first aspect, the second operation includes at least one of the following: issuing an alarm to the driver, not responding to the first operation of the driver, reducing the operation degree of the first operation, or increasing the difficulty of the first operation. For example, issuing an alarm to the driver can include any one or a combination of the following: visual, auditory, and tactile alarms.

[0026] In a possible implementation of the first aspect, the abnormal state includes at least one of the following: a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal.

[0027] In a possible implementation of the first aspect, the abnormal state can be one or more of the following: the driver is in an abnormal driving state such as drunk driving, drug driving, fatigue driving, or handling other things (such as making a phone call, picking up things, smoking, etc.). The abnormal state directly affects the driver's normal operation of the first terminal or control, and affects the driver's control ability of the first terminal.

[0028] In a second aspect, a driving assistance method is provided. The driving assistance method can be executed by a driving assistance device, a driving assistance module (unit) or a driving assistance system integrated in a first terminal, or a chip or an integrated circuit on the first terminal, for example, the chip can be a chip in a sensor, a fusion module or a vehicle-mounted processor, etc. The fusion module can be understood as a module or a unit composed of multiple modules or units, or the fusion module can also be understood as a module that obtains information from multiple other modules and fuses and outputs the fused information. Alternatively, the driving assistance method can also be executed by the first terminal, and the first terminal is integrated with the above-mentioned chip or integrated circuit. The first terminal can be a mobile device, which can include a vehicle, an airplane, a drone, a ship, a crane, a tower crane, etc. The method comprises: determining that a driver is in an abnormal state; and performing a second processing, which comprises: adjusting or updating an alarm triggering condition, and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger an alarm to the driver.

[0029] The driving assistance method provided in the second aspect does not immediately trigger an alarm to the driver when it is detected that the driver is in an abnormal state of driving the mobile device, but adjusts or updates the alarm triggering condition, and / or adjusts or updates the alarm level, etc. Only when the mobile device meets the adjusted or updated alarm triggering condition, an alarm is triggered to the driver, so that unnecessary or annoying alarms can be avoided, the accuracy and efficiency of the alarm to the driver are improved, the efficiency and accuracy of the DMS are improved, and the incidence of traffic accidents is reduced.

[0030] In a possible implementation of the second aspect, the abnormal state can be that the driver is in one or more of the following abnormal driving states: drunk driving, drug driving, fatigue driving, or handling other matters (such as making a phone call, picking up something, smoking, etc.). The abnormal state directly affects the driver's judgment or control of the normal operation of the first terminal, and affects the driver's control ability of the first terminal.

[0031] It should be understood that in the embodiments of the present application, the second processing performed for different abnormal states can be the same or different, which is not limited in the present application. For example: the second processing corresponding to mild fatigue or smoking is to increase the alarm level; or the second processing corresponding to mild fatigue is to adjust the alarm triggering condition and increase the alarm level, and the second processing corresponding to smoking is to increase the alarm level, etc.

[0032] In a possible implementation of the second aspect, the adjusting or updating the alarm triggering condition comprises:

[0033] adjust or update the alarm time to be earlier than the alarm time when the driver is in the normal state, or adjust or update the alarm distance to be greater than the alarm distance when the driver is in the normal state; and / or,

[0034] adjust or update the alarm level to be higher than the alarm level when the driver is in the normal state; wherein the normal state is a state in which the driver normally operates the first terminal.

[0035] adjust or update the alarm level to be higher than the alarm level when the driver is in the normal state; wherein the normal state is a state in which the driver normally operates the first terminal.

[0036] In the implementation, by adjusting or updating the alarm time to be earlier than the alarm time when the driver is in the normal state, adjusting or updating the alarm distance to be greater than the alarm distance when the driver is in the normal state, or adjusting or updating the alarm level to be higher than the alarm level when the driver is in the normal state, unnecessary or annoying alarms can be avoided, and the accuracy and efficiency of alarming to the driver can be improved, while the timeliness and effectiveness of the alarm can still be ensured.

[0037] In a possible implementation of the second aspect, the abnormal state includes at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects operation of the first terminal.

[0038] In a possible implementation of the second aspect, when the driver is in the abnormal state, the method further includes: determining that the first operation of the driver on the first terminal is abnormal operation; and performing first processing, the first processing including outputting indication information and / or control information, the indication information or the control information being used to indicate a second operation on the first terminal, or the first processing including controlling the first terminal to perform the second operation. In the implementation, when it is detected that the state of the driver driving the mobile device is the abnormal state, an alarm is not triggered immediately, but the alarm triggering condition is adjusted or updated and / or the alarm level is adjusted. Furthermore, in a case where it is determined that the operation of the driver on the first terminal is misoperation, the driver's operation on the mobile device is responded to or adjusted, i.e., the first processing is performed. Thus, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver can be improved, and the incidence of traffic accidents can be further reduced.

[0039] It should be understood that, in the embodiments of the present application, the specific manner of determining that the first operation of the driver on the first terminal is abnormal operation can be the same or different for different abnormal states, and the first processing performed can be the same or different for different abnormal states, which is not limited in the present application.

[0040] In a possible implementation form of the second aspect, the determining that the first operation of the driver on the first terminal is an abnormal operation comprises: determining that the first operation satisfies at least one of the following conditions:

[0041] a rate of change of the operation on the first terminal is greater than or equal to a first threshold value;

[0042] a magnitude of the operation on the first terminal is greater than or equal to a second threshold value;

[0043] an operation indicated by an operation decision from a first auxiliary system is inconsistent with the operation of the driver on the first terminal; or

[0044] an operation indicated by operation information from a second auxiliary system is inconsistent with the operation of the driver on the first terminal.

[0045] In a possible implementation form of the second aspect, the first operation comprises an operation of controlling the first terminal to change a motion state.

[0046] In a possible implementation form of the second aspect, the second operation comprises at least one of the following: issuing an alarm to the driver, not responding to the first operation of the driver, mitigating an operation degree of the first operation, or increasing a difficulty of the first operation. The issuing of the alarm to the driver can comprise any one or a combination of multiple of the following: a visual alarm, an audible alarm, a tactile alarm, and the like.

[0047] In a third aspect, a driving assistance apparatus is provided, which comprises units for performing respective steps in the first aspect or any possible implementation form of the first aspect.

[0048] In a fourth aspect, a driving assistance apparatus is provided, which comprises units for performing respective steps in the second aspect or any possible implementation form of the second aspect.

[0049] In a fifth aspect, a driving assistance apparatus is provided, which comprises at least one processor and a memory, the at least one processor being configured to perform the method in the first aspect or any possible implementation form of the first aspect.

[0050] In a sixth aspect, a driving assistance apparatus is provided, which comprises at least one processor and a memory, the at least one processor being configured to perform the method in the second aspect or any possible implementation form of the second aspect.

[0051] In a seventh aspect, a driving assistance apparatus is provided, which comprises at least one processor and an interface circuit, the at least one processor being configured to perform the method in the first aspect or any possible implementation form of the first aspect.

[0052] In an eighth aspect, a driving assistance apparatus is provided, which comprises at least one processor configured to perform the method of the second aspect or any possible implementation of the second aspect, and an interface circuit.

[0053] In a ninth aspect, a mobile device is provided, which comprises the driving assistance apparatus of the third aspect, the fifth aspect or the seventh aspect, and / or the driving assistance apparatus of the fourth aspect, the sixth aspect or the eighth aspect. Optionally, the mobile device can comprise a vehicle, an airplane, a drone, a ship, a crane, a tower crane, etc.

[0054] In a tenth aspect, a computer program product is provided, which comprises a computer program configured to perform the method of the first aspect or any possible implementation of the first aspect, or perform the method of the second aspect or any possible implementation of the second aspect, when executed by a processor.

[0055] In an eleventh aspect, a computer-readable storage medium is provided, which stores a computer program configured to perform the method of the first aspect or any possible implementation of the first aspect, or perform the method of the second aspect or any possible implementation of the second aspect, when executed by a processor.

[0056] In a twelfth aspect, a chip or integrated circuit is provided, which comprises a processor configured to invoke and run a computer program from a memory, so that a device installed with the chip or integrated circuit performs the method of the first aspect or any possible implementation of the first aspect, or performs the method of the second aspect or any possible implementation of the second aspect. Optionally, the chip can be a chip in a sensor, a fusion module, a vehicle-mounted processor, etc.

[0057] The driving assistance method and the driving assistance apparatus provided by the embodiments of the present application can avoid unnecessary or annoying alarms, improve the efficiency and accuracy of the DMS, and further reduce the incidence of traffic accidents. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 is a schematic flowchart of a driving assistance method provided by the embodiments of the present application.

[0059] Figure 2is a schematic flowchart of another example of driving assistance provided by embodiments of the present application.

[0060] Figure 3 is a schematic flowchart of still another example of a driving assistance method provided by embodiments of the present application.

[0061] Figure 4 is a schematic block diagram of a driving assistance apparatus provided by embodiments of the present application.

[0062] Figure 5 is a schematic block diagram of another example of a driving assistance apparatus provided by embodiments of the present application.

[0063] Figure 6 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0064] Figure 7 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0065] Figure 8 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0066] Figure 9 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0067] Figure 10 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0068] Figure 11 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application.

[0069] Figure 12 is a schematic block diagram of still another example of a driving assistance apparatus provided by embodiments of the present application. DETAILED DESCRIPTION

[0070] The technical solutions in the present application will be described below with reference to the drawings.

[0071] In the description of embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone. In addition, in the description of embodiments of the present application, "multiple" means two or more than two.

[0072] Hereinafter, the terms "first", "second", etc. are used only for the purpose of description, and should not be construed as indicating or implying relative importance or implying the number of the technical features indicated. Thus, the features defined with "first", "second" can include one or more of the features explicitly or implicitly. In the description of the embodiments, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0073] In addition, various aspects or features of the disclosure can be implemented as a method, apparatus, or article of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used in the disclosure encompasses a computer program accessible from any computer-readable device, carrier, or media. For example, computer-readable media can include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips, etc.), optical disks (e.g., compact disk (CD), digital versatile disk (DVD), etc.), smart cards, and flash memory devices (e.g., EPROM, card, stick, or key drive, etc.). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" can include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0074] The state of the driver is highly related to the safety of driving a moving device (e.g., a car, etc.). When the driver is in an abnormal driving state such as drunk driving, fatigue driving, distracted by handling other things (e.g., making a phone call, picking up things, etc.), etc., the driver cannot concentrate on driving, which greatly increases the possibility of traffic accidents and is an important cause of traffic accidents.

[0075] In order to reduce the occurrence of such accidents, at present, a driver monitoring system (DMS) is provided on the vehicle, which includes sensors for detecting the state of the driver and an analysis module. The analysis module determines the state of the driver based on the data of the sensors. For example, the sensors can detect data such as the facial expressions of the driver based on the camera, and the analysis module can perceive the state of the driver based on image detection of the camera data and / or micro-Doppler analysis of radar data, etc. technical means to realize the monitoring and warning of the driver, to improve the safety of driving, reduce the accident rate, and ensure the safety of the driver's life and property. For example, the DMS system detects data such as the facial expressions of the driver when the driver drives the vehicle through the camera, and perceives the state of the driver based on facial expression analysis and other technical means to realize the monitoring and warning of the driver, etc.

[0076] At present, the demand for DMS in domestic and foreign markets is very clear, and the formulation of relevant standards has been included in the future standard planning roadmap of multiple standard organizations.

[0077] The DMS can give feedback to the driver according to the detected driver state. For example, when the DMS detects that the driver is drowsy, an alarm is given to arouse the driver's vigilance; when it detects that the driver is in a state of smoking or making a phone call, an alarm is triggered.

[0078] However, the DMS may give an alarm that is offensive or unnecessary.

[0079] For example, due to the complexity of human behavior and the limited performance of current sensors and detection algorithms, the current DMS system still has a certain misidentification rate, and the alarm caused by misidentification is offensive.

[0080] For another example, the driver's wrong driving behavior in a sober state is often intentional, such as smoking and making a phone call. The DMS system detects such abnormal state of the driver and gives an alarm, which is offensive.

[0081] No matter which offensive alarm occurs, it is likely to lead to the following two situations:

[0082] The driver actively turns off the DMS system;

[0083] The driver deliberately ignores or shields all alarms of the DMS system or even all alarms of the car, thereby significantly reducing the actual effect of the DMS.

[0084] Therefore, the possible unnecessary or offensive alarm of the current DMS seriously affects the actual effect of the DMS, leading to low efficiency of the DMS, and increasing the incidence of traffic accidents, seriously threatening the safety of the driver's life and property.

[0085] Therefore, the present application provides a driving assistance method, when detecting that the state of the driver driving a mobile device is an abnormal state, an alarm is not immediately triggered to the driver, and further, in the case of determining that the operation of the driver on the mobile device is a misoperation or an abnormal operation, feedback is generated to the operation of the driver on the mobile device, such as an alarm to the driver. Thus, unnecessary or offensive alarms can be avoided, the efficiency and accuracy of the DMS can be improved, and the incidence of traffic accidents can be further reduced.

[0086] The driving assistance method provided in this application can be applied to scenarios where a driver is driving or operating a mobile device. In the embodiments of this application, the mobile device may include vehicles, aircraft, drones, ships, overhead cranes, tower cranes, and other devices that can be moved or have their spatial position changed by human operation. This application does not limit the specific form of the mobile device.

[0087] The following is combined Figure 1 This application provides a detailed description of the driving assistance method. Figure 1 This is a schematic flowchart of a driving assistance method 200 according to an embodiment of this application.

[0088] It should be understood that the executing entity of the driving assistance method provided in this application may be a driving assistance device, driving assistance module (unit), or driving assistance system integrated on a first terminal. Alternatively, the executing entity of the driving assistance method provided in this application may also be a chip or integrated circuit on the first terminal, for example, the chip may be a chip in a sensor, fusion module, or vehicle processor. The fusion module may include the aforementioned driving assistance module (unit), or the fusion module may also be understood as a module that acquires information from multiple other modules, fuses it, and outputs the fused information. Alternatively, the executing entity of the driving assistance method provided in this application may also be a first terminal, on which the aforementioned chip or integrated circuit is integrated.

[0089] Optionally, the driving assistance device or system may include a Driver Assistance System (DMS). Optionally, the driving assistance device or system may further include: an Advanced Driver Assistance System (ADAS), an Autonomous Driving (AD) system, or at least one of a driving assistance system including at least one driving assistance function. This application is not limiting. By way of example and not limitation, the entity executing the method may also be a chip, chip system, or processor applied to the driving assistance device or system.

[0090] In this embodiment, the first terminal can be any of the aforementioned types of mobile devices, such as cars, drones, and ships.

[0091] like Figure 1 As shown, Figure 1 The method 200 shown may include S210 to S230. The following is in conjunction with... Figure 1 The steps in method 200 are explained in detail.

[0092] S210, It has been determined that the driver is in an abnormal state.

[0093] S220, determine that the first operation of the driver on the first terminal is an abnormal operation.

[0094] S230, execute a first processing, the first processing includes outputting indication information and / or control information, the indication information or the control information is used to indicate a second operation on the first terminal, or the first processing includes controlling the first terminal to execute the second operation.

[0095] Specifically, in S210, a driver detection system (e.g., a DMS, etc.) in the first terminal can detect the state of the driver in operating the first terminal in real time. The driver operating the first terminal can be, for example, the driver driving a vehicle, the driver driving an airplane, the driver driving a ship, or the driver driving a crane or a tower crane, etc. The specific form of the driver operating the first terminal is not limited in the embodiments of the present application. In the case of detecting the state of the driver operating the first terminal in real time, it is determined whether the driver is in an abnormal state when operating the first terminal.

[0096] Optionally, in the embodiments of the present application, the abnormal state includes at least one of a physiological abnormal state (e.g., illness) of the driver, a mental abnormal state (e.g., nervousness), an attention abnormal state (e.g., inattention), or an abnormal state affecting the operation of the first terminal (e.g., answering the phone, smoking, etc.). That is, the abnormal state can be understood as a state that affects the normal operation of the driver on the first terminal. For example, the abnormal state can include one or more of the following abnormal driving states: the driver is drunk driving, drug driving, fatigue driving, or handling other things (such as making a phone call, picking up things, smoking, etc.). The abnormal state directly affects the judgment or control of the driver on the normal operation of the first terminal, and affects the control ability of the driver on the first terminal.

[0097] For example, the analysis module in the DMS determines the driver state based on the data of the sensor. The sensor can detect the facial expression of the driver based on the camera data, and the analysis module perceives the driver state based on image detection of the camera data and / or micro-Doppler analysis of the radar data, etc. to realize the state monitoring of the driver. It is determined whether the driver is in an abnormal state when operating the first terminal.

[0098] In S220, it is determined whether the operation of the driver on the first terminal is an abnormal operation, i.e., whether the operation of the driver on the first terminal is a misoperation. For example, the abnormal operation can be that the driver suddenly steps on the accelerator with a large amplitude, suddenly turns the steering wheel with a large angle, or suddenly steps on the brake pedal with a large amplitude, etc. In other words, the abnormal operation can be understood as an operation that the driver has rarely or never appeared before. In the embodiments of the present application, the specific form of the abnormal operation is not limited.

[0099] In S230, in a case where it is determined that the driver is in an abnormal state when operating the first terminal, and it is determined that the operation of the driver on the first terminal is an abnormal operation, the driving assistance apparatus or the driving assistance system performs a first processing. The first processing includes outputting indication information and / or control information for indicating a second operation on the first terminal, or the first processing includes controlling the first terminal to perform the second operation. In other words, the first processing includes a response or an adjustment to the first operation. Since the first operation is a misoperation, it is necessary to intervene or respond to the first operation of the driver to avoid a serious traffic accident that can be caused by the first operation. For example, the driving assistance apparatus or the driving assistance system outputs indication information and / or control information for indicating a second operation on the first terminal. For example, the second operation can include indicating a horn or the like on the vehicle to alarm the driver or the like. Alternatively, the driving assistance apparatus or the driving assistance system controls the first terminal to perform the second operation. For example, it is controlled that other devices (for example, mechanical devices or the like) on the vehicle reduce the misoperation amplitude of the driver or eliminate the misoperation of the driver or the like. Thus, the safety of the driver is ensured, and a traffic accident is avoided.

[0100] The driving assistance method provided in the present application does not immediately trigger an alarm to the driver or other responses to the driver when detecting that the state of the driver driving the first terminal is an abnormal state, but further determines whether the operation of the driver on the first terminal is a misoperation, and only responds or adjusts to the misoperation of the driver on the mobile terminal, that is, performs a first processing. Thus, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver are improved, and the incidence of traffic accidents is further reduced.

[0101] Optionally, in the embodiments of the present application, the first processing can not be performed when the first operation of the driver on the first terminal is not an abnormal operation, or when the driver is not in an abnormal state when operating the first terminal.

[0102] It should be understood that, in the embodiments of the present application, the specific manner of determining that the first operation of the driver on the first terminal is an abnormal operation can be the same or different for different abnormal states. Furthermore, the first processing performed can be the same or different for different abnormal states, which is not limited in the present application.

[0103] In some possible implementations of the present application, in S220, when determining whether the first operation of the driver on the first terminal is an abnormal operation, if the operation of the driver on the first terminal satisfies any one or more of the following conditions, it can be determined that the operation of the driver on the first terminal is an abnormal operation. The conditions include:

[0104] a rate of change of the driver's operation on the first terminal is greater than or equal to a first threshold value;

[0105] a magnitude of the driver's operation on the first terminal is greater than or equal to a second threshold value;

[0106] an operation indicated by an operation decision from the first assistance system is inconsistent with the driver's operation on the first terminal; or

[0107] an operation indicated by operation information from the second assistance system is inconsistent with the driver's operation on the first terminal.

[0108] Specifically, various sensors and the like on the first terminal can detect the driver's operation on the first terminal. In the following description, a mobile device is taken as an example of the first terminal.

[0109] In an embodiment of the present application, the driver's operation on the mobile device (or the first operation) can be understood as an operation of controlling the mobile device to change a motion state. In other words, the driver's operation on the mobile device can be understood as an operation of the driver on a device for controlling the mobile device to change a motion state. For example, the driver's operation on an acceleration device (such as an accelerator pedal) of the mobile device, the driver's operation on a deceleration device (such as a brake pedal) of the mobile device, the driver's operation on a steering device (such as a steering wheel) of the mobile device, and the like. Wherein, the change of the motion state of the mobile device can include: change of motion speed, change of motion direction, change of motion height, and the like. Alternatively, from another perspective, the change of the motion state of the mobile device can include: change of lateral motion state, change of longitudinal motion state, change of motion state in a direction parallel to the direction of gravity, and the like. The present application does not make any limitation here.

[0110] In an embodiment of the present application, the device for controlling the mobile device to change a motion state can include an acceleration device (such as an accelerator pedal), a deceleration device (such as a brake pedal), a steering device (such as a steering wheel), a device for controlling motion height (such as a pull-up lever on an airplane), and the like. The present application does not make any limitation on the type and specific form of the device for controlling the mobile device to change a motion state.

[0111] The operation amplitude of the driver to the mobile device can be understood as an operation amount or a variation amount of the driver to the mobile device. Alternatively, in the embodiments of the present application, the operation amplitude can also be an absolute value of the operation variation amount. For example, for the operation of pressing the accelerator pedal or releasing the accelerator pedal, the operation amplitude can be a variation amount of the angle of the accelerator pedal when the accelerator pedal is pressed or released, wherein the variation amount of the angle can be defined as a negative value or a positive value. Alternatively, the operation amplitude can be a distance of the accelerator pedal descending or ascending, etc. Alternatively, for example, the distance or angle of the accelerator pedal descending when the accelerator pedal is pressed can be defined as a negative value, and the distance or angle of the accelerator pedal ascending when the accelerator pedal is released can be defined as a positive value, or the distance or angle of the accelerator pedal descending when the accelerator pedal is pressed can be defined as a positive value, and the distance or angle of the accelerator pedal ascending when the accelerator pedal is released can be defined as a negative value. For example, for the operation of turning the steering wheel, the operation amplitude can be understood as a degree when the steering wheel is turned.

[0112] The operation variation rate of the driver to the mobile device can be obtained by taking the inverse of the operation amplitude with respect to time. It should be understood that in the embodiments of the present application, the operation amplitude of the driver to the mobile device can be an operation variation amount of the mobile device, and since the operation variation amount can be defined as a positive value or a negative value, the operation variation rate of the driver to the mobile device can be a negative value or a positive value. For example, when the operation of the driver to the mobile device is pressing the accelerator pedal, the corresponding operation variation rate can be a positive value, and when the operation of the driver to the mobile device is releasing the accelerator pedal, the corresponding operation variation rate can be a negative value. For example, when the operation of the driver to the mobile device is pressing the brake pedal, the corresponding operation variation rate can be a positive value, and when the operation of the driver to the mobile device is releasing the brake pedal, the corresponding operation variation rate can be a negative value.

[0113] Therefore, in the embodiments of the present application, the first threshold value can be a positive value or a negative value. The second threshold value can also be a positive value or a negative value. Alternatively, the first threshold value and the second threshold value can be predefined. If the operation variation rate of the driver to a certain operation of the mobile device is greater than or equal to the first threshold value, or the operation amplitude is greater than or equal to the second threshold value, it can be determined that the operation is the first operation, i.e., the abnormal operation.

[0114] In the embodiments of this application, the mobile device may include one or more operation assistance systems. In this application, the operation assistance system may also be referred to as an assistance system. For example, the operation assistance system may be: a system that automatically determines whether the mobile device can, should, or cannot perform certain controls that change its motion state; or a system or device that automatically determines whether the mobile device should perform certain changes in its motion state and automatically controls the mobile device to change its motion state. Optionally, in the embodiments of this application, the operation assistance system of the mobile device includes: an AD system, ADAS, or at least one of a driving assistance system including at least one driving assistance function. Optionally, the executing entity of the driving assistance method provided in this application may be the operation assistance system on the mobile device.

[0115] The driving assistance function includes: determining that the mobile device meets preset conditions, and automatically judging the change of motion state of the mobile device under the preset conditions; and / or automatically determining that the mobile device meets preset conditions, and automatically controlling the change of motion state of the mobile device under the preset conditions.

[0116] For example, in this embodiment, the driving assistance function can be: a function that automatically determines whether the mobile device should perform a certain longitudinal (specific degree of acceleration, specific degree of deceleration) and / or lateral (specific degree, direction of steering) movement. Alternatively, the driving assistance function can also perform a function to control the longitudinal and / or lateral movement of the mobile device. The automatic determination function can be implemented by determining whether the current mobile device meets certain preset conditions, and then determining whether certain longitudinal and / or lateral control should be performed on the mobile device based on the determination result. For example, the preset conditions could be: whether the distance to the vehicle in front is greater than a certain threshold, the distance or angle by which the vehicle deviates from the normal lane, etc.

[0117] For example, driver assistance functions may include: automatic emergency braking (AEB), lane keep assist (LKA), lane change assist (LCA), adaptive cruise control (ACC), etc. The specific form of driver assistance functions is not limited in the embodiments of this application.

[0118] In the embodiments of the present application, the operation assistance system of the mobile device is configured to assist the operation of the mobile device, including at least one of the following: the operation of an acceleration device (e.g., an accelerator pedal) of the mobile device, the operation of a braking device (e.g., a brake pedal) of the mobile device, the operation of a steering device (e.g., a steering wheel) of the mobile device, or the operation of a control height device (e.g., a raising lever) of the mobile device.

[0119] For the sake of distinction, in the operation assistance system of the mobile device, a system that can automatically determine that the mobile device can, should, or should not perform a certain or certain control of changing the motion state is referred to as a first assistance system. In other words, the first assistance system outputs an operation decision, which is used to instruct other devices on the mobile device to perform an operation. The first assistance system does not perform the operation instructed by the operation decision itself. A system or device that can automatically determine that the mobile device should perform a certain or certain control of changing the motion state and automatically control the mobile device to change the motion state is referred to as a second assistance system. In other words, the second assistance system can not only output operation information, but also perform the operation instructed by the operation information.

[0120] It should be understood that the execution subject of the driving assistance method provided in the present application can be the first assistance system, or the second assistance system, or other assistance systems on the mobile device. Optionally, the first assistance system, the second assistance system, and the other assistance systems can be the same or different.

[0121] When the operation instructed by the operation decision of the first assistance system is inconsistent with the operation of the driver on the first terminal, and / or when the operation instructed by the operation information of the second assistance system is inconsistent with the operation of the driver on the first terminal, the operation of the driver on the first terminal is a first operation, i.e., an abnormal operation.

[0122] In the embodiments of the present application, the operation assistance system of the mobile device is configured to assist the operation of the mobile device, including at least one of the following: the operation of an acceleration device (e.g., an accelerator pedal) of the mobile device, the operation of a braking device (e.g., a brake pedal) of the mobile device, the operation of a steering device (e.g., a steering wheel) of the mobile device, or the operation of a control height device (e.g., a raising lever) of the mobile device.

[0123] For example, the operation type difference can include: the operation indicated by the operation decision of the operation assistance system of the mobile device is to operate the acceleration device of the mobile device, or the operation indicated by the operation information is to operate the acceleration device of the mobile device, while the operation performed by the driver is to operate the non-acceleration device (such as brake device, steering device, height control device, etc.) of the mobile device. For another example, the operation indicated by the operation decision of the operation assistance system of the mobile device is to operate the brake device of the mobile device, or the operation indicated by the operation information is to operate the brake device of the mobile device, while the operation performed by the driver is to operate the non-brake device (such as acceleration device, steering device, height control device, etc.) of the mobile device, etc.

[0124] For example, the operation type difference but the difference (or absolute value) of the operation amplitude is greater than a certain threshold value can include: the operation assistance system of the mobile device determines that the operation should be performed on the acceleration device of the mobile device, or performs the operation on the acceleration device of the mobile device, while the operation performed by the driver is also on the acceleration device of the mobile device, but the difference (or absolute value) of the operation amplitudes of the two is greater than or equal to a preset threshold value.

[0125] Taking the acceleration device as the accelerator pedal as an example, the operation assistance system of the mobile device determines that the angle or distance of the accelerator pedal of the mobile device should be stepped down as D1, the angle or distance of the accelerator pedal stepped down by the driver is D2, if D1-D2≥T, where T is a preset threshold value, it is determined that the operation assistance system of the mobile device determines or operates the mobile device inconsistently with the operation of the driver on the mobile device.

[0126] Or, if |D1-D2|≥S, S is a preset threshold value, it can also be determined that the operation assistance system of the mobile device determines or operates the mobile device inconsistently with the operation of the driver on the mobile device. For example, the operation assistance system determines that the accelerator pedal should be lifted by D1, while the driver steps down by D2, in which case D2 is negative and D1 is positive. Or, D2 is positive and D1 is negative, and whether the operation assistance system determines or operates the mobile device inconsistently with the operation of the driver on the mobile device can be determined by whether |D1-D2|≥S is satisfied.

[0127] Optionally, in some possible implementations of the present application, when the state of the driver driving the mobile device is an abnormal state, and in the case where it is determined that the operation of the driver on the mobile device is a misoperation, a first processing can be performed. In the embodiments of the present application, the first processing includes outputting indication information and / or control information, the indication information or control information being used to indicate a second operation for the mobile device, or the first processing includes controlling the mobile device to perform a second operation, the second operation including:

[0128] At least one of issuing a warning to the driver, not responding to the first operation of the driver, mitigating the operation degree of the first operation, or increasing the difficulty of the first operation.

[0129] For example, the indication information and / or the control information can indicate other devices on the mobile device to warn the driver. Among them, the warning to the driver can include any one or a combination of multiple of visual, auditory, tactile, etc. The specific warning mode is not limited in the embodiments of the present application.

[0130] Not responding to the first operation of the driver can be understood as eliminating the misoperation of the driver, that is, not responding to the first operation of the driver on the mobile device. For example, when the driver steps on the accelerator pedal deeply, the vehicle does not accelerate. For example, when the driver turns the steering wheel, the direction of the vehicle does not change, etc. Especially when the AD / ADAS function is in action, the current operation of the driver is determined as misoperation instead of the operation of the driver intending to take over the vehicle, the AD / ADAS function in action is not interrupted. Optionally, the driver can be prompted to operate again after returning to the normal driving state.

[0131] Mitigating the operation degree of the first operation can be understood as reducing the effect of the first operation on the mobile device, or reducing the efficiency of the first operation. For example, the first operation is to step on the accelerator pedal deeply, and mitigating the operation degree of the first operation can be understood as providing slow acceleration even if the driver steps on the accelerator pedal deeply. For example, if the first operation is to turn the steering wheel sharply, mitigating the operation degree of the first operation can be understood as the direction of the vehicle still changes slowly when the driver turns the steering wheel sharply, etc.

[0132] Increasing the difficulty of the first operation can be understood as increasing the force required by the driver to operate the mobile device. For example, assuming that the first operation is to step on the accelerator pedal sharply, the driver needs 5 Newtons of force to step on the accelerator pedal sharply in the normal state. When the driver is in an abnormal state, 10 Newtons of force is required to step on the accelerator pedal to achieve the same effect as stepping on the accelerator pedal sharply with 5 Newtons of force in the normal state. That is, the force required by the driver to step on the accelerator pedal is increased. Or, compared to the driver in the normal state, the force required by the driver in the abnormal state to turn the steering wheel to change the direction by the same angle is greater than the force required by the driver in the normal state.

[0133] It should be understood that, in the embodiments of the present application, the second operation can also include other types or manners of operation, or other responses or adjustments to the first operation, as long as the operation can remind the driver that the current state is a non-safety operation state and reduce the occurrence of safety accidents. The embodiments of the present application are not limited herein.

[0134] The present application also provides a driving assistance method. When it is detected that the state of the driver driving the mobile device is an abnormal state, instead of immediately triggering an alarm to the driver, the alarm triggering condition is adjusted or updated, and / or the alarm level is adjusted or updated. Only when the adjusted or updated triggering condition is met, an alarm is given to the driver, or the alarm is given to the driver at the adjusted or updated alarm level, so that unnecessary or annoying alarms can be avoided, the accuracy and efficiency of giving alarms to the driver are improved, the efficiency and accuracy of the DMS are improved, and the occurrence rate of traffic accidents is reduced.

[0135] The embodiments of the present application will be described below in conjunction with Figure 2 The driving assistance method provided by the present application will be described in detail, Figure 2 is a schematic flowchart of the driving assistance method 300 according to an embodiment of the present application.

[0136] It should be understood that, in the embodiments of the present application, the execution subject of the driving assistance method can be a driving assistance device or a driving assistance system integrated on the first terminal. Optionally, the driving assistance device or the driving assistance system can include a DMS. Optionally, the driving assistance device or the driving assistance system can also include at least one of an ADAS, an AD system, or a driving assistance system including at least one driving assistance function. The present application is not limited herein. As an example but not limitation, the execution subject of the method can also be a chip, a chip system, or a processor applied to the driving assistance device or the driving assistance system. For example, the chip can be a chip in a sensor, a fusion module, or a vehicle-mounted processor, etc. The fusion module can be understood as a module or unit composed of multiple modules or units, or the fusion module can also be understood as a module that acquires information from multiple other modules and fuses the information and outputs the fused information.

[0137] As shown in Figure 2 , Figure 2 The method 300 shown in FIG. 3 can include S310 to S320. The steps in the method 200 will be described in detail below. Figure 2

[0138] S310, determine that the driver is in an abnormal state.

[0139] ​S320, performing a second processing, the second processing comprising: adjusting or updating an alarm triggering condition, and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger the alarm to the driver.

[0140] Specifically, the abnormal state comprises at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal of the driver. For example, the abnormal state can comprise one or more of the driver being in an abnormal driving state such as drunk driving, drug driving, fatigue driving, or handling other things (such as making a phone call, picking up things, smoking, etc.). The abnormal state directly affects the judgment or control of the driver on the normal operation of the first terminal, and affects the control ability of the driver on the first terminal. For specific processes of step S310, refer to the above description of S210, and for brevity, will not be repeated here.

[0141] In the embodiments of the present application, the first terminal can be various types of mobile devices described above, such as a car, a drone, a ship, etc.

[0142] In S320, in the case where it is determined that the driver operates the mobile device in an abnormal state, a second processing can be performed. The second processing comprises: adjusting or updating an alarm triggering condition, and / or adjusting or updating an alarm level. The alarm triggering condition is used to trigger the alarm to the driver. In the embodiments of the present application, the alarm is used to prompt or warn the driver that the current mobile device is in a dangerous state, or that the current operation or non-operation will cause the mobile device to be in a dangerous state, etc. For example, the operation assistance system on the mobile device can adjust or update the alarm triggering condition or alarm level of the pre-warning function, etc. For specific description of the operation assistance system of the mobile device, refer to the description of the operation assistance system in method 200, and for brevity, will not be repeated here.

[0143] For example, in the embodiments of the present application, AD / ADAS, etc. can be used to adjust or update the alarm triggering condition and / or adjust the alarm level, etc.

[0144] The driving assistance method provided by the present application, when detecting that the state of the driver driving the mobile device is an abnormal state, does not immediately trigger the alarm to the driver, but adjusts or updates the alarm triggering condition, and / or adjusts or updates the alarm level, etc. Only when the mobile device meets the adjusted or updated alarm triggering condition, the alarm is given to the driver, so as to avoid unnecessary or annoying alarms, improve the accuracy and efficiency of the alarm to the driver, improve the efficiency and accuracy of the DMS, and reduce the incidence of traffic accidents.

[0145] It should be understood that the second processing performed for different abnormal states can be the same or different in the embodiments of the present application, which are not limited in the present application. For example, the second processing corresponding to detection of mild fatigue or smoking is to increase the alarm level; or the second processing corresponding to detection of mild fatigue is to adjust the alarm triggering condition and increase the alarm level, and the second processing corresponding to detection of smoking is to increase the alarm level, and the like.

[0146] Optionally, in some possible implementation manners of the present application, the adjusting or updating the alarm triggering condition comprises at least one of adjusting or updating the alarm time to be earlier than the alarm time when the driver is in the normal state, or adjusting or updating the alarm distance to be greater than the alarm distance when the driver is in the normal state.

[0147] The adjusting or updating the alarm level comprises:

[0148] adjusting or updating the alarm level to be higher than the alarm level when the driver is in the normal state;

[0149] The normal state is a state in which the driver normally operates the first terminal.

[0150] Specifically, for the alarm triggering condition, it can be triggered by a time standard or triggered by a distance standard. For the time standard, in the embodiments of the present application, the alarm time can be adjusted to be earlier than the alarm time when the driver is in the second state. Or in other words, the alarm time is updated from the alarm time corresponding to the normal state of the driver (referred to as first alarm time) to the alarm time corresponding to the abnormal state of the driver (referred to as second alarm time). That is, the first alarm time and the second alarm time can be preconfigured, and the corresponding alarm time can be updated or switched according to different driver states. Or when it is determined that the driver is in the abnormal state, the first alarm time can be adjusted to the second alarm time online, that is, only one alarm time can be configured, and the alarm time can be adjusted online according to different driver states. Similarly, for the alarm distance, only one set of alarm distance parameters can be preconfigured, and the alarm distance parameters can be adjusted online according to different driver states. Or a plurality of sets of alarm distance parameters can be preconfigured, and the corresponding alarm distance parameters can be updated or switched according to different driver states.

[0151] The normal state is a state in which the driver normally operates the first terminal. In other words, the second state does not affect the normal operation or control of the driver to the mobile device, and the like.

[0152] In the embodiments of the present application, when it is determined that the driver is in an abnormal state, the warning time of the AD / ADAS and other warning type functions can be adjusted or updated to be earlier than the warning time when the driver is in a normal state. The following will be described with the first terminal device being a car and in combination with specific examples.

[0153] For example, when the driver is in a normal state, the driver is warned to brake too close to the preceding vehicle after T seconds from detecting that the distance to the preceding vehicle is less than or equal to S meters. If the driver is in an abnormal state, the driver is immediately warned to brake too close to the preceding vehicle after detecting that the distance to the preceding vehicle is less than or equal to S meters. That is, the warning time of the automatic braking is adjusted or updated to be earlier than the warning time of the automatic braking when the driver is in a normal state.

[0154] For another example, when the driver is in a normal state, the driver is warned to keep the lane after M seconds from detecting that the vehicle deviates from the current lane. If the driver is in an abnormal state, the driver is immediately warned to keep the lane after detecting that the vehicle deviates from the current lane. That is, the warning time of the lane deviation is adjusted or updated to be earlier than the warning time of the lane deviation when the driver is in a normal state.

[0155] For another example, when the driver is in a normal state, the driver is warned to rest for fatigue driving after the length of time of continuously driving the vehicle is greater than T1. If the driver is in an abnormal state, the driver is warned to rest for fatigue driving after the length of time of continuously driving the vehicle is greater than T2. T2 is less than T1, that is, the warning time of the fatigue driving is adjusted or updated to be earlier than the warning time of the fatigue driving when the driver is in a normal state.

[0156] For the distance standard, the driver in different states can correspond to different warning distances. Optionally, in the embodiments of the present application, the warning distance of the AD / ADAS and other warning type functions can be adjusted to be greater than the warning distance when the driver is in a normal state. The following will be described with the first terminal device being a car and in combination with specific examples.

[0157] For example, when the driver is in a normal state, the driver is warned to brake too close to the preceding vehicle after the distance to the preceding vehicle is less than S meters. When the driver is in an abnormal state, the driver is warned to brake too close to the preceding vehicle after the distance to the preceding vehicle is less than P meters. P is greater than S, that is, the warning distance of the automatic braking is adjusted or updated to be greater than the warning distance of the automatic braking when the driver is in a normal state.

[0158] For example, when the driver is in a normal state, if the distance between the vehicle and surrounding obstacles is detected to be less than or equal to L1, a warning is issued to the driver, indicating the need to be aware of the surrounding environment. However, if the driver is in an abnormal state, and the distance between the vehicle and surrounding obstacles is detected to be less than or equal to L2, a warning is issued to the driver, indicating the need to be aware of the surrounding environment. L2 is greater than L1. That is, the warning distance for obstacles is adjusted or updated to be greater than the warning distance for obstacles when the driver is in a normal state.

[0159] In this embodiment of the application, adjusting or updating the alarm level to a level higher than the alarm level when the driver is in a normal state can be understood as, under the same alarm triggering conditions, the alarm level of the driver in an abnormal state is higher than the alarm level when the driver is in a normal state.

[0160] Optionally, only one alarm level can be pre-configured, and the alarm level can be adjusted online according to different driver states. Alternatively, multiple alarm levels can be pre-configured, and the corresponding alarm levels can be updated or switched according to different driver states.

[0161] For example, when the driver is in a normal state, the warning level is 1 if the distance to the vehicle in front is between 10 and 20 meters. If the distance is less than 10 meters, the warning level is 2. Warning level 2 is higher than warning level 1. The higher the level, the stronger the warning. When the driver is in an abnormal state, the warning level is 2 if the distance to the vehicle in front is between 10 and 20 meters. If the distance is less than 10 meters, the warning level is 3. Warning level 3 is higher than warning level 2.

[0162] It should be understood that the above description only uses mobile devices and vehicles as examples. In the embodiments of this application, there may be other different specific implementations for adjusting alarm time, adjusting alarm level, and adjusting alarm level for different mobile devices. The embodiments of this application do not impose any restrictions on the specific form of adjusting alarm time, adjusting alarm level, and adjusting alarm level.

[0163] It should also be understood that, in the embodiments of this application, alarms may include: visual, auditory, tactile, and any combination of these methods, and there are no restrictions on the specific alarm methods in the embodiments of this application.

[0164] Among some possible implementations of this application, such as Figure 3 As shown, Figure 3 This is a schematic flowchart of a driving assistance method in some embodiments of this application. Figure 2 Based on the method steps shown, method 300 further includes: S330 and S340.

[0165] S330, determine that the first operation of the driver on the first terminal is an abnormal operation;

[0166] S340, perform a first processing, the first processing comprises outputting indication information and / or control information, the indication information or the control information is used to indicate a second operation on the first terminal, or the first processing comprises controlling the first terminal to perform the second operation.

[0167] Figure 3 The steps S310 and S320 shown can refer to the related description of S310 and S320 above, and for brevity, will not be repeated here.

[0168] When it is detected that the state of the driver driving the mobile device is an abnormal state, the alarm triggering condition can be adjusted or updated, and / or the alarm level can be adjusted or updated. In S330, it is determined whether the operation of the driver on the first terminal is an abnormal operation, i.e., whether the operation of the driver on the first terminal is a misoperation. In S340, in the case where it is determined that the operation of the driver on the first terminal is an abnormal operation, a first processing is performed, the first processing comprises outputting indication information and / or control information, the indication information or the control information is used to indicate a second operation on the first terminal, or the first processing comprises controlling the first terminal to perform the second operation.

[0169] Optionally, in the embodiments of the present application, the second operation comprises at least one of the following: issuing an alarm to the driver, not responding to the first operation of the driver, reducing the operation degree of the first operation, or increasing the difficulty of the first operation. Thus, the safety of the driver is ensured, and traffic accidents are avoided.

[0170] For specific description of S330 and S340, refer to the description of S220 and S330 in method 200, and for brevity, will not be repeated here.

[0171] The driving assistance method provided in the present application does not immediately trigger an alarm to the driver when it is detected that the state of the driver driving the mobile device is an abnormal state, but adjusts or updates the alarm triggering condition and / or adjusts the alarm level. Furthermore, in the case where it is determined that the operation of the driver on the first terminal is a misoperation, the operation of the driver on the mobile device is responded or adjusted, i.e., the first processing is performed. Thus, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver are improved, and the incidence of traffic accidents is further reduced.

[0172] Optionally, in some possible implementations of the present application, in S330, determining that the first operation of the driver on the first terminal is an abnormal operation comprises: determining that the first operation satisfies at least one of the following conditions:

[0173] a rate of change of the operation of the first terminal is greater than or equal to a first threshold value;

[0174] a magnitude of the operation of the first terminal is greater than or equal to a second threshold value;

[0175] the operation indicated by the operation decision from the first assistance system is inconsistent with the operation of the first terminal by the driver; or

[0176] the operation indicated by the operation information from the second assistance system is inconsistent with the operation of the first terminal by the driver.

[0177] Optionally, in some possible implementation manners of the present application, the first operation comprises an operation of controlling the first terminal to change a motion state.

[0178] Optionally, in some possible implementation manners of the present application, the first operation comprises:

[0179] at least one of an operation of an acceleration device of the first terminal, an operation of a braking device of the first terminal, or an operation of a steering device of the first terminal.

[0180] Optionally, in some possible implementation manners of the present application, the first assistance system or the second assistance system comprises at least one of an AD system, an ADAS, or a driving assistance system comprising at least one driving assistance function.

[0181] the driving assistance function comprises a function of determining that the first terminal satisfies a preset condition and determining to change a motion state of the first terminal when the preset condition is satisfied, and / or a function of determining that the first terminal satisfies a preset condition and controlling the first terminal to change a motion state when the preset condition is satisfied.

[0182] Optionally, in some possible implementation manners of the present application, the operation indicated by the operation decision from the first assistance system, or the operation indicated by the operation information from the second assistance system, comprises:

[0183] one or more of an operation of an acceleration device of the first terminal, an operation of a braking device of the first terminal, or an operation of a steering device of the first terminal.

[0184] It should be understood that the specific description of each possible implementation manner described above can refer to the description in the related embodiments of the method 200, and will not be described here again for the sake of brevity.

[0185] It should also be understood that the above description is only to help the person skilled in the art better understand the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application. The person skilled in the art can obviously make various equivalent modifications or changes according to the above examples given, for example, some steps in each embodiment of the above method 200 and method 300 can be unnecessary, or some steps can be newly added, etc. Or a combination of any two or more embodiments. Such modifications, changes or combinations also fall within the scope of the embodiments of the present application.

[0186] It should also be understood that the above description of the embodiments of the present application focuses on the differences between the various embodiments, and the same or similar parts not mentioned can be referred to each other, and for the sake of brevity, will not be repeated here.

[0187] It should also be understood that the size of the sequence number of each process described above does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0188] It should also be understood that in the embodiments of the present application, "pre-setting" and "pre-defining" can be realized by pre-saving the corresponding code, table or other means that can be used to indicate the relevant information in the device (for example, including terminal and network device), and the present application does not limit the specific implementation manner.

[0189] It should also be understood that the division of the mode, case, category and embodiment in the embodiments of the present application is only for the convenience of description, and should not constitute a special limitation. The features in various modes, categories, cases and embodiments can be combined without contradiction.

[0190] It should also be understood that in various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0191] The above is combined with Figures 1 to 3 The driving assistance method of the embodiments of the present application is described in detail. Hereinafter, the driving assistance device of the embodiments of the present application is described in detail. Figures 4 to 12 The driving assistance device of the embodiments of the present application is described in detail.

[0192] Figure 4A schematic block diagram of a driving assistance apparatus 400 is shown, which can correspond to the first terminal described in the method 200 or the method 300, or can be a chip, component, integrated circuit, sensor, fusion module, vehicle-mounted processor, etc. applied to the first terminal device. Moreover, each module or unit in the driving assistance apparatus 400 is respectively configured to perform each action or processing process performed in the method 200 or the method 300.

[0193] As shown in Figure 4 The driving assistance apparatus 400 includes a processing module (unit) 410. Optionally, the driving assistance apparatus can further include a transceiver module (unit) 420, which is configured to perform specific signal transceiving under the driving of the processing module 410.

[0194] In a possible implementation, the processing module 410 is configured to:

[0195] determine that the driver is in an abnormal state;

[0196] determine that the first operation of the driver on the first terminal is an abnormal operation;

[0197] perform a first processing, the first processing including outputting indication information and / or control information, the indication information or the control information being used to indicate a second operation on the first terminal, or the first processing including controlling the first terminal to perform the second operation.

[0198] The driving assistance apparatus provided in the present application, when detecting that the state of the driver driving the first terminal is an abnormal state, does not immediately trigger an alarm to the driver or other responses to the driver, but further determines whether the operation of the driver on the first terminal is a misoperation, and only when the operation of the driver on the mobile terminal is a misoperation, the driving assistance apparatus responds to or adjusts the misoperation of the driver on the mobile terminal, i.e., performs the first processing. Thus, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver are improved, and the incidence of traffic accidents is further reduced.

[0199] Optionally, in some embodiments of the present application, the processing module 410 is further configured to:

[0200] determine that the first operation is an abnormal operation when the first operation satisfies at least one of the following conditions:

[0201] The determination that the first operation of the driver on the first terminal is an abnormal operation includes: determining that the first operation satisfies at least one of the following conditions:

[0202] a change rate of the operation on the first terminal is greater than or equal to a first threshold;

[0203] The operation magnitude of the first terminal is greater than or equal to a second threshold value;

[0204] The operation indicated by the operation decision of the first auxiliary system is inconsistent with the operation of the first terminal by the driver; or

[0205] The operation indicated by the operation information of the second auxiliary system is inconsistent with the operation of the first terminal by the driver.

[0206] Optionally, in some embodiments of the present application, the first operation includes an operation of controlling the first terminal to change a motion state.

[0207] Optionally, in some embodiments of the present application, the first operation includes:

[0208] At least one of an operation of an acceleration device of the first terminal, an operation of a braking device of the first terminal, or an operation of a steering device of the first terminal.

[0209] Optionally, in some embodiments of the present application, the first auxiliary system or the second auxiliary system includes at least one of an autonomous driving (AD) system, an advanced driver assistance system (ADAS), or a driving assistance system including at least one driving assistance function;

[0210] The driving assistance function includes a function of determining that the first terminal meets a preset condition and determining to change a motion state of the first terminal when the preset condition is met, and / or a function of determining that the first terminal meets a preset condition and controlling the first terminal to change a motion state when the preset condition is met.

[0211] Optionally, in some embodiments of the present application, the operation indicated by the operation decision of the first auxiliary system, or the operation indicated by the operation information of the second auxiliary system, includes:

[0212] One or more of an operation of an acceleration device of the first terminal, an operation of a braking device of the first terminal, or an operation of a steering device of the first terminal.

[0213] Optionally, in some embodiments of the present application, the second operation includes:

[0214] At least one of issuing an alarm to the driver, not responding to the first operation of the driver, reducing an operation degree of the first operation, or increasing a difficulty of the first operation.

[0215] Optionally, in some embodiments of the present application, the abnormal state includes at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal.

[0216] In another possible implementation, the processing module 410 is configured to:

[0217] determine that the driver is in an abnormal state;

[0218] perform a second processing, the second processing comprising adjusting or updating an alarm triggering condition and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger an alarm to the driver.

[0219] The driving assistance apparatus provided in the present application, when detecting that the state of the driver driving the mobile device is in an abnormal state, does not immediately trigger an alarm to the driver, but adjusts or updates an alarm triggering condition and / or adjusts or updates an alarm level, etc. Only when the mobile device satisfies the adjusted or updated alarm triggering condition, an alarm is triggered to the driver, so that unnecessary or annoying alarms can be avoided, the accuracy and efficiency of the alarm to the driver are improved, the efficiency and accuracy of the DMS are improved, and the incidence of traffic accidents is reduced.

[0220] Optionally, in some embodiments of the present application, the processing module 410 is further configured to:

[0221] adjust or update the alarm time to be earlier than the alarm time when the driver is in a normal state, adjust or update the alarm distance to be greater than the alarm distance when the driver is in a normal state, or adjust or update the alarm level to be higher than the alarm level when the driver is in a normal state.

[0222] wherein the normal state is a state in which the driver normally operates the first terminal.

[0223] Optionally, in some embodiments of the present application, the abnormal state comprises at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal of the driver.

[0224] Optionally, in some embodiments of the present application, when the driver is in the abnormal state, the processing module 410 is further configured to:

[0225] determine that a first operation of the driver on the first terminal is an abnormal operation;

[0226] perform a first processing, the first processing comprising outputting indication information and / or control information, the indication information or the control information being used to instruct a second operation on the first terminal, or the first processing comprising controlling the first terminal to perform the second operation.

[0227] Optionally, in some embodiments of the present application, the processing module 410 is further configured to:

[0228] In a case where the first operation satisfies at least one of the following conditions, the first operation is determined as an abnormal operation:

[0229] An operation change rate of the first terminal is greater than or equal to a first threshold value;

[0230] An operation amplitude of the first terminal is greater than or equal to a second threshold value;

[0231] An operation indicated by an operation decision of the first auxiliary system is inconsistent with the operation of the first terminal by the driver; or

[0232] An operation indicated by operation information of the second auxiliary system is inconsistent with the operation of the first terminal by the driver.

[0233] Optionally, in some embodiments of the present application, the first operation includes an operation of controlling the first terminal to change a motion state.

[0234] Optionally, in some embodiments of the present application, the second operation includes:

[0235] At least one of the following is performed: issuing an alarm to the driver, not responding to the first operation of the driver, mitigating an operation degree of the first operation, or increasing a difficulty of the first operation.

[0236] It should be understood that the specific process of each module (unit) in the driving assistance apparatus 400 performing the above corresponding steps is described in the foregoing embodiments of the method 200, the method 300, and the method 400, and for brevity, will not be described here. Figures 1 to 3

[0237] Optionally, the transceiver module 420 can include a receiving module (unit) and a sending module (unit) for performing the steps of receiving information and sending information in each embodiment of the foregoing methods 200 and 300.

[0238] Further, the driving assistance apparatus 400 can also include a storage module (unit). The transceiver module 420 can be a transceiver, an input / output interface, or an interface circuit. The storage module is used to store instructions executed by the transceiver module 420 and the processing module 410. The transceiver module 420, the processing module 510, and the storage module are coupled to each other. The storage module stores instructions, the processing module 410 is used to execute the instructions stored in the storage module, and the transceiver module 420 is used to perform specific signal transceiving under the driving of the processing module 410.

[0239] It should be understood that the transceiver module 420 can be a transceiver, an input / output interface, or an interface circuit. The storage module can be a memory. The processing module 410 can be implemented by a processor. As Figure 5 ​As shown, the driving assistance apparatus 500 can include a processor 610, a memory 620 and a transceiver 630.

[0240] Figure 4 The driving assistance apparatus 400 or Figure 5 The driving assistance apparatus 500 as shown can implement the embodiments in the foregoing method 200, method 300 and Figures 1 to 3 The steps performed in the embodiments as shown. Similar descriptions can be referred to the descriptions in the corresponding methods. To avoid repetition, no further description is given here.

[0241] It should also be understood that Figure 4 The driving assistance apparatus 400 or Figure 5 The driving assistance apparatus 500 as shown can be a driving assistance apparatus, a driving assistance module (unit) or a driving assistance system integrated on the first terminal, or, it can also be a chip or an integrated circuit on the first terminal, for example, the chip can be a chip in a sensor, a fusion module or a vehicle-mounted processor, etc. The fusion module can include Figure 4 The processing module and the transceiving module, etc. as shown, or, it can also be the first terminal on which the above-mentioned chip or integrated circuit, etc. is integrated. The embodiments of the present application are not limited here.

[0242] Figure 6 A schematic block diagram of another example of a driving assistance apparatus 600 provided by the embodiments of the present application is shown, which can correspond to the first terminal described in the foregoing method 200, or it can be a chip, component, integrated circuit, sensor, fusion module, vehicle-mounted processor, etc. applied to the first terminal device. Moreover, each module or unit in the driving assistance apparatus 600 is respectively used to perform each action or processing process performed by the foregoing method 200.

[0243] As Figure 6 The driving assistance apparatus 600 as shown includes a driver detection module 610 and a misoperation judgment module 620.

[0244] The driver detection module 610 is configured to detect the state of the driver;

[0245] The misoperation judgment module 620 is configured to determine whether the operation of the driver on the first terminal is an abnormal operation;

[0246] The misoperation judgment module 620 is further configured to, in a case where it is determined that the driver is in an abnormal state and it is determined that the first operation of the driver on the first terminal is an abnormal operation, perform a first processing, the first processing including outputting indication information and / or control information, the indication information or the control information being used to indicate a second operation on the first terminal, or the first processing including controlling the first terminal to perform the second operation.

[0247] The driving assistance apparatus provided in the present application, when detecting that the state of the driver driving the first terminal is an abnormal state, does not immediately trigger an alarm to the driver or other responses to the driver, but further determines whether the operation of the driver on the first terminal is a misoperation, and only when the operation of the driver on the first terminal is a misoperation, the driving assistance apparatus responds to the misoperation of the driver on the mobile terminal or makes an adjustment, i.e. performs the first processing. Thus, unnecessary or annoying alarms can be avoided, the efficiency and accuracy of feedback or response to the driver are improved, and the incidence of traffic accidents is further reduced.

[0248] Optionally, in some embodiments of the present application, the misoperation determining module 620 is further configured to: determine that the first operation is an abnormal operation when the first operation satisfies at least one of the following conditions:

[0249] a change rate of the operation on the first terminal is greater than or equal to a first threshold value;

[0250] an operation amplitude on the first terminal is greater than or equal to a second threshold value;

[0251] an operation indicated by an operation decision from the first assistance system is inconsistent with the operation of the driver on the first terminal; or

[0252] an operation indicated by operation information from the second assistance system is inconsistent with the operation of the driver on the first terminal.

[0253] Optionally, in some embodiments of the present application, the first operation includes an operation of controlling the first terminal to change a motion state.

[0254] Optionally, in some embodiments of the present application, the first assistance system or the second assistance system includes at least one of an automatic driving (AD) system, an advanced driver assistance system (ADAS), or a driving assistance system including at least one driving assistance function.

[0255] The driving assistance function includes: a function of determining that the first terminal meets a preset condition and determining to change the motion state of the first terminal when the preset condition is met; and / or, a function of determining that the first terminal meets a preset condition and controlling the first terminal to change the motion state when the preset condition is met.

[0256] Optionally, in some embodiments of the present application, the operation indicated by the operation decision from the first assistance system, or the operation indicated by the operation information from the second assistance system, includes one or more of an operation on an acceleration device of the first terminal, an operation on a braking device of the first terminal, and an operation on a steering device of the first terminal.

[0257] Optionally, in some embodiments of this application, such as Figure 7 As shown, the driving assistance device 600 further includes: a first assistance system 630 and / or a second assistance system 640, wherein the first assistance system 630 or the second assistance system 640 includes the misoperation judgment module 620, and the driver detection module 610 includes a first interface.

[0258] The driver detection module 610 is also used to send the driver's status information to the first auxiliary system 630 or the second auxiliary system 640 through the first interface.

[0259] Optionally, in some embodiments of this application, such as Figure 8 As shown, the driving assistance device 600 further includes: a first assistance system 630 and / or a second assistance system 640, and the driver detection module 610 includes the misoperation judgment module 620.

[0260] The first assistance system 630 includes a second interface, which is used to: send the operational decisions of the first assistance system 630 to the driver detection module 610 through the second interface; and / or

[0261] The second auxiliary system 640 includes a third interface, which is used to send the operation information of the second auxiliary system 640 to the driver detection module 610 through the third interface.

[0262] Optionally, in some embodiments of this application, such as Figure 9 As shown, the driving assistance device 600 is characterized by further comprising: a first assistance system 630 and / or a second assistance system 640.

[0263] The driver detection module 610 includes a fourth interface, and the driver detection module 610 is also used to: send the driver's status information to the misoperation judgment module 620 through the fourth interface;

[0264] The first auxiliary system 630 includes a fifth interface, which is used to send the operation decision of the first auxiliary system 630 to the misoperation judgment module 620 through the fifth interface, and / or the second auxiliary system 640 includes a sixth interface, which is used to send the operation information of the second auxiliary system 640 to the misoperation judgment module 620 through the sixth interface.

[0265] It should be understood that the specific process of each module (unit) in the driving assistance device 600 performing the above-mentioned corresponding steps is described in the relevant embodiments of method 200 above. For the sake of brevity, it will not be repeated here.

[0266] Figure 10 Another example of a driving assistance apparatus 700 provided by embodiments of the present application is shown in a schematic block diagram, which can correspond to the first terminal described in the method 300, or can be a chip, component, integrated circuit, sensor, fusion module, or chip in a vehicle-mounted processor, etc. applied to the first terminal device. Each module or unit in the driving assistance apparatus 700 is configured to perform each action or processing process performed by the method 300.

[0267] As shown in Figure 10 The driving assistance apparatus 700 includes a driver detection module 710 and an alarm adjustment module 720.

[0268] The driver detection module 710 is configured to detect the state of the driver.

[0269] The alarm adjustment module 720 is configured to, in a case where it is determined that the driver is in an abnormal state, perform a second process, which includes adjusting or updating an alarm triggering condition and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger an alarm to the driver.

[0270] The driving assistance apparatus provided by the present application, when detecting that the state of the driver driving the mobile device is in an abnormal state, does not immediately trigger an alarm to the driver, but adjusts or updates the alarm triggering condition and / or adjusts or updates the alarm level, etc. Only when the mobile device meets the adjusted or updated alarm triggering condition, an alarm is triggered to the driver, thereby avoiding unnecessary or annoying alarms, improving the accuracy and efficiency of the alarm to the driver, improving the efficiency and accuracy of the DMS, and reducing the incidence of traffic accidents.

[0271] Optionally, in some embodiments of the present application, the alarm adjustment module 720 is further configured to:

[0272] adjust or update the alarm time to be earlier than the alarm time when the driver is in a normal state; and / or,

[0273] or adjust or update the alarm distance to be greater than the alarm distance when the driver is in a normal state; and / or,

[0274] adjust or update the alarm level to be higher than the alarm level when the driver is in a normal state;

[0275] wherein the normal state is a state in which the driver normally operates the first terminal.

[0276] Optionally, in some embodiments of the present application, the abnormal state includes at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal of the driver.

[0277] Optionally, in some embodiments of the present application, as shown in Figure 11 the driving assistance apparatus 700 further comprises an erroneous operation judging module 730,

[0278] the erroneous operation judging module 730 is configured to determine whether the operation of the driver on the first terminal is an abnormal operation;

[0279] in a case where it is determined that the driver is in an abnormal state and it is determined that the first operation of the driver on the first terminal is an abnormal operation, performing a first processing, the first processing comprising outputting indication information and / or control information for indicating a second operation on the first terminal, or the first processing comprising controlling the first terminal to perform the second operation.

[0280] Optionally, in some embodiments of the present application,

[0281] the erroneous operation judging module 730 is further configured to determine that the first operation is an abnormal operation in a case where the first operation satisfies at least one of the following conditions:

[0282] a rate of change of the operation on the first terminal is greater than or equal to a first threshold value;

[0283] an amplitude of the operation on the first terminal is greater than or equal to a second threshold value;

[0284] an operation indicated by an operation decision from a first assistance system is inconsistent with the operation of the driver on the first terminal; or

[0285] an operation indicated by operation information from a second assistance system is inconsistent with the operation of the driver on the first terminal.

[0286] Optionally, in some embodiments of the present application, the first operation comprises an operation of controlling the first terminal to change a motion state.

[0287] Optionally, in some embodiments of the present application, at least one of the following is performed: issuing an alarm to the driver, not responding to the first operation of the driver, reducing an operation degree of the first operation, or increasing a difficulty of the first operation.

[0288] Optionally, in some embodiments of the present application, as shown in Figure 12 the driver detecting module 710 comprises a seventh interface, and the driver detecting module 710 is further configured to send the state information of the driver to the alarm adjusting module 720 through the seventh interface.

[0289] It should be understood that the specific processes in which the modules (units) in the driving assistance device 700 perform the corresponding steps described above can refer to the descriptions in the foregoing embodiments in the method 300, and will not be repeated here for brevity.

[0290] It should be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0291] It should also be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM).

[0292] The above-described embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, or the like containing one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0293] The embodiments of the present application also provide a computer-readable medium for storing computer program codes, the computer program including instructions for executing the driving assistance method according to the embodiments of the present application in the above-described method 200 or method 300. The readable medium can be a read-only memory (ROM) or a random access memory (RAM), and the embodiments of the present application do not limit this.

[0294] The present application also provides a computer program product including instructions that, when executed, cause the driving assistance device to perform the operations corresponding to the above-described method 200 or method 300, respectively.

[0295] The embodiments of the present application also provide a system chip including a processing unit, for example, a processor, and a communication unit, for example, an input / output interface, a pin, or a circuit, etc. The processing unit can execute computer instructions to cause the chip in the communication device to perform any of the driving assistance methods according to the embodiments of the present application described above.

[0296] Optionally, any of the driving assistance devices according to the embodiments of the present application described above can include the system chip.

[0297] Optionally, the computer instructions are stored in a storage unit.

[0298] Optionally, the storage unit is a storage unit within the chip, such as a register, a cache, etc. The storage unit can also be a storage unit outside the chip within the terminal, such as a ROM or other type of static storage device that can store static information and instructions, a RAM, etc. The processor mentioned in any of the above can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the driving assistance method mentioned above. The processing unit and the storage unit can be decoupled and arranged on different physical devices, and connected through wired or wireless means to realize the respective functions of the processing unit and the storage unit to support the system chip to realize various functions in the above embodiments. Alternatively, the processing unit and the storage unit can also be coupled on the same device.

[0299] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of random access memory (RAM) can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0300] The various objects in the present application may be named as various messages / information / devices / network elements / systems / devices / actions / operations / processes / concepts, etc. It can be understood that these specific names do not constitute a limitation on the related objects, and the names can be changed according to the scene, context or usage habits, etc. The technical meaning of the technical terms in the present application should be mainly determined according to the function and technical effect embodied / executed in the technical scheme.

[0301] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical scheme. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0302] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0303] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the unit is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0304] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

[0305] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0306] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0307] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A driving assistance method characterized by, Comprising: determining that a driver is in an abnormal state; determining that a first operation of the driver on a first terminal is an abnormal operation, the first operation comprising an operation of controlling the first terminal to change a motion state; performing a first process, the first process comprising outputting indication information and / or control information for indicating a second operation on the first terminal, or the first process comprising controlling the first terminal to perform the second operation; the determining that the first operation of the driver on the first terminal is an abnormal operation comprises determining that the first operation satisfies at least one of the following conditions: a change rate of the operation on the first terminal is greater than or equal to a first threshold value; an operation amplitude of the operation on the first terminal is greater than or equal to a second threshold value; an operation indicated by an operation decision from a first auxiliary system is inconsistent with the operation of the driver on the first terminal; or an operation indicated by operation information from a second auxiliary system is inconsistent with the operation of the driver on the first terminal; the second operation comprises at least one of: reducing an operation degree of the first operation, or increasing a difficulty of the first operation; performing a second process, the second process comprising adjusting or updating an alarm triggering condition, and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger an alarm to the driver.

2. The drive assist method according to claim 1, characterized by, the first operation comprises at least one of: an operation on an acceleration device of the first terminal, an operation on a braking device of the first terminal, or an operation on a steering device of the first terminal.

3. The driving assistance method according to claim 1 or 2, wherein the first auxiliary system or the second auxiliary system comprises at least one of an autonomous driving (AD) system, an advanced driver assistance system (ADAS), or a driving assistance system comprising at least one driving assistance function; wherein the driving assistance function comprises a function of determining that the first terminal satisfies a preset condition and determining to change the motion state of the first terminal when the preset condition is satisfied, and / or a function of determining that the first terminal satisfies a preset condition and controlling the first terminal to change the motion state when the preset condition is satisfied.

4. The driving assistance method according to claim 1 or 2, wherein the operation indicated by the operation decision from the first auxiliary system, or the operation indicated by the operation information from the second auxiliary system, comprises one or more of: an operation on an acceleration device of the first terminal, an operation on a braking device of the first terminal, or an operation on a steering device of the first terminal.

5. The driving assistance method according to claim 1 or 2, wherein the abnormal state comprises at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation on the first terminal, of the driver.

6. The driving assistance method according to claim 1 or 2, wherein the adjusting or updating the alarm triggering condition comprises: ​ adjust or update the alarm time to be earlier than the alarm time when the driver is in the normal state, or adjust or update the alarm distance to be greater than the alarm distance when the driver is in the normal state; and / or, the adjusting or updating the alarm level comprises: adjusting or updating the alarm level to be higher than the alarm level when the driver is in the normal state; wherein the normal state is a state in which the driver normally operates the first terminal.

7. A driving assist apparatus characterized by comprising: comprises: a processing module, configured to: determine that a driver is in an abnormal state; determine that a first operation of the driver on a first terminal is abnormal operation, the first operation comprising an operation of controlling the first terminal to change a motion state; perform first processing, the first processing comprising outputting indication information and / or control information, the indication information or the control information being used to instruct a second operation on the first terminal, or the first processing comprising controlling the first terminal to perform the second operation; the processing module is further configured to: determine that the first operation is abnormal operation if the first operation satisfies at least one of the following conditions: the determining that the first operation of the driver on the first terminal is abnormal operation comprises determining that the first operation satisfies at least one of the following conditions: a change rate of the operation on the first terminal is greater than or equal to a first threshold value; an operation amplitude of the operation on the first terminal is greater than or equal to a second threshold value; an operation decision from a first auxiliary system indicates an operation inconsistent with the operation of the driver on the first terminal; or operation information from a second auxiliary system indicates an operation inconsistent with the operation of the driver on the first terminal; the second operation comprises: at least one of reducing an operation degree of the first operation or increasing a difficulty of the first operation; the processing module is further configured to: perform second processing, the second processing comprising adjusting or updating an alarm triggering condition and / or adjusting or updating an alarm level, wherein the alarm triggering condition is used to trigger an alarm to the driver.

8. The driving assist apparatus according to claim 7, characterized by the first operation comprises: at least one of an operation on an acceleration device of the first terminal, an operation on a braking device of the first terminal, or an operation on a steering device of the first terminal.

9. The driving assistance apparatus according to claim 7 or 8, wherein the first auxiliary system or the second auxiliary system comprises at least one of an autonomous driving (AD) system, an advanced driver assistance system (ADAS), or a driving assistance system comprising at least one driving assistance function; wherein the driving assistance function comprises a function of determining that the first terminal satisfies a preset condition and determining to change the motion state of the first terminal when the preset condition is satisfied, and / or a function of determining that the first terminal satisfies a preset condition and controlling the first terminal to change the motion state when the preset condition is satisfied.

10. The driving assistance apparatus according to claim 7 or 8, wherein an operation indicated by the operation decision from the first assistance system, or an operation indicated by the operation information from the second assistance system, comprises: one or more of an operation of an acceleration device of the first terminal, an operation of a braking device of the first terminal, and an operation of a steering device of the first terminal. 11.The driving assistance apparatus according to claim 7 or 8, wherein the abnormal state comprises at least one of a physiological abnormal state, a mental abnormal state, an attention abnormal state, or an abnormal state that affects the operation of the first terminal.

12. The driving assist apparatus according to claim 7 or 8, characterized by The processing module is further configured to: adjust or update the warning time to be earlier, the warning distance to be greater, or the warning level to be higher than when the driver is in the normal state; wherein the normal state is a state in which the driver operates the first terminal normally.

13. A driving assist apparatus characterized by comprising: The driving assistance apparatus comprises at least one processor coupled to at least one memory: The at least one processor is configured to execute a computer program or instructions stored in the at least one memory, so that the apparatus performs the driving assistance method according to any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program or instructions, which, when read and executed by a computer, cause the computer to perform the driving assistance method according to any one of claims 1 to 6.

15. A chip, characterized by comprises: a processor configured to call and run a computer program from a memory, so that a communication device installed with the chip performs the driving assistance method according to any one of claims 1 to 6.

Images