Driver fatigue reminder control method and vehicle

Abstract

The present invention discloses a driver fatigue reminder control method and a vehicle. The driver fatigue reminder control method is applied to a vehicle with an active suspension system. The active suspension system has a fatigue reminder mode, an active suspension, and a drive component for driving the active suspension to move. In the fatigue reminder mode, the drive component drives the active suspension to move to drive the vehicle body to vibrate. The driver fatigue reminder control method includes: confirming that the current state of the driver is a fatigue state; controlling the active suspension system to execute the fatigue reminder mode; and controlling the active suspension system to exit the fatigue reminder mode. According to the driver fatigue reminder control method of the embodiments of the present invention, the vibration generated by the active suspension system on the vehicle body can directly act on the driver's body, with a direct action effect, short delay, greater reminder intensity, not easily overlooked, and can effectively remind the driver to concentrate on driving and ensure driving safety.

Description

Technical Field

[0001] The present invention relates to the field of driver fatigue reminder, and in particular to a driver fatigue reminder control method and a vehicle. Background Art

[0002] In the related art, for a vehicle equipped with a driver fatigue monitoring system, when the driver fatigue monitoring system determines that the driver is in a fatigue driving state, it gives a reminder by means of instrument display, in-vehicle artificial intelligence (such as NOMI), voice, or by blowing cold air at the driver. However, these methods have limited reminder effects on a driver who is already in a fatigued state. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, an object of the present invention is to provide a driver fatigue reminder control method for a vehicle. When it is confirmed that the current state of the driver is a fatigue state, the active suspension is controlled to move to drive the body to vibrate, and the driver is reminded of fatigue by using the vibration of the body. This can directly act on the driver's body, with a direct effect, short delay, and more obvious reminder effect.

[0004] The present invention also provides a vehicle that uses the above driver fatigue reminder control method to remind the driver of fatigue.

[0005] According to the driver fatigue reminder control method for a vehicle according to the first aspect embodiment of the present invention, the suspension system of the vehicle is an active suspension system, the active suspension system has a fatigue reminder mode, the active suspension system includes an active suspension and a drive assembly for driving the active suspension to move. In the fatigue reminder mode, the drive assembly drives the active suspension to move to drive the body to vibrate. The driver fatigue reminder control method includes:

[0006] Confirm that the current state of the driver is a fatigue state;

[0007] Control the active suspension system to execute the fatigue reminder mode;

[0008] Control the active suspension system to exit the fatigue reminder mode.

[0009] According to the driver fatigue reminder control method of the embodiment of the present invention, when it is confirmed that the driver is in a fatigue state, the active suspension system of the vehicle is controlled to move to drive the body to vibrate, and the driver is reminded of fatigue by using the vibration of the body. This can directly act on the driver's body, with a direct effect, short delay, greater reminder intensity, not easily overlooked, and can effectively remind the driver to concentrate on driving and ensure driving safety.

[0010] According to some embodiments of the present invention, before the active suspension system executes the fatigue reminder mode and after confirming that the current state of the driver is a fatigued state, it further includes: confirming that the vehicle is not in a special driving condition.

[0011] According to some embodiments of the present invention, the special driving condition includes at least one of a braking condition, an accelerating condition, a transient steering condition, a steady-state steering condition, and a start-stop condition.

[0012] According to some embodiments of the present invention, characterized in that the fatigue reminder mode has multiple reminder intensity levels with different reminder intensities, the reminder intensity is the intensity of the driving component driving the active suspension to move and drive the vehicle body to vibrate. After confirming that the vehicle is not in the special driving condition and before controlling the active suspension system to execute the fatigue reminder mode, it further includes: determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle.

[0013] According to some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels, the current state of the vehicle includes vehicle speed information, and determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes:

[0014] When the vehicle speed is not greater than the set threshold, determining that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0015] When the vehicle speed is greater than the set threshold, determining that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level.

[0016] In some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels, the current state of the vehicle includes road condition information, and determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes:

[0017] When the road condition information is that the road condition is good, determining that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0018] When the road condition information is that the road condition is bad, determining that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level;

[0019] Wherein, according to the actual vehicle response and the extracted road surface information, it is determined whether the road condition information is good or bad.

[0020] In some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels, and the current state of the vehicle includes active suspension system fault information. Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes:

[0021] When the active suspension system is normal, determining the reminder intensity level of the fatigue reminder mode as the first reminder intensity level;

[0022] When the active suspension system fails, determining the reminder intensity level of the fatigue reminder mode as the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level.

[0023] In some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels, and the current state of the vehicle includes environmental information. The environmental information includes whether an obstacle moving towards the vehicle is detected within a preset distance range around the vehicle. Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes:

[0024] When no obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, determining the reminder intensity level of the fatigue reminder mode as the first reminder intensity level;

[0025] When an obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, determining the reminder intensity level of the fatigue reminder mode as the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level.

[0026] In some embodiments of the present invention, before the active suspension system executes the fatigue reminder mode and after confirming that the current state of the driver is a fatigued state, the driver fatigue reminder control method further includes:

[0027] Obtaining the fatigue reminder requirement degree of the driver, where the fatigue reminder requirement degree includes the reminder duration and the movement direction, displacement, speed, or acceleration of the active suspension;

[0028] Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes: judging whether the obtained fatigue reminder requirement degree can be safely executed according to the current state of the vehicle;

[0029] If so, determining the reminder intensity level according to the fatigue reminder requirement degree;

[0030] If not, determining the reminder intensity level according to the current state of the vehicle.

[0031] According to some embodiments of the present invention, the method for obtaining the fatigue reminder requirement degree of the driver includes: obtaining the fatigue reminder requirement degree according to the extracted feature information of the driver; or directly reading the fatigue reminder requirement degree from a database.

[0032] According to some embodiments of the present invention, confirming that the current state of the driver is a fatigue state includes:

[0033] Obtaining the facial information of the driver;

[0034] Confirming that the facial information includes at least one of eye ball offset information, eye closing information, yawning information, face loss information, and head down information.

[0035] According to some alternative embodiments of the present invention, during the process of the active suspension system executing the fatigue reminder mode, the active suspension system does not respond to other instructions.

[0036] A vehicle according to an embodiment of the second aspect of the present invention uses the driver fatigue reminder control method according to the above first aspect embodiment of the present invention to remind the driver of fatigue.

[0037] A vehicle according to an embodiment of the present invention uses the driver fatigue reminder control method according to the above first aspect embodiment of the present invention to remind the driver of fatigue, which can effectively remind the driver to concentrate on driving and ensure driving safety.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0040] Figure 1 is a flowchart of a driver fatigue reminder control method for a vehicle according to some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0042] A driver fatigue reminder control method for a vehicle according to an embodiment of the present invention will be described below with reference to the drawings.

[0043] Reference Figure 1 According to the driver fatigue reminder control method for a vehicle according to an embodiment of the first aspect of the present invention, the suspension system of the vehicle is an active suspension system. The active suspension system includes an active suspension and a drive assembly, and the drive assembly is used to drive the active suspension to move. For a vehicle equipped with an active suspension system, the vehicle control system can determine the current state of the vehicle body and predict the future movement tendency of the vehicle body based on the signals of sensors at various locations of the vehicle. If the vehicle body has a tendency to roll, pitch, or yaw, the vehicle control system can control the drive assembly to move to drive the active suspension to move, so as to reduce the displacement of the vehicle body's roll, pitch, and yaw, keep the vehicle body stable, and improve the stability of the vehicle body.

[0044] For example, when the driver steps on the brake pedal to brake the vehicle, the vehicle control system can determine that the vehicle is in a braking condition through a sensor connected to the brake pedal and predict that the vehicle body has a tendency to pitch forward. At this time, the vehicle control system can control the drive assembly to move to drive the active suspension corresponding to the front wheels to move (for example, drive the suspension corresponding to the front wheels to move upward), so as to reduce the displacement of the vehicle body pitching forward in the braking state or prevent the vehicle body from pitching forward, ensuring the stability of the vehicle under braking conditions.

[0045] The active suspension system has a fatigue reminder mode. In the fatigue reminder mode, the drive assembly drives the active suspension to move to drive the vehicle body to vibrate.

[0046] The driver fatigue reminder control method includes:

[0047] Confirm that the current state of the driver is a fatigue state. For example, the driver fatigue reminder control method can monitor the driver's fatigue state through a fatigue monitoring system. For example, the fatigue monitoring system can include a camera with a human face behavior perception sensor, an infrared device, or a photosensitive sensor. The fatigue detection system can determine whether the driver is in a fatigue state based on the driver's human face behavior information;

[0048] Control the active suspension system to execute the fatigue reminder mode;

[0049] Control the active suspension system to exit the fatigue reminder mode.

[0050] When the vehicle's control system determines that the driver is currently in a fatigue state, it controls the active suspension system to execute the fatigue reminder mode. The vehicle's control system controls the movement of the drive component, and the drive component drives the active suspension to move to drive the body vibration. The body vibration can be transmitted to the driver. When the driver receives the vibration, he will receive the fatigue reminder from the vehicle's control system, and then know that he is in a fatigue state. Using vibration to remind the driver that he is in a fatigue state can directly affect the driver's body, with a direct effect, short delay, and a stronger reminder intensity, which is not easy to be ignored; when the driver knows that he is in a fatigue state, he can adjust himself in time to concentrate on driving the vehicle, effectively ensuring driving safety.

[0051] When the vehicle's control system determines that the driver's current state is not a fatigue state, or when the execution time of the fatigue reminder mode reaches the preset value, the fatigue reminder mode ends, and the vehicle's control system controls the active suspension system to exit the fatigue reminder mode. The vehicle body tends to stabilize, and the driver can control the vehicle to drive normally, thereby effectively ensuring the stability of the vehicle during subsequent driving.

[0052] For example, when the active suspension system is executing the fatigue reminder mode, the vehicle's control system can drive the active suspension movement by controlling the drive components, so that the vehicle body produces vertical vibration, roll vibration, pitch vibration, and body movement with the three vibration directions superimposed.

[0053] Preferably, when the active suspension system executes the fatigue reminder mode, it controls the vehicle body to produce roll vibration and / or pitch vibration. The human body is more sensitive to lateral and longitudinal vibrations. Roll vibration and / or pitch vibration can convey fatigue reminders to the driver more reliably.

[0054] Preferably, when the active suspension system is executing the fatigue reminder mode, the vibration of the vehicle body is controlled to have a frequency of 0.5Hz-2Hz. Because this frequency range covers the resonance frequency range of the human body, it can cause resonance in the human body, making the human body produce uncomfortable or even unbearable vibration feeling, which helps to improve the effect of reminding the driver of fatigue in the fatigue reminder mode.

[0055] According to the driver fatigue reminder control method of the embodiment of the present invention, when it is confirmed that the driver is in a fatigue state, the vehicle's active suspension system movement is controlled to drive the vehicle body vibration, and the vibration of the vehicle body is used to remind the driver of fatigue, which can directly act on the driver's body, has a direct effect, a short delay, and a greater reminder intensity, is not easy to be ignored, and can effectively remind the driver to concentrate on driving to ensure driving safety.

[0056] According to some embodiments of the present invention, during the process of the active suspension system executing the fatigue reminder mode, the active suspension system does not respond to other instructions (such as instructions for controlling the active suspension system to damp the vehicle body).

[0057] When the fatigue reminder mode has not ended, the active suspension system does not respond to other instructions, and the active suspension system continues to execute the driver fatigue reminder mode, which can prevent the fatigue reminder mode from being overwritten by other instructions. Since the vehicle body is in a vibrating state when the fatigue reminder mode has not ended, if the driving state of the vehicle is changed at this time, it is easy to cause the vehicle to get out of control and roll over. During the process of the active suspension system executing the fatigue reminder mode, the active suspension system does not respond to other instructions, which can avoid the dangerous situation of the vehicle becoming unstable and rolling over due to the active suspension system simultaneously executing the fatigue reminder mode and other instructions, ensuring driving safety.

[0058] For example, when the fatigue reminder mode is executed and ended, the fatigue reminder mode is exited, and the vehicle is waited to return to a stable state. After the vehicle returns to a stable state, the active suspension system is allowed to execute other instructions. When the fatigue reminder mode is executed and ended, due to the principle of inertia, the vibration of the vehicle body will not disappear immediately, and the vibration intensity of the vehicle body vibration will gradually decrease. After the vehicle returns to a stable state, allowing the active suspension system to execute other instructions can avoid the dangerous situation of the vehicle becoming unstable and rolling over due to other actions being performed on the vibrating vehicle body, ensuring driving safety and ensuring the stability of the vehicle during driving.

[0059] It should be explained that waiting for the vehicle to return to a stable state after exiting the fatigue reminder mode can refer to waiting for the vehicle to return to the driving state before the execution of the driver fatigue reminder mode after exiting the fatigue reminder mode.

[0060] According to some embodiments of the present invention, confirming that the current state of the driver is a fatigue state includes:

[0061] Obtaining the facial information of the driver; confirming that the facial information includes at least one of eye ball offset information, eyes closed information, yawning information, face loss information, and head down information.

[0062] After the vehicle control system obtains the facial information of the driver, it can analyze and count the facial information of the driver. When the vehicle control system confirms that the obtained facial information of the driver includes at least one of eye ball offset information, eyes closed information, yawning information, face loss information, and head down information, the vehicle control system determines that the driver is in a fatigue state, and the vehicle control system controls the active suspension system to execute the fatigue reminder mode. By obtaining the facial information of the driver to determine whether the driver is in a fatigue state, it is intuitive and accurate, and can more accurately determine whether the driver is in a fatigue state.

[0063] For example, the driver fatigue reminder control method can monitor the driver's fatigue state through a fatigue monitoring system. After the fatigue detection system obtains the driver's facial information, it can analyze the driver's human facial behavior and transmit the driver's human facial behavior information to the vehicle control system. The vehicle control system can determine whether the driver is in a fatigue state based on the human facial behavior information. For example, the driver's facial information can include the driver's human facial behavior information, and the human facial behavior information can include eyeball deviation information, eye closure information, yawning information, face loss information, and head-down information.

[0064] After the fatigue monitoring system samples the driver's facial information, it analyzes and processes the sampled facial information to obtain a signal representing the driver's fatigue state (the signal form includes but is not limited to analog signals, PWM, or bus communication signals such as CAN, LIN, flexray, etc.). Then, the fatigue monitoring system transmits the signal representing the driver's fatigue state to the vehicle control system. The vehicle control system obtains the signal of the driver's fatigue state (for example, the driver is in a closed-eye state) and determines that the driver is in a fatigue state. The vehicle control system controls the active suspension system to execute the fatigue reminder mode.

[0065] For example, the fatigue monitoring system can set the sampling frequency for sampling the driver's face. For example, the sampling frequency range for sampling the driver's face by the fatigue monitoring system is 1 - 1000 Hz. This can meet the different needs of the driver.

[0066] The higher the sampling frequency, the higher the sensitivity of the fatigue monitoring system for monitoring the driver. For example, the sampling frequency range is 500 Hz - 1000 Hz. When the driver is in a fatigue state, the faster the fatigue detection system can identify that the driver is in a fatigue state, and the shorter the time interval from when the driver enters the fatigue state to when the active suspension system executes the fatigue reminder mode. A higher sampling frequency is beneficial to improving the response speed of the entire active suspension system and enhancing the monitoring effect.

[0067] The lower the sampling frequency, the smaller the amount of processing of the driver's facial information by the fatigue control system, the less the vehicle's hardware resources are occupied by the fatigue control system, the lower the system power consumption of the vehicle control system, and the higher the working efficiency of the vehicle control system.

[0068] Preferably, the sampling frequency of the fatigue monitoring system is 25 Hz - 50 Hz. This can ensure the speed at which the active suspension system executes the fatigue reminder mode when the driver is in a fatigue state, timely remind the driver when the driver enters the fatigue state, and at the same time ensure the working efficiency of the vehicle control system and the normal operation of other vehicle functions (such as the in-vehicle navigation function).

[0069] Refer to Figure 1, according to some embodiments of the present invention, before the active suspension system executes the fatigue reminder mode and after confirming that the driver's current state is a fatigued state, the driver fatigue reminder control method further includes:

[0070] Confirming that the vehicle is not in a special driving condition;

[0071] After confirming that the driver's current state is a fatigued state, if it is confirmed that the vehicle is not in a special driving condition, the vehicle control system controls the active suspension system to execute the fatigue reminder mode; after confirming that the driver's current state is a fatigued state, if it is confirmed that the vehicle is in a special driving condition, the vehicle control system controls the active suspension system not to execute the fatigue reminder mode.

[0072] When the vehicle is in a special driving condition, such as when the vehicle is in a braking condition or an accelerating condition, the vehicle body is unstable. At this time, if the active suspension system executes the fatigue reminder mode, it is easy to cause the vehicle to lose control and roll over. After the vehicle control system confirms that the vehicle is not in a special driving condition, controlling the active suspension system to execute the fatigue reminder mode can effectively ensure driving safety.

[0073] It should be noted that in the description of the present invention, a special driving condition refers to a driving condition that will cause the vehicle to become unstable or roll over when the active suspension system executes the fatigue mode.

[0074] According to some embodiments of the present invention, the special driving condition includes at least one of a braking condition, an accelerating condition, a transient steering condition, a steady-state steering condition, and a start-stop condition.

[0075] In the braking condition, the vehicle starts to decelerate, and in the accelerating condition, the vehicle starts to accelerate. In both cases, the vehicle speed will change greatly within a short period of time, and the vehicle body is unstable. At this time, controlling the active suspension system to execute the fatigue mode is likely to cause the vehicle to become unstable and roll over.

[0076] In the transient steering condition, the steering wheel is in a rotating state, and the traveling direction of the vehicle is constantly changed; in the steady-state steering condition, the steering wheel is not returned to the straight position and the steering wheel does not rotate, and the vehicle is steering stably. In the transient steering condition and the steady-state steering condition, the vehicle will tilt to one side to a certain extent. At this time, controlling the active suspension system to execute the fatigue mode is not conducive to the driver controlling the traveling direction of the vehicle and is likely to cause the vehicle to become unstable and roll over.

[0077] In the start-stop condition, the vehicle speed is 0, and the vehicle engine is in a stopped state. For example, the vehicle is temporarily parked by the roadside (such as when the vehicle is waiting for a traffic light). In this condition, there is no need to remind the driver of fatigue. Moreover, in the start-stop condition, controlling the active suspension system to execute the fatigue mode is not conducive to the rapid start of the vehicle.

[0078] For example, determining that the vehicle is in a special driving condition can be based on, but not limited to, signals such as the angular velocity signal of the vehicle's steering wheel, the steering angle signal, the lateral acceleration signal, the longitudinal acceleration signal, the roll and pitch angle signals, the master cylinder brake pressure signal, the wheel torque signal, the wheel rotation direction signal, the accelerator pedal depth signal, the suspension stroke signal, the tire pressure signal, the motor position signal, etc. The vehicle's control system can calculate and estimate through these signals to determine the special driving condition, and the signal source of the special driving condition can also be read from the vehicle communication network, cloud data, workshop interconnection transmission network or sensor signals.

[0079] The preferred signals for transient steering conditions and steady-state steering conditions are the angular velocity signal of the steering wheel, the steering angle signal, and the vehicle speed signal. The advantage of these signals is that they precede the vehicle's response (such as changes in the body posture) in the time domain, which is beneficial for timely monitoring of the driver's driving intention, giving the vehicle's control system enough time to calculate and react, thereby accelerating the response speed of the active suspension system to execute the fatigue reminder mode.

[0080] The preferred signal for braking conditions, start-stop conditions, and acceleration conditions is the actual wheel-end torque signal of the wheel. Compared with the longitudinal acceleration signal, this signal changes rapidly and can reflect the driving intention earlier. Compared with the brake pedal depth signal and the master cylinder pressure signal, this signal is not affected by coasting energy recovery and braking energy recovery, can truly reflect the execution magnitude of the vehicle's wheel-side torque, accurately judge the driver's driving intention, and thus can control the active suspension system to execute the fatigue reminder mode more precisely.

[0081] Refer to Figure 1 , according to some embodiments of the present invention, the fatigue reminder mode has multiple reminder intensity levels with different reminder intensities. For example, each reminder intensity level can be an intensity range, and the reminder intensity is the intensity of the driving component driving the active suspension to drive the body to vibrate. The greater the reminder intensity, the greater the vibration amplitude of the represented body, and the more obvious the reminder to the driver when the active suspension system executes the fatigue reminder mode. Among the multiple reminder intensity levels with different reminder intensities in the fatigue reminder mode, after confirming that the vehicle is not in a special driving condition and before controlling the active suspension system to execute the fatigue reminder mode, the driver fatigue reminder control method further includes:

[0082] Determine the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle.

[0083] The control system of the vehicle can determine the vibration threshold of the current body safety vibration according to the current state of the vehicle, as well as the reminder intensity level corresponding to the vibration threshold, and then determine that the reminder intensity level that is less than the vibration threshold and close to the threshold is the reminder intensity level of the current fatigue reminder mode. In this way, on the premise of ensuring the driving safety of the vehicle, the reminder intensity of the fatigue reminder mode can be ensured as much as possible, so that the fatigue reminder of the active suspension system can be effectively transmitted to the driver, ensuring that the driver can receive the fatigue reminder of the active suspension system and effectively improving driving safety.

[0084] It should be noted that in the description of the present invention, the meaning of "a plurality of" is two or more.

[0085] Refer to Figure 1 , according to some optional embodiments of the present invention, before the active suspension system executes the fatigue reminder mode and after confirming that the current state of the driver is a fatigue state, the driver fatigue reminder control method further includes:

[0086] Obtain the fatigue reminder requirement degree of the driver, and the fatigue reminder requirement degree includes the reminder duration and the movement direction, displacement, speed or acceleration of the active suspension;

[0087] According to the current state of the vehicle, determine the reminder intensity level of the fatigue reminder mode, including: according to the current state of the vehicle, judge whether the obtained fatigue reminder requirement degree can be safely executed;

[0088] If the obtained fatigue reminder requirement degree can be safely executed, determine the reminder intensity level according to the fatigue reminder requirement degree;

[0089] If the obtained fatigue reminder requirement degree cannot be safely executed, determine the reminder intensity level according to the current state of the vehicle.

[0090] The control system of the vehicle can obtain the corresponding reminder intensity level and the fatigue reminder dynamic process corresponding to the reminder intensity level according to the driver's fatigue reminder requirement degree. The fatigue reminder dynamic process refers to the dynamic process of the active suspension force, displacement, and speed changing with time, and its description can be: "The characteristics of the active suspension generating what kind of displacement, speed or acceleration in what direction for how long".

[0091] After the control system of the vehicle confirms that the vehicle is not in a special driving condition, the control system of the vehicle extracts the fatigue reminder requirement degree of the driver, the control system of the vehicle determines the vibration threshold of the current body safety vibration according to the current state of the vehicle, and compares the reminder intensity level corresponding to the vibration threshold with the reminder intensity level corresponding to the fatigue reminder requirement degree of the driver.

[0092] If the reminder intensity level corresponding to the driver's fatigue reminder requirement is less than or equal to the reminder intensity level corresponding to the vibration threshold, the vehicle control system determines that the driver's fatigue reminder requirement can be safely executed. The vehicle control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the reminder intensity level corresponding to the driver's fatigue reminder requirement. The active suspension system executes the fatigue reminder mode and vibrates at the reminder intensity level corresponding to the driver's fatigue reminder requirement, so that the fatigue reminder of the active suspension system can adapt to the driver's needs and improve the overall performance of the vehicle.

[0093] If the reminder intensity level corresponding to the driver's fatigue reminder requirement is greater than the reminder intensity level corresponding to the vibration threshold, the vehicle control system determines that the current fatigue reminder requirement cannot be safely executed. The vehicle control system determines the reminder intensity level that is less than and close to the vibration threshold as the reminder intensity level of the current fatigue reminder mode. The active suspension system executes the fatigue reminder mode at the reminder intensity level determined by the vehicle control system according to the current state of the vehicle, so as to ensure the driving safety of the vehicle. At this time, the reminder intensity level of the fatigue reminder mode executed by the active suspension system is less than the reminder intensity level corresponding to the driver's fatigue reminder requirement, which is a degraded execution of the driver's fatigue reminder requirement.

[0094] For example, the fatigue reminder mode has a first reminder intensity level and a second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level. When the fatigue reminder mode corresponding to the driver's fatigue reminder requirement is the first reminder intensity level, the vehicle control system determines the vibration threshold of the current vehicle body safety vibration according to the current state of the vehicle.

[0095] If the reminder intensity level corresponding to the vibration threshold is lower than the first reminder intensity level and higher than the second reminder intensity level, or the reminder intensity level corresponding to the vibration threshold is within the first reminder intensity level range and higher than the second reminder intensity level, the vehicle control system determines that the driver's fatigue reminder requirement cannot be safely executed. The vehicle control system determines the second reminder intensity level as the reminder intensity level of the current fatigue reminder mode. The vehicle control system controls the active suspension system to execute the instruction of the fatigue reminder mode at the second reminder intensity level, so as to ensure the driving safety of the vehicle.

[0096] If the reminder intensity level corresponding to the vibration threshold is greater than the first reminder intensity level, the vehicle control system determines that the driver's fatigue reminder requirement can be safely executed. The vehicle control system determines the first reminder intensity level as the reminder intensity level of the current fatigue reminder mode. The vehicle control system controls the active suspension system to execute the instruction of the fatigue reminder mode at the first reminder intensity level, so as to ensure the driving safety of the vehicle.

[0097] Reference Figure 1 According to some embodiments of the present invention, the method for obtaining the fatigue reminder requirement degree of a driver includes: obtaining the fatigue reminder requirement degree according to the extracted characteristic information of the driver; or directly reading the fatigue reminder requirement degree from a database.

[0098] The vehicle control system can extract the characteristic information of the driver according to the driver identity code or by using human body characteristic sensors (such as cameras, seat pressure sensors, etc.), and judge and estimate the fatigue reminder requirement degree of the driver according to the characteristic information of the driver. For example, the vehicle control system can analyze the human body characteristic information of the driver by means of big data analysis, research prediction, data confidence analysis, etc. The human body characteristic information includes but is not limited to facial information, height, weight, age, and gender.

[0099] When the fatigue reminder requirement degree of the driver is stored in the vehicle database, the vehicle control system can directly read the fatigue reminder requirement degree from the database.

[0100] For example, the vehicle control system can use the characteristic information of the driver to identify the driver identity, and read the driver fatigue reminder requirement degree from the database according to the driver identity;

[0101] For example, when the vehicle is first driven by the driver, the vehicle control system cannot read the fatigue reminder requirement degree of the driver from the database. After the vehicle control system confirms that the vehicle is not in a special driving condition, the vehicle control system needs to judge and estimate the fatigue reminder requirement degree of the driver according to the characteristic information of the driver, and determine the reminder intensity level of the fatigue reminder mode.

[0102] After the active suspension system exits the fatigue reminder mode, the vehicle control system can notify the driver of the reminder intensity level of the active suspension system's last execution of the fatigue reminder mode in the form of images or sounds through the vehicle central control and instrument panel, and remind the driver to modify the reminder intensity level.

[0103] If the driver modifies the fatigue reminder requirement degree, the database record saves the modified fatigue reminder requirement degree; when the driver enters the fatigue state next time and after the vehicle control system confirms that the vehicle is not in a special driving condition, the fatigue reminder requirement degree of the driver read from the database is based on the modified fatigue reminder requirement degree. If the driver does not modify the fatigue reminder requirement degree, the database record saves the estimated fatigue reminder requirement degree of the driver. When the driver enters the fatigue state next time and after the vehicle control system confirms that the vehicle is not in a special driving condition, the fatigue reminder requirement degree of the driver read from the database is based on the previously estimated fatigue reminder requirement degree of the driver.

[0104] After the active suspension system exits the fatigue reminder mode, the vehicle control system can notify the driver of the reminder intensity level of the current fatigue reminder mode of the vehicle in the form of images or sounds through the vehicle's central control and instrument panel, and remind the driver to modify the reminder intensity level, which can meet the fatigue reminder requirements of different drivers.

[0105] According to some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels. The current state of the vehicle includes vehicle speed information. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes:

[0106] When the vehicle speed is not greater than the set threshold, it is determined that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0107] When the vehicle speed is greater than the set threshold, it is determined that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level. For example, the set threshold of the vehicle speed can be 80 - 90 km / h.

[0108] After the vehicle control system confirms that the vehicle is not in a special driving condition, if the current vehicle speed of the vehicle is not greater than the set threshold (for example, the current vehicle speed is 30 km / h), the vehicle control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the first reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the first reminder intensity level, so that the fatigue reminder of the active suspension system can be transmitted to the driver more obviously and effectively.

[0109] After the vehicle control system confirms that the vehicle is not in a special driving condition, if the current vehicle speed of the vehicle is greater than the set threshold (for example, the current vehicle speed is 120 km / h), the vehicle control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the second reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the second reminder intensity level, thereby further ensuring driving safety.

[0110] By dividing the reminder intensity level of the fatigue reminder mode through the set threshold of the vehicle speed, the algorithm for the vehicle control system to discriminate the reminder intensity level of the fatigue reminder mode can be simplified, the reaction speed of the vehicle control system can be improved, the time interval from when the driver enters the fatigue state to when the active suspension system executes the fatigue reminder mode can be reduced, and the response speed of the active suspension system can be improved.

[0111] According to some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels. The current state of the vehicle includes road condition information. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes:

[0112] When the road condition information indicates good road conditions, determine that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0113] When the road condition information indicates poor road conditions, determine that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level;

[0114] Among them, based on the vehicle's actual response and the extracted road surface information, determine whether the road condition information is good or bad.

[0115] The vehicle's actual response includes but is not limited to: suspension stroke information, acceleration, speed, displacement information detected by sensors installed throughout the vehicle body, the attitude (pitch, roll, yaw) angles, angular velocity, and angular acceleration of the vehicle body. The vehicle's control system can use this response information and use neural networks or transfer function inverse methods to estimate the road surface conditions.

[0116] The extracted road surface information includes but is not limited to: road surface image information, road surface height information along the wheel rail, road surface roughness level information, or information characterizing the road surface conditions obtained by downloading from the cloud based on statistical big data analysis.

[0117] After the vehicle's control system confirms that the vehicle is not in a special driving condition, if the current road conditions are good (for example, the road surface is flat and unobstructed), the vehicle's control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the first reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the first reminder intensity level, so that the fatigue reminder of the active suspension can be transmitted to the driver more obviously and effectively.

[0118] After the vehicle's control system confirms that the vehicle is not in a special driving condition, if the current road conditions are poor (for example, the road surface is rough and uneven), the vehicle's control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the second reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the second reminder intensity level, thereby further ensuring driving safety.

[0119] According to some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels, and the current state of the vehicle includes active suspension system fault information. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes:

[0120] When the active suspension system is normal, determine that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0121] When the active suspension system fails, determine that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level.

[0122] The failure of the active suspension system refers to the situation where the active suspension controller or actuator experiences abnormal conditions such as electrical device damage, abnormal temperature rise, excessive voltage and current, etc., which are not normal system operations, resulting in the failure of the active suspension system function.

[0123] After the vehicle control system confirms that the vehicle is not in a special driving condition, if the current active suspension system of the vehicle is normal, the vehicle control system sends an instruction to execute the fatigue reminder mode at the first reminder intensity level to the active suspension system, and the active suspension system executes the fatigue reminder mode and vibrates at the first reminder intensity level, so that the fatigue reminder of the active suspension can be more effectively transmitted to the driver, ensuring driving safety.

[0124] After the vehicle control system confirms that the vehicle is not in a special driving condition, if the current active suspension system of the vehicle fails, the vehicle control system sends an instruction to execute the fatigue reminder mode at the second reminder intensity level to the active suspension system, and the active suspension system executes the fatigue reminder mode and vibrates at the second reminder intensity level. This can reduce or avoid the occurrence of dangerous situations such as restricting system power, limiting torque, or system divergence caused by forcibly executing the vibration intensity of the first reminder intensity level. Therefore, when the active suspension system fails, executing the fatigue reminder mode at the second reminder intensity level can effectively ensure driving safety.

[0125] According to some embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels. The current state of the vehicle includes environmental information, and the environmental information includes whether an obstacle moving towards the vehicle is detected within a preset distance range around the vehicle. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes:

[0126] When no obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, it is determined that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level;

[0127] When an obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, it is determined that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level.

[0128] For example, the vehicle control system can detect whether there is an obstacle moving towards the vehicle within a preset distance range around the vehicle through an environmental perception sensor (the environmental perception sensor includes but is not limited to a 360° camera or ultrasonic radar, lidar, millimeter wave radar). Among them, the obstacle can be a vehicle.

[0129] After the vehicle control system confirms that the vehicle is not in a special driving condition, if no obstacle moving towards the vehicle is detected within a preset distance around the vehicle in the current state of the vehicle, the vehicle control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the first reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the first reminder intensity level, so that the fatigue reminder of the active suspension system can be transmitted to the driver more obviously and effectively.

[0130] After the vehicle control system confirms that the vehicle is not in a special driving condition, if an obstacle moving towards the vehicle is detected within a preset distance around the vehicle in the current state of the vehicle, the vehicle control system sends an instruction to the active suspension system to execute the fatigue reminder mode at the second reminder intensity level, and the active suspension system executes the fatigue reminder mode and vibrates at the second reminder intensity level. This can prevent disturbing the drivers of surrounding vehicles and affecting driving safety.

[0131] In some specific embodiments of the present invention, the fatigue reminder mode has two reminder intensity levels. When the current state of the vehicle includes vehicle speed information, road condition information, active suspension system fault information, and environmental information, the reminder intensity level of the fatigue reminder mode is determined according to the current state of the vehicle, including:

[0132] When any one of the vehicle speed information, road condition information, active suspension system fault information, and environmental information is not within the preset range, it is determined that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level;

[0133] In other states of the vehicle, it is determined that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level.

[0134] After the vehicle control system confirms that the vehicle is not in a special driving condition, when any one of the vehicle speed information, road condition information, active suspension system fault information, and environmental information is not within the preset range, that is, when the current state of the vehicle includes at least one of the current vehicle speed of the vehicle being greater than the set threshold, the road condition where the vehicle is located being poor, the active suspension system having a fault, or an obstacle moving towards the vehicle being detected within a preset distance around the vehicle, the vehicle control system determines that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level.

[0135] After the vehicle control system confirms that the vehicle is not in a special driving condition, in other states of the vehicle, such as when the current vehicle speed of the vehicle is not greater than the set threshold, the road condition where the vehicle is located is good, the active suspension system has no fault, and no obstacle moving towards the vehicle is detected within a preset distance around the vehicle, the vehicle control system determines that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level.

[0136] By analyzing and judging the vehicle speed information, road condition information, active suspension system fault information, and environmental information, the reminder intensity level of the fatigue reminder mode can be obtained more accurately to ensure driving safety.

[0137] The following refers to Figure 1 Describe the driver fatigue reminder control method according to an embodiment of the present invention.

[0138] In this embodiment, the driver fatigue reminder control method is applied to a vehicle with an active suspension system. The active suspension system includes an active suspension and a drive component, and the drive component is used to drive the active suspension to move. The active suspension system has a fatigue reminder mode. In the fatigue reminder mode, the drive component drives the active suspension to move to drive the vehicle body to vibrate, and in the fatigue reminder mode, the active suspension system does not execute other instructions.

[0139] After the vehicle starts, the fatigue monitoring system set in the vehicle can start collecting the facial information of the driver, then analyze the human facial behavior of the driver using the collected facial information of the driver, and transmit the human facial behavior information of the driver to the control system of the vehicle. The control system of the vehicle can judge whether the vehicle is in a fatigued state according to the human facial behavior information of the driver.

[0140] The driver fatigue reminder control method may include the following steps:

[0141] Judge whether the current driver is in a fatigued state;

[0142] If the driver has not entered a fatigued state, the active suspension system does not execute the fatigue reminder mode and continues to judge whether the current driver is in a fatigued state;

[0143] If the driver has entered a fatigued state, judge whether the vehicle is in a special driving condition;

[0144] If the vehicle is in a special driving condition, the active suspension system does not execute the fatigue reminder mode and continues to judge whether the current driver is in a fatigued state; if the vehicle is not in a special driving condition, judge whether the fatigue reminder requirement degree of the driver can be read from the database;

[0145] If the fatigue reminder requirement degree of the driver cannot be read from the database, extract the characteristic information of the driver and predict the fatigue reminder requirement degree of the driver to obtain the fatigue reminder requirement degree of the driver;

[0146] If the fatigue reminder requirement degree of the driver can be read from the database, directly read the fatigue reminder requirement degree of the driver from the database to obtain the fatigue reminder requirement degree of the driver;

[0147] After obtaining the driver's fatigue reminder requirement degree, determine whether the driver's fatigue reminder requirement degree can be safely executed;

[0148] If the driver's fatigue reminder requirement degree can be safely executed, determine the reminder intensity level of the fatigue reminder mode according to the driver's fatigue reminder requirement degree;

[0149] If the driver's fatigue reminder requirement degree cannot be safely executed, determine the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle;

[0150] After determining the reminder intensity level of the fatigue reminder mode, the active suspension system executes the determined fatigue reminder mode at the determined reminder intensity level;

[0151] Determine whether the fatigue reminder mode ends;

[0152] If the fatigue reminder mode has not ended, the active suspension system continues to execute the fatigue reminder mode;

[0153] If the fatigue reminder mode ends, the active suspension system exits the fatigue reminder mode.

[0154] The vehicle according to the second aspect embodiment of the present invention uses the driver fatigue reminder control method according to the first aspect embodiment of the present invention above to perform fatigue reminder on the driver.

[0155] The vehicle according to the embodiment of the present invention uses the driver fatigue reminder control method according to the first aspect embodiment of the present invention above to perform fatigue reminder on the driver, which can effectively remind the driver to concentrate on driving and ensure driving safety.

[0156] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0157] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0158] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A driver fatigue reminder control method for a vehicle, characterized in that, the suspension system of the vehicle is an active suspension system, the active suspension system has a fatigue reminder mode, the active suspension system includes an active suspension and a driving component for driving the active suspension to move. In the fatigue reminder mode, the driving component drives the active suspension to move to drive the vehicle body to vibrate. The fatigue reminder mode has multiple reminder intensity levels with different reminder intensities. The reminder intensity is the intensity of the driving component driving the active suspension to move to drive the vehicle body to vibrate. The driver fatigue reminder control method for a vehicle includes: confirming that the current state of the driver is a fatigue state; confirming that the vehicle is not in a special driving condition; obtaining the driver's fatigue reminder requirement degree, where the fatigue reminder requirement degree includes the reminder duration and the movement direction, displacement, speed or acceleration of the active suspension; determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle. Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes: judging whether the obtained fatigue reminder requirement degree can be safely executed according to the current state of the vehicle; if so, determining the reminder intensity level according to the fatigue reminder requirement degree; if not, determining the reminder intensity level according to the current state of the vehicle; controlling the active suspension system to execute the fatigue reminder mode; controlling the active suspension system to exit the fatigue reminder mode.

2. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, the special driving condition includes at least one of a braking condition, an accelerating condition, a transient steering condition, a steady-state steering condition, and a starting and stopping condition.

3. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, the fatigue reminder mode has two reminder intensity levels, the current state of the vehicle includes vehicle speed information. Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes: when the vehicle speed is not greater than a set threshold, determining that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level; when the vehicle speed is greater than the set threshold, determining that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than the reminder intensity of the first reminder intensity level.

4. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, the fatigue reminder mode has two reminder intensity levels, the current state of the vehicle includes road condition information. Determining the reminder intensity level of the fatigue reminder mode according to the current state of the vehicle includes: when the road condition information is good road conditions, determining that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level; When the road condition information indicates bad road conditions, determine that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level; Among them, according to the real vehicle response and the extracted road surface information, determine whether the road condition information is good or bad.

5. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, The fatigue reminder mode has two reminder intensity levels, and the current state of the vehicle includes active suspension system fault information. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes: When the active suspension system is normal, determine that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level; When the active suspension system fails, determine that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level.

6. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, The fatigue reminder mode has two reminder intensity levels, and the current state of the vehicle includes environmental information, and the environmental information includes whether an obstacle moving towards the vehicle is detected within a preset distance range around the vehicle. According to the current state of the vehicle, determining the reminder intensity level of the fatigue reminder mode includes: When no obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, determine that the reminder intensity level of the fatigue reminder mode is the first reminder intensity level; When an obstacle moving towards the vehicle is detected within the preset distance range around the vehicle, determine that the reminder intensity level of the fatigue reminder mode is the second reminder intensity level, and the reminder intensity of the second reminder intensity level is less than that of the first reminder intensity level.

7. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, The method for obtaining the fatigue reminder demand degree of the driver includes: obtaining the fatigue reminder demand degree according to the extracted characteristic information of the driver; or directly reading the fatigue reminder demand degree from the database.

8. The driver fatigue reminder control method for a vehicle according to claim 1, characterized in that, Confirming that the current state of the driver is a fatigue state includes: Obtaining the facial information of the driver; Confirming that the facial information includes at least one of eye ball offset information, eyes closed information, yawning information, face lost information, and head down information.

9. The driver fatigue reminder control method for a vehicle according to any one of claims 1-8, characterized in that, During the process of the active suspension system executing the fatigue reminder mode, the active suspension system does not respond to other instructions.

10. A vehicle, characterized in that, Use the driver fatigue reminder control method for a vehicle according to any one of claims 1-9 to give a fatigue reminder to the driver.

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