A method and system for taking over a lateral auxiliary driving system

Abstract

The present invention provides a method and system for taking over a lateral steering assistance system. The method includes: upon detecting a driver inputting a torque on the steering wheel, detecting the current vehicle's speed in real time and comparing the absolute value of the torque with a first preset threshold and a second preset threshold; if the current vehicle's speed is detected to be less than the first speed value and the absolute value of the torque is greater than or equal to the first preset threshold, controlling the current vehicle to exit the activation state of the lateral steering assistance system; if the current vehicle's speed is detected to be greater than the second speed value and the absolute value of the torque is greater than the second preset threshold, controlling the current vehicle to exit the activation state of the lateral steering assistance system. This method allows for a quick and accurate determination of whether the driver has taken over the current vehicle by simply detecting the magnitude of the torque input on the steering wheel, eliminating redundant switches and buttons and significantly saving the driver's operating time.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method and system for taking over a lateral auxiliary driving system. Background Art

[0002] With the advancement of productivity and the rapid development of science and technology, cars have become popular in people's lives and have become one of the indispensable means of transportation for people to travel, greatly facilitating people's lives.

[0003] Nowadays, more and more cars are equipped with intelligent driving assistance functions, making existing cars increasingly intelligent. Among them, the intelligent driving assistance lateral function is a key component of intelligent driving and has many sub-functions, such as lane departure warning (LDW), lane keeping (LKA), lane centering (LCC), emergency lane keeping (ELK), lane change with lever (DCLC), and pilot assist (NGA).

[0004] However, the process of exiting the intelligent driving assistance lateral function in the existing technology is relatively cumbersome, which increases the driver's operation time and reduces the driver's user experience. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a method and system for taking over a lateral assisted driving system to solve the problem that the process of exiting the intelligent driving assistance lateral function in the existing technology is relatively cumbersome, thereby increasing the driver's operation time and reducing the driver's user experience.

[0006] A first aspect of an embodiment of the present invention provides a method for taking over a lateral driving assistance system, which is applied to a vehicle in a lateral driving assistance state. The method includes:

[0007] When it is detected that the driver inputs a torque on the steering wheel, the current vehicle speed is detected in real time, and the absolute value of the torque is compared with a first preset threshold and a second preset threshold, where the first preset threshold is less than the second preset threshold;

[0008] If it is detected that the current speed of the vehicle is less than a first speed value and the absolute value of the torque is greater than or equal to the first preset threshold, controlling the current vehicle to exit the activation state of the lateral steering assistance system;

[0009] If it is detected that the current speed of the vehicle is greater than the second speed value and the absolute value of the torque is greater than the second preset threshold, the current vehicle is controlled to exit the activation state of the lateral driving assistance system.

[0010] The beneficial effects of the present invention are as follows: when it is detected that the driver inputs a torque on the steering wheel, the speed of the current vehicle is detected in real time, and the absolute value of the current torque is compared with a first preset threshold value and a second preset threshold value. Specifically, if it is detected that the speed of the current vehicle is less than the first speed value, and the absolute value of the current torque is greater than or equal to the first preset threshold value, the current vehicle is controlled to exit the activation state of the lateral steering assistance system; in addition, if it is detected that the speed of the current vehicle is greater than the second speed value, and the absolute value of the torque is greater than the second preset threshold value, the current vehicle is also controlled to exit the activation state of the lateral steering assistance system. Through the above method, it is possible to quickly and accurately determine whether the driver has taken over the current vehicle under the premise of only detecting the magnitude of the torque input on the steering wheel, and immediately control the current vehicle to exit the activation state of the lateral steering assistance system after the driver takes over the current vehicle, eliminating redundant switches and function buttons, thereby greatly saving the driver's operating time and improving the driver's user experience.

[0011] Preferably, the method further comprises:

[0012] If it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

[0013] Preferably, a torque sensor and a pressure sensor are provided in the steering wheel, and when it is detected that the driver inputs a torque on the steering wheel, the steps of detecting the current vehicle speed in real time and comparing the absolute value of the torque with a first preset threshold and a second preset threshold include:

[0014] receiving in real time the pressure value applied to the steering wheel collected by the pressure sensor, and determining whether the pressure value is greater than a preset pressure threshold;

[0015] If it is detected that the pressure value is greater than the preset pressure threshold, it is determined that the steering wheel has been manipulated by the driver, and the torque sensor is activated;

[0016] The torque input by the driver on the steering wheel is collected in real time by the torque sensor.

[0017] Preferably, the method further comprises:

[0018] If it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, the current vehicle is directly controlled to exit the activation state of the lateral driving assistance system, and the third preset threshold is greater than the second preset threshold.

[0019] Preferably, the method further comprises:

[0020] If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

[0021] A second aspect of an embodiment of the present invention provides a lateral driving assistance system takeover system, which is applied to a vehicle in a lateral driving assistance state. The system includes:

[0022] a detection module, configured to detect the current vehicle speed in real time when detecting that the driver inputs a torque on the steering wheel, and compare the absolute value of the torque with a first preset threshold and a second preset threshold, wherein the first preset threshold is less than the second preset threshold;

[0023] a first processing module, configured to control the current vehicle to exit an activated state of a lateral steering assistance system if it is detected that the current vehicle speed is less than a first speed value and the absolute value of the torque is greater than or equal to the first preset threshold;

[0024] The second processing module is used to control the current vehicle to exit the activation state of the lateral driving assistance system if it is detected that the current vehicle speed is greater than the second speed value and the absolute value of the torque is greater than the second preset threshold.

[0025] In the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a third processing module, and the third processing module is specifically used to:

[0026] If it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

[0027] In the above-mentioned lateral driving assistance system takeover system, a torque sensor and a pressure sensor are provided in the steering wheel, and the detection module is specifically used for:

[0028] receiving in real time the pressure value applied to the steering wheel collected by the pressure sensor, and determining whether the pressure value is greater than a preset pressure threshold;

[0029] If it is detected that the pressure value is greater than the preset pressure threshold, it is determined that the steering wheel has been manipulated by the driver, and the torque sensor is activated;

[0030] The torque input by the driver on the steering wheel is collected in real time by the torque sensor.

[0031] In the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a fourth processing module, and the fourth processing module is specifically used to:

[0032] If it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, the current vehicle is directly controlled to exit the activation state of the lateral driving assistance system, and the third preset threshold is greater than the second preset threshold.

[0033] Among them, in the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a prompt module, and the prompt module is specifically used to:

[0034] If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

[0035] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a method for taking over a lateral driving assistance system provided in accordance with the first embodiment of the present invention;

[0037] Figure 2 This is a structural block diagram of the lateral driving assistance system takeover system provided in the second embodiment of the present invention.

[0038] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0039] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] The process of exiting the intelligent driving assistance lateral function in existing technologies is rather cumbersome, thereby increasing the driver's operation time and reducing the driver's user experience.

[0043] See also Figure 1 , shown is a lateral steering assistance system takeover method provided by the first embodiment of the present invention. The lateral steering assistance system takeover method provided by this embodiment can quickly and accurately determine whether the driver has taken over the current vehicle by only detecting the magnitude of the torque input on the steering wheel. After the driver takes over the current vehicle, the current vehicle is immediately controlled to exit the activation state of the lateral steering assistance system, eliminating redundant switches and function buttons, thereby significantly saving the driver's operation time and improving the driver's user experience.

[0044] Specifically, the lateral driving assistance system takeover method provided in this embodiment is applied when the vehicle is in the lateral driving assistance state, and the method includes the following steps:

[0045] Step S10, when it is detected that the driver inputs a torque on the steering wheel, detecting the current vehicle speed in real time, and comparing the absolute value of the torque with a first preset threshold and a second preset threshold, wherein the first preset threshold is less than the second preset threshold;

[0046] Step S20: If it is detected that the current speed of the vehicle is less than the first speed value and the absolute value of the torque is greater than or equal to the first preset threshold, controlling the current vehicle to exit the activation state of the lateral steering assistance system;

[0047] Step S30: If it is detected that the current speed of the vehicle is greater than the second speed value and the absolute value of the torque is greater than the second preset threshold, the current vehicle is controlled to exit the activation state of the lateral driving assistance system.

[0048] In addition, in this embodiment, it should be noted that the method also includes: if it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

[0049] Among them, in this embodiment, it should be noted that the lateral auxiliary driving system takeover method provided in this embodiment is specifically applied to vehicles with lateral auxiliary driving system functions, and the method will only be enabled after the vehicle runs the lateral auxiliary driving system.

[0050] Specifically, in this embodiment, a torque sensor and a pressure sensor are provided in the steering wheel of a vehicle pre-installed with the lateral steering assistance system. When a torque input by the driver on the steering wheel is detected, the steps of detecting the current vehicle speed in real time and comparing the absolute value of the torque with a first preset threshold and a second preset threshold include:

[0051] When the vehicle is in the state of the lateral assisted driving system operating, the on-board terminal will receive the pressure value applied to the steering wheel collected by the pressure sensor inside the steering wheel in real time, and judge in real time whether the collected pressure value is greater than the preset pressure threshold; if it is detected that the collected pressure value is greater than the preset pressure threshold, it is determined that the current steering wheel has been controlled by the driver, and the above-mentioned torque sensor is enabled; further, the torque input by the driver on the steering wheel is collected in real time through the torque sensor.

[0052] In this embodiment, it can be understood that, for example, when the driver does not control the steering wheel, the pressure value collected by the pressure sensor will be less than the preset pressure threshold of 10Pa. When the pressure value collected by the pressure sensor suddenly increases to 15Pa, it is greater than the preset pressure threshold of 10Pa, indicating that the driver has started to control the current steering wheel. At this time, the torque sensor is immediately enabled to collect the torque input by the driver on the current steering wheel in real time through the torque sensor.

[0053] Furthermore, on this basis, if it is detected that the current speed of the vehicle is less than the first speed value and the absolute value of the torque is greater than or equal to the first preset threshold, the current vehicle is controlled to exit the activation state of the lateral steering assistance system;

[0054] For example, when the vehicle speed is less than 60 km / h and the absolute value of the detected torque is greater than or equal to 1.6 N, it indicates that the driver has taken over the current vehicle, and the current vehicle is immediately controlled to exit the activation state of the assisted driving system.

[0055] In addition, if it is detected that the current speed of the vehicle is greater than the second speed value and the absolute value of the torque is greater than the second preset threshold, the current vehicle is controlled to exit the activation state of the lateral driving assistance system.

[0056] For example, when the vehicle speed is greater than 108 km / h and the absolute value of the detected torque is greater than or equal to 2N, it indicates that the driver has taken over the current vehicle, and the current vehicle is immediately controlled to exit the activation state of the assisted driving system.

[0057] In addition, in this embodiment, it should be noted that the method also includes: if it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

[0058] For example, when the vehicle speed is greater than 60 km / h and less than 108 km / h, the torque input by the driver detected by the current steering wheel needs to be calculated through linear difference. Specifically, this embodiment calculates the torque input on the current steering wheel through the calculation formula X=120Y-132 (where X is the speed and Y is the torque input by the driver), and then compares the absolute value of the calculated torque with the above-mentioned first preset threshold, i.e., 1.6N, and the second preset threshold, i.e., 2N, to make a corresponding judgment based on the actual results.

[0059] In addition, in this embodiment, the method also includes: if it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, directly controlling the current vehicle to exit the activation state of the lateral auxiliary driving system, and the third preset threshold is greater than the second preset threshold.

[0060] It can be understood that, for example, when it is detected that the absolute value of the torque input on the current steering wheel is 2.8N, it indicates that the driver has begun to take over the current vehicle, and the on-board terminal immediately controls the current vehicle to exit the activation state of the lateral assisted driving system.

[0061] Furthermore, in this embodiment, the method further includes:

[0062] If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

[0063] Among them, it should be noted that, in order to ensure the safety of the driver, when the on-board terminal exits the lateral assisted driving system, at the same time, the current on-board terminal will immediately control the speaker to play the voice prompt message "Exited the lateral assisted driving system" to allow the driver to concentrate on driving the current vehicle.

[0064] During use, when it is detected that the driver inputs torque on the steering wheel, the speed of the current vehicle is detected in real time, and the absolute value of the current torque is compared with the first preset threshold and the second preset threshold. Specifically, if it is detected that the speed of the current vehicle is less than the first speed value, and the absolute value of the current torque is greater than or equal to the first preset threshold, the current vehicle is controlled to exit the activation state of the lateral steering assistance system; in addition, if it is detected that the speed of the current vehicle is greater than the second speed value, and the absolute value of the torque is greater than the second preset threshold, the current vehicle is also controlled to exit the activation state of the lateral steering assistance system. Through the above method, it is possible to quickly and accurately determine whether the driver has taken over the current vehicle under the premise of only detecting the magnitude of the torque input on the steering wheel, and immediately control the current vehicle to exit the activation state of the lateral steering assistance system after the driver takes over the current vehicle, eliminating redundant switches and function buttons, thereby greatly saving the driver's operation time and improving the driver's user experience.

[0065] In addition, in this embodiment, it should be noted that when the vehicle is in the activated state of the lateral steering assistance system, the lateral steering assistance system will perform the following operations:

[0066] Emergency lane keeping (ELK), Lane Keeping Assist (LKA):

[0067] When the requested steering wheel torque is opposite to the driver's hand torque, and the driver's hand force is greater than 1Nm for a period of time t2 (the timeout time t2 can be calibrated, currently set at 0.5 seconds), the control is overridden and the requested steering wheel torque becomes 0.

[0068] When the requested steering wheel torque is in the same direction as the driver's hand torque, and the driver's hand force is greater than 1.5 Nm for a period of time t2 (the timeout time t2 can be calibrated, currently set at 0.5 seconds), the control is overridden and the requested steering wheel torque becomes 0.

[0069] Lane Centering Control (LCC):

[0070] When the requested steering wheel torque is in the same direction as the driver's hand torque, no suppression is applied

[0071] When the requested steering wheel torque is opposite to the driver's hand torque, and the driver's hand torque is greater than 1.2NM for a period of time t3 (the timeout time t3 can be calibrated, currently set at 0.5 seconds), the requested steering wheel torque is weakened by 0.3 times.

[0072] Driver confirm lane change (DCLC):

[0073] If the driver's hand torque is greater than 1.5 Nm for a period of time t4 (the timeout time t4 can be calibrated, currently set at 0.5 seconds), the DCLC exits control and requests the steering wheel torque to be changed to 0.

[0074] It should be noted that the above implementation process is only to illustrate the feasibility of this application, but it does not mean that the lateral assisted driving system takeover method of this application has only the above-mentioned only implementation process. On the contrary, as long as the lateral assisted driving system takeover method of this application can be implemented, it can be included in the feasible implementation plan of this application.

[0075] In summary, the lateral steering assistance system takeover method provided by the above embodiments of the present invention can quickly and accurately determine whether the driver has taken over the current vehicle by only detecting the magnitude of the torque input on the steering wheel, and immediately control the current vehicle to exit the activation state of the lateral steering assistance system after the driver takes over the current vehicle, eliminating redundant switches and function buttons, thereby greatly saving the driver's operating time and improving the driver's user experience.

[0076] See also Figure 2 , shown is a lateral driving assistance system takeover system provided by a second embodiment of the present invention, which is applied to a vehicle in a lateral driving assistance state, and the system includes:

[0077] a detection module 12 configured to detect the current vehicle speed in real time when a driver inputs a torque on the steering wheel, and compare the absolute value of the torque with a first preset threshold and a second preset threshold, wherein the first preset threshold is less than the second preset threshold;

[0078] The first processing module 22 is configured to control the vehicle to exit the activation state of the lateral steering assistance system if it is detected that the current vehicle speed is less than a first speed value and the absolute value of the torque is greater than or equal to the first preset threshold;

[0079] The second processing module 32 is configured to control the current vehicle to exit the activation state of the lateral steering assistance system if it is detected that the current vehicle speed is greater than a second speed value and the absolute value of the torque is greater than the second preset threshold.

[0080] In the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a third processing module 42, and the third processing module 42 is specifically used to:

[0081] If it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

[0082] In the above-mentioned lateral driving assistance system takeover system, a torque sensor and a pressure sensor are provided in the steering wheel, and the detection module 12 is specifically used for:

[0083] receiving in real time the pressure value applied to the steering wheel collected by the pressure sensor, and determining whether the pressure value is greater than a preset pressure threshold;

[0084] If it is detected that the pressure value is greater than the preset pressure threshold, it is determined that the steering wheel has been manipulated by the driver, and the torque sensor is activated;

[0085] The torque input by the driver on the steering wheel is collected in real time by the torque sensor.

[0086] In the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a fourth processing module 52, and the fourth processing module 52 is specifically used to:

[0087] If it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, the current vehicle is directly controlled to exit the activation state of the lateral driving assistance system, and the third preset threshold is greater than the second preset threshold.

[0088] Among them, in the above-mentioned lateral driving assistance system takeover system, the lateral driving assistance system takeover system further includes a prompt module 62, and the prompt module 62 is specifically used to:

[0089] If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

[0090] To sum up, the lateral assisted driving system takeover method and system provided in the above embodiments of the present invention can quickly and accurately determine whether the driver has taken over the current vehicle by only detecting the magnitude of the torque input on the steering wheel, and immediately control the current vehicle to exit the activation state of the lateral assisted driving system after the driver takes over the current vehicle, eliminating redundant switches and function buttons, thereby greatly saving the driver's operating time and improving the driver's user experience.

[0091] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0092] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0093] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0094] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0095] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0096] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for taking over a lateral driving assistance system, applied to a vehicle in a lateral driving assistance state, characterized in that: The method comprises: When it is detected that the driver inputs a torque on the steering wheel, the current vehicle speed is detected in real time, and the absolute value of the torque is compared with a first preset threshold and a second preset threshold, where the first preset threshold is less than the second preset threshold; The steering wheel is provided with a torque sensor and a pressure sensor. When the driver inputs a torque on the steering wheel, the current vehicle speed is detected in real time, and the absolute value of the torque is compared with a first preset threshold and a second preset threshold. The steps include: receiving in real time the pressure value applied to the steering wheel collected by the pressure sensor, and determining whether the pressure value is greater than a preset pressure threshold; If it is detected that the pressure value is greater than the preset pressure threshold, it is determined that the steering wheel has been manipulated by the driver, and the torque sensor is activated; The torque sensor collects the torque input by the driver on the steering wheel in real time; If it is detected that the current speed of the vehicle is less than a first speed value and the absolute value of the torque is greater than or equal to the first preset threshold, controlling the current vehicle to exit the activation state of the lateral steering assistance system; If it is detected that the current vehicle speed is greater than a second speed value and the absolute value of the torque is greater than the second preset threshold, the current vehicle is controlled to exit the activation state of the lateral driving assistance system, and the second speed value is greater than the first speed value.

2. The method for taking over a lateral driving assistance system according to claim 1, characterized in that: The method further comprises: If it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

3. The method for taking over a lateral driving assistance system according to claim 1, characterized in that: The method further comprises: If it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, the current vehicle is directly controlled to exit the activation state of the lateral driving assistance system, and the third preset threshold is greater than the second preset threshold.

4. The method for taking over a lateral driving assistance system according to claim 1, characterized in that: The method further comprises: If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

5. A lateral assist driving system takeover system, applied to a vehicle in a lateral assist driving state, characterized in that: The system comprises: a detection module, configured to detect the current vehicle speed in real time when detecting that the driver inputs a torque on the steering wheel, and compare the absolute value of the torque with a first preset threshold and a second preset threshold, wherein the first preset threshold is less than the second preset threshold; The steering wheel is provided with a torque sensor and a pressure sensor, and the detection module is specifically used for: receiving in real time the pressure value applied to the steering wheel collected by the pressure sensor, and determining whether the pressure value is greater than a preset pressure threshold; If it is detected that the pressure value is greater than the preset pressure threshold, it is determined that the steering wheel has been manipulated by the driver, and the torque sensor is activated; The torque sensor collects the torque input by the driver on the steering wheel in real time; a first processing module, configured to control the current vehicle to exit an activated state of a lateral steering assistance system if it is detected that the current vehicle speed is less than a first speed value and the absolute value of the torque is greater than or equal to the first preset threshold; The second processing module is used to control the current vehicle to exit the activation state of the lateral driving assistance system if it is detected that the current vehicle speed is greater than the second speed value and the absolute value of the torque is greater than the second preset threshold.

6. The lateral driving assistance system takeover system according to claim 5, characterized in that: The lateral driving assistance system takeover system further includes a third processing module, and the third processing module is specifically configured to: If it is detected that the current vehicle speed is greater than the first speed value and less than the second speed value, the dynamic torque received by the steering wheel is calculated according to a preset algorithm, and the absolute value of the dynamic torque is compared with the first preset threshold and the second preset threshold.

7. The lateral driving assistance system takeover system according to claim 5, characterized in that: The lateral driving assistance system takeover system further includes a fourth processing module, and the fourth processing module is specifically configured to: If it is detected that the absolute value of the torque input on the steering wheel is greater than a third preset threshold, the current vehicle is directly controlled to exit the activation state of the lateral driving assistance system, and the third preset threshold is greater than the second preset threshold.

8. The lateral driving assistance system takeover system according to claim 5, characterized in that: The lateral driving assistance system takeover system further includes a prompt module, which is specifically used to: If it is detected that the lateral driving assistance system has exited the activated state, it is determined that the driver has taken over the current vehicle and the speaker is controlled to play a voice prompt message.

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