Automatic driving method and device

Abstract

The present invention discloses an autonomous driving method and device. A lane keeping system is installed on a vehicle. A preset torque range and a preset time range are first set. The lane keeping system is then activated for autonomous driving when the steering wheel torque meets the preset torque range, the steering wheel torque application interval meets the preset time range, and autonomous driving conditions are met. Otherwise, the lane keeping system is deactivated, and the driver controls the vehicle. The autonomous driving conditions include vehicle and road conditions. This ensures the lane keeping system is activated and deactivated appropriately and safely, while also meeting the driver's diverse driving needs in different driving scenarios.

Description

Technical Field

[0001] The present invention relates to the field of automobile intelligent technology, and in particular to an automatic driving method and device. Background Art

[0002] In recent years, major automakers have been vigorously promoting the intelligentization of vehicles, and lane keeping assist systems have become a fundamental driver assistance feature in smart cars. Lane keeping systems effectively prevent drivers from drifting out of their lanes due to inattention, significantly enhancing driving safety. Safety and comfort are paramount when lane keeping assist is in operation, making it crucial to understand when to engage and disengage the system. Summary of the Invention

[0003] In view of this, the present invention provides an automatic driving method and device, which can safely and reasonably start and stop the lane assistance system to meet the different driving needs of the driver in different scenarios.

[0004] The specific technical solutions adopted in the present invention are as follows:

[0005] The present invention provides an automatic driving method, which loads a lane keeping system on a vehicle, comprising:

[0006] Set the preset torque range and preset time range;

[0007] When it is determined that the steering wheel torque satisfies the preset torque range, the time interval for applying the steering wheel torque satisfies the preset time range, and the autonomous driving condition is met, activating the lane keeping system for autonomous driving; otherwise, deactivating the lane keeping system and allowing the driver to drive the vehicle;

[0008] Among them, the automatic driving conditions include vehicle conditions and road conditions.

[0009] Furthermore, when determining that the steering wheel torque satisfies the preset torque range, if the steering wheel torque is greater than a maximum value of the preset torque range, the lane keeping system is exited and the vehicle is driven by the driver.

[0010] Furthermore, the determining whether the time interval for applying the steering wheel torque satisfies the preset time range includes:

[0011] If the application time interval is less than the minimum value of the preset time range, the lane keeping system continues to be activated;

[0012] If the application time interval is greater than the minimum value of the preset time range and less than the middle value of the preset time range, the lane keeping system continues to be activated and a secondary alarm is issued to remind the driver to drive the vehicle;

[0013] If the application time interval is greater than the middle value of the preset time range and less than the maximum value of the preset time range, the lane keeping system continues to be activated and a level 1 alarm is issued to remind the driver to drive the vehicle;

[0014] If the application time interval is greater than a maximum value of the preset time range, the lane keeping system is turned off.

[0015] Furthermore, the secondary alarm and / or the primary alarm include: buzzer reminder, voice reminder, steering wheel vibration and seat vibration.

[0016] Furthermore, the vehicle condition includes a vehicle speed condition. When the vehicle speed is less than a preset speed value, the lane keeping system is in a standby or closed state.

[0017] Furthermore, the vehicle condition also includes a sensing device condition. When the vehicle's sensing device fails or has limited functionality, the lane keeping system is in a standby or off state.

[0018] Furthermore, the road condition includes a road surface condition. When the lane markings on the road surface disappear or are damaged, the lane keeping system is in a standby or closed state.

[0019] Furthermore, the autonomous driving method is implemented by a program, and the program includes:

[0020] S1: The lane keeping system is on or off. If on, execute S2; if off, wait for activation.

[0021] S2: Are the lane keeping system activation conditions met? If yes, go to S3; if no, go to S8;

[0022] Wherein, the activation condition is the automatic driving condition;

[0023] S3, the lane keeping system is activated and operates normally;

[0024] S4. Within the preset time interval, the steering wheel torque is greater than the minimum value of the preset torque range. If yes, execute S5; otherwise, execute S8.

[0025] S5. Whether the steering wheel torque is greater than the maximum value of the preset torque range within the preset time interval, if yes, execute S8; if no, execute S6;

[0026] S6, keeping the lane keeping system in an on state; and executing S7;

[0027] S7, jump to execute S1;

[0028] S8. Exit the lane keeping system, enter the standby state, and jump to execute S1.

[0029] The present invention also provides an automatic driving device for implementing the above-mentioned automatic driving method, comprising:

[0030] A lane keeping system for maintaining lanes during autonomous driving, wherein activation of the lane keeping system requires satisfying activation conditions, wherein the activation conditions include determining that the steering wheel torque satisfies a preset torque range, that the time interval for applying the steering wheel torque satisfies a preset time range, and that an autonomous driving condition is satisfied;

[0031] A control system is used to store the program of the automatic driving method and issue start-stop instructions to the lane keeping system.

[0032] Beneficial effects:

[0033] (1) The present invention provides an automatic driving method. By loading a lane keeping system on a vehicle and setting specific conditions for activating the lane keeping system, the lane keeping system can be reasonably and safely started or stopped, while meeting the driver's different driving needs in different driving scenarios.

[0034] (2) When determining the relationship between the time interval for applying the steering wheel torque and the preset time range, different levels of alarm reminders are issued according to the value of the time interval, including a second-level alarm and a first-level alarm. This improves the intelligence of the lane keeping system, better meets the needs of autonomous driving, helps prevent the occurrence of dangerous situations, and further improves the safety of autonomous driving.

[0035] (3) When judging whether to start or stop the lane keeping system, the road conditions are taken into consideration. When the lane lines on the road disappear or are damaged, the lane keeping system is in a standby or off state. Combined with the external conditions of autonomous driving, the judgment of whether to start or stop the lane keeping system has a more sufficient basis, thus avoiding the dangerous phenomenon of cross-traffic caused by the disappearance or damage of lane lines in autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Flowchart of an automatic driving method according to an embodiment of the present invention.

[0037] Figure 2 2 is a schematic diagram of an automatic driving principle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention provides an autonomous driving method and device. A lane keeping system is installed on a vehicle. A preset torque range and a preset time range are first set. The lane keeping system is then activated for autonomous driving when the steering wheel torque meets the preset torque range, the steering wheel torque application interval meets the preset time range, and autonomous driving conditions are met. Otherwise, the lane keeping system is deactivated, and the driver controls the vehicle. The autonomous driving conditions include vehicle and road conditions. This ensures the lane keeping system is activated and deactivated appropriately and safely, while also meeting the driver's diverse driving needs in different driving scenarios.

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0040] The present invention provides an automatic driving method, which loads a lane keeping system on a vehicle, comprising:

[0041] Step 1: Set the preset torque range and preset time range;

[0042] Step 2: When it is determined that the steering wheel torque meets a preset torque range, the time interval for applying the steering wheel torque meets a preset time range, and the autonomous driving conditions are met, the lane keeping system is activated for autonomous driving; otherwise, the lane keeping system is deactivated and the driver drives the vehicle; wherein the autonomous driving conditions include vehicle conditions and road conditions.

[0043] In a specific embodiment of the present invention, the preset torque range is A to C, and the preset time range is t to T to T_end, wherein A and C are absolute values; and t, T, and T_end are all positive integers.

[0044] In a specific embodiment, when it is determined that the steering wheel torque meets the preset torque range, if the steering wheel torque is greater than a maximum value C of the preset torque range, the lane keeping system is exited and the driver drives the vehicle.

[0045] In a specific embodiment, if the steering wheel torque is less than a minimum value A of the preset torque range, determining that the time interval for applying the steering wheel torque satisfies the preset time range includes:

[0046] If the application time interval is less than the minimum value t of the preset time range, the lane keeping system continues to be activated;

[0047] If the application time interval is greater than the minimum value t of the preset time range and less than the middle value T of the preset time range, the lane keeping system continues to be activated and a secondary alarm is issued to remind the driver to drive the vehicle;

[0048] If the application time interval is greater than the middle value T of the preset time range, the lane keeping system continues to be activated and a level 1 alarm is issued to remind the driver to drive the vehicle;

[0049] If the application time interval is greater than the maximum value T_end of the preset time range, the lane keeping system is turned off. The above preset time range and preset torque range can be adjusted according to actual conditions and are not limited here.

[0050] Those skilled in the art will appreciate that limiting the application time interval to determine whether the steering wheel torque meets the preset time range, when the steering wheel torque is less than the preset minimum torque range A, assumes that the driver is not touching the steering wheel. In this case, determining the application time interval is necessary so that an alarm can be issued in a timely manner to remind the driver to control the steering wheel. When the steering wheel torque is greater than the preset minimum torque range A and less than C, it is assumed that the driver is touching and controlling the steering wheel while the lane keeping system is engaged, and no further monitoring time is required to issue an alarm.

[0051] In a specific embodiment of the present invention, the secondary alarm and / or primary alarm include: buzzer reminder, voice reminder, steering wheel vibration and seat vibration. Different alarm levels (frequency, sound volume, etc.) can be issued according to specific circumstances.

[0052] In a specific embodiment, the vehicle condition includes a vehicle speed condition. When the vehicle speed is less than a preset vehicle speed value, the lane keeping system is in a standby or closed state.

[0053] In a specific embodiment, the vehicle condition also includes a sensing device condition. When the vehicle's sensing device fails or has limited functionality, the lane keeping system is in a standby or off state.

[0054] In a specific embodiment, the road condition includes a road surface condition. When lane markings on the road surface disappear or are damaged, the lane keeping system is in a standby or closed state.

[0055] In a specific embodiment, the autonomous driving method is implemented by a program, wherein the program includes:

[0056] S1: Lane keeping system on or off status. If on, execute S2; if off, wait for activation.

[0057] S2: Are the lane keeping system activation conditions met? If yes, go to S3; if no, go to S8.

[0058] Wherein, the activation condition is the autonomous driving condition;

[0059] S3, lane keeping system activated and working normally;

[0060] S4. Within the preset time interval, the steering wheel torque is greater than the minimum value of the preset torque range. If yes, execute S5; otherwise, execute S8.

[0061] S5. Within the preset time interval, is the steering wheel torque greater than the maximum value of the preset torque range? If yes, execute S8; if no, execute S6;

[0062] S6: Keep the lane keeping system on; and execute S7;

[0063] S7, jump to execute S1;

[0064] S8. Exit the lane keeping system, enter the standby state, and jump to execute S1.

[0065] In a specific embodiment, the present invention further provides an automatic driving device for implementing the above-mentioned automatic driving method, comprising:

[0066] A lane keeping system for maintaining lanes during autonomous driving, wherein activation of the lane keeping system requires satisfying activation conditions, including determining that the steering wheel torque meets a preset torque range, that the time interval for applying the steering wheel torque meets a preset time range, and that autonomous driving conditions are met;

[0067] The control system is used to store the program of the autonomous driving method and issue start and stop commands to the lane keeping system.

[0068] In a specific implementation, the control system may be a controller that can connect to and communicate with the camera and the vehicle body. The controller can also send and receive relevant instructions and store relevant data. It can also store a lane keeping system program or programs for executing lane keeping system activation and deactivation instructions and executing lane keeping system body control instructions.

[0069] The above controller can also be used as a memory and can record and save system perception data, vehicle body data, control data, etc.

[0070] The following describes the conditions of the above-mentioned procedure and the automatic driving method in conjunction with the specific preset torque range A to C and the preset time range t to T to T_end.

[0071] Figure 1 is a flow chart of an automatic driving method according to an embodiment of the present invention. Figure 1 As shown, the process, i.e., the autonomous driving procedure, includes the following steps:

[0072] 1) Lane keeping system on or off status: if on, go to step 2); if off, wait for it to be turned on;

[0073] 2) Are the lane keeping system activation conditions met? If yes, go to step 3); if no, go to step 8);

[0074] 3) Lane keeping system activated and working normally

[0075] 4) If the steering wheel torque is greater than the preset torque A within the preset time interval, then go to step 5); if not, go to step 8

[0076] 5) Is the steering wheel torque greater than the preset torque C? If yes, go to step 8); if no, go to step 6);

[0077] 6) Keep the lane keeping assist system in the active state and proceed to step 7;

[0078] 7) Jump to step 1;

[0079] 8) Exit the lane keeping system and return to standby mode, then skip to step 1.

[0080] Among them, the time interval T is used to monitor whether the driver has not touched the steering wheel for a long time, and the preset torque A is used to monitor whether the driver has touched the steering wheel (together with the time interval T to monitor whether the driver has not touched the steering wheel for a long time); the preset torque C is used to monitor whether the driver wants to change lanes, encounter emergencies, etc. At this time, the lane keeping function should be exited and the driver should take over the vehicle.

[0081] Figure 2 is a schematic diagram of an automatic driving principle according to an embodiment of the present invention, such as Figure 2 As shown in the figure, the activation of the vehicle's automatic driving, i.e., lane keeping system, requires the following conditions to be met:

[0082] Among them, during the operation of the lane keeping system, if the vehicle speed is lower than the preset threshold, the system should temporarily exit the lane keeping system and be in standby state, waiting for the next activation.

[0083] During the operation of the lane keeping system, if the driver moves the steering wheel (turn signal is on), it should be determined that the driver intends to change lanes. The system should temporarily exit and remain in standby mode. When the turn signal is turned off and other lane keeping system activation conditions are met, the lane keeping system will be automatically activated. That is, if the steering wheel torque is greater than the preset torque C, it is determined that the driver intends to take over the vehicle. At this time, the lane keeping system is temporarily exited and in standby mode, waiting for the next activation. During the operation of the automatic driving lane keeping system, the system continuously determines whether the steering wheel torque is greater than the preset torque A and less than the torque C. If it is less than A, it also determines whether the time interval of the torque application is less than t. If it is less than t, the system operates normally; if it is greater than the time interval t, the system should issue a prompt to remind the driver to concentrate and take over the vehicle; if the time interval is greater than time T, the system should again issue a higher-level alarm to remind the driver to take over; if the time interval is greater than T_end, the system should temporarily exit the lane keeping system and be in standby mode, waiting for the next activation. (t <T<T_end)。

[0084] Among them, if the time interval is greater than t and less than T, the system should issue a second-level alarm reminder; if the time interval is greater than T and less than T_end, the system should issue a first-level alarm to remind the driver to take over; if the time interval is greater than T_end, the system should temporarily exit the lane keeping system and be in standby mode, waiting for the next activation.

[0085] During implementation, if the lane keeping system fails due to a fault in the sensing device or is unable to perceive the external environment, the system will temporarily exit the lane keeping system and enter a standby state, awaiting the next activation. If the lane markings suddenly disappear or become damaged, the system will temporarily exit the lane keeping system and enter a standby state, awaiting the next activation.

[0086] The above specific embodiments merely illustrate the design principles of the present invention. The shapes and names of the components described herein may vary and are not limiting. Therefore, those skilled in the art may modify or substitute equivalents for the technical solutions described in the above embodiments. Such modifications and substitutions, without departing from the inventive spirit and technical solutions of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. An automatic driving method, characterized in that: Loading the lane keeping system on the vehicle includes: Set the preset torque range and preset time range; When it is determined that the steering wheel torque satisfies the preset torque range, the time interval for applying the steering wheel torque satisfies the preset time range, and the autonomous driving condition is met, activating the lane keeping system for autonomous driving; otherwise, deactivating the lane keeping system and allowing the driver to drive the vehicle; When the steering wheel torque is less than the minimum value of the preset torque range, determining whether the time interval for applying the steering wheel torque satisfies the preset time range includes: If the application time interval is less than the minimum value of the preset time range, the lane keeping system continues to be activated; If the application time interval is greater than the minimum value of the preset time range and less than the middle value of the preset time range, the lane keeping system continues to be activated and a secondary alarm is issued to remind the driver to drive the vehicle; If the application time interval is greater than the middle value of the preset time range and less than the maximum value of the preset time range, the lane keeping system continues to be activated and a level 1 alarm is issued to remind the driver to drive the vehicle; If the application time interval is greater than the maximum value of the preset time range, the lane keeping system is turned off; Among them, the automatic driving conditions include vehicle conditions and road conditions.

2. The automatic driving method according to claim 1, wherein: When determining that the steering wheel torque satisfies the preset torque range, if the steering wheel torque is greater than a maximum value of the preset torque range, the lane keeping system is exited and the driver drives the vehicle.

3. The automatic driving method according to claim 1, wherein: The secondary alarm and / or the primary alarm include: buzzer reminder, voice reminder, steering wheel vibration and seat vibration.

4. The automatic driving method according to claim 1, wherein: The vehicle condition includes a vehicle speed condition. When the vehicle speed is less than a preset speed value, the lane keeping system is in a standby or closed state.

5. The automatic driving method according to claim 1, wherein: The vehicle condition also includes a sensing device condition. When the vehicle's sensing device fails or has limited functionality, the lane keeping system is in a standby or off state.

6. The automatic driving method according to claim 1, wherein: The road condition includes a road surface condition. When the lane markings on the road surface disappear or are damaged, the lane keeping system is in a standby or closed state.

7. The automatic driving method according to claim 1, wherein: The automatic driving method is implemented by a program, and the program includes: S1: The lane keeping system is on or off. If on, execute S2; if off, wait for activation. S2: Are the lane keeping system activation conditions met? If yes, go to S3; if no, go to S8; Wherein, the activation condition is the automatic driving condition; S3, the lane keeping system is activated and operates normally; S4. If the steering wheel torque is greater than the minimum value of the preset torque range within the application time interval, then go to S5; otherwise, go to S8. S5. Is the steering wheel torque greater than the maximum value of the preset torque range within the application time interval? If yes, execute S8; otherwise, execute S6; S6, keeping the lane keeping system in an on state; and executing S7; S7, jump to execute S1; S8. Exit the lane keeping system, enter the standby state, and jump to execute S1.

8. An automatic driving device, characterized in that: A method for implementing the autonomous driving method according to any one of claims 1 to 7, comprising: A lane keeping system for maintaining lanes during autonomous driving, wherein activation of the lane keeping system requires satisfying activation conditions, wherein the activation conditions include determining that the steering wheel torque satisfies a preset torque range, that the time interval for applying the steering wheel torque satisfies a preset time range, and that an autonomous driving condition is satisfied; A control system is used to store the program of the automatic driving method and issue start-stop instructions to the lane keeping system.

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