Method and device for detecting misuse of automatic lane change function, and vehicle

Abstract

The application discloses a method and device for detecting abuse of an automatic lane-changing function and a vehicle. The method comprises: obtaining a lane-changing duration, lateral acceleration, driver takeover torque gradient and collision condition of the vehicle when the automatic lane-changing function of the vehicle is activated; obtaining a driver takeover analysis result according to the lane-changing duration and the lateral acceleration; and obtaining a detection result of abuse of the automatic lane-changing function of the vehicle if the driver takeover analysis result is that the driver takes over the vehicle, the collision condition is that the vehicle does not collide and the driver takeover torque gradient is greater than a preset gradient threshold. The method of the application realizes automatic detection of abuse of the automatic lane-changing function.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a method, device, and vehicle for detecting the abuse of automatic lane change function. Background Technology

[0002] Intelligent systems refer to vehicle driving systems based on intelligent driving technology. Intelligent driving technology refers to the technology that allows machines to assist humans in driving, and in special circumstances, to completely replace human drivers. Intelligent driving systems typically include various automatic functions, such as automatic lane changing, automatic parking, and automatic overtaking.

[0003] After an intelligent driving system activates its automatic lane-changing function, it can control the vehicle to perform automatic lane-changing operations. However, during this process, there is a possibility of human abuse, leading to unexpected actions and potential dangers. Therefore, a solution is urgently needed to determine whether the automatic lane-changing function is being abused. Summary of the Invention

[0004] In view of this, this application proposes a method, device, and vehicle for detecting the abuse of automatic lane change function, in order to solve the above problems.

[0005] In a first aspect, embodiments of this application provide a method for detecting the abuse of automatic lane change function. The method includes: when the automatic lane change function of a vehicle is activated, acquiring the lane change duration, lateral acceleration, driver takeover torque gradient, and collision status of the vehicle; obtaining a driver takeover analysis result based on the lane change duration and the lateral acceleration; and obtaining a detection result that the vehicle has abused the automatic lane change function if the driver takeover analysis result indicates that the driver has taken over the vehicle, the collision status indicates that the vehicle has not collided, and the driver takeover torque gradient is greater than a preset gradient threshold.

[0006] Secondly, embodiments of this application provide a detection device for the abuse of automatic lane change function, characterized in that the device includes: an acquisition module, used to acquire the lane change duration, lateral acceleration, driver takeover torque gradient, and collision status of the vehicle when the automatic lane change function of the vehicle is activated; an analysis module, used to obtain a driver takeover analysis result based on the lane change duration and the lateral acceleration; and a result obtaining module, used to obtain a detection result that the vehicle has abused the automatic lane change function if the driver takeover analysis result indicates that the driver has taken over the vehicle, the collision status indicates that the vehicle has not collided, and the driver takeover torque gradient is greater than a preset gradient threshold.

[0007] Thirdly, embodiments of this application provide a vehicle, the vehicle comprising:

[0008] One or more processors;

[0009] Memory;

[0010] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method of the first aspect described above.

[0011] This application provides a method, device, and vehicle for detecting the abuse of automatic lane change function. By measuring the lane change duration and lateral acceleration of the vehicle when the automatic lane change function is activated, a driver takeover analysis result is obtained. When the driver takeover analysis result indicates that the driver has taken over the vehicle, the collision situation is that the vehicle has not collided, and the driver takeover torque gradient is greater than a preset gradient threshold, a detection result is obtained that the vehicle has abused the automatic lane change function, thereby realizing the automatic detection of the abuse of the automatic lane change function.

[0012] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0015] Figure 2 A flowchart of a method for detecting the abuse of automatic lane change function according to an embodiment of this application is shown.

[0016] Figure 3 A flowchart of a method for detecting the abuse of automatic lane change function according to yet another embodiment of this application is shown.

[0017] Figure 4 A schematic diagram of the automatic lane-changing process of a vehicle in an embodiment of this application is shown.

[0018] Figure 5 A flowchart is shown for a method for detecting the abuse of automatic lane change function according to another embodiment of this application.

[0019] Figure 6 A structural block diagram of a detection device for the abuse of automatic lane change function according to an embodiment of this application is shown.

[0020] Figure 7 A structural block diagram of a computer-readable storage medium provided in an embodiment of this application is shown. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes an autonomous driving system 110. The autonomous driving system 110 can have a variety of built-in autonomous driving functions. The autonomous driving system 110 controls the vehicle to drive autonomously according to the built-in autonomous driving functions. The autonomous driving functions may include, for example, automatic lane changing function, automatic overtaking function, and automatic parking function.

[0023] The autonomous driving system 110 may include an on-board data acquisition device 111, one or more (only one is shown in the figure) processors 112 and memory 113.

[0024] The vehicle-mounted data acquisition device 111 is used to collect various signals in the vehicle to obtain information such as lane change time, lateral acceleration, driver take-off torque gradient, and collision situation based on the collected signals.

[0025] The processor 112 may be a microcontroller unit (MCU) with a built-in memory 113 containing a program that can execute the contents of the following embodiments, and the processor 112 can execute the program stored in the memory 113.

[0026] The processor 112 may include one or more processors. The processor 112 connects to various parts of the vehicle 100 via various interfaces and lines, and performs various functions and processes data of the vehicle 10 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 113, and by calling data stored in the memory 113. Optionally, the processor 112 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 12 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 112, but may be implemented separately using a communication chip.

[0027] Memory 113 may include random access memory (RAM) or read-only memory (ROM). Memory 15 may be used to store instructions, programs, code, code sets, or instruction sets. Memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described below, etc.

[0028] The vehicle-mounted data acquisition device 111 may include sensors for acquiring information such as lane change time, lateral acceleration, driver take-off torque gradient, and collision conditions. Different information is acquired through different sensors. For example, lateral acceleration can be acquired through an inertial navigation unit, and vibration information can be acquired through a vibration sensor. This vibration information is used to obtain collision conditions.

[0029] Reference Figure 2 , Figure 2 A flowchart of a method for detecting abuse of automatic lane change function according to an embodiment of this application is shown. The method is used for vehicles and includes:

[0030] S110. When the vehicle's automatic lane change function is activated, acquire the vehicle's lane change duration, lateral acceleration, driver takeover torque gradient, and collision status.

[0031] In this application, the vehicle may be a vehicle with a built-in autonomous driving system (e.g., Figure 1 The 110) electric or gasoline-powered vehicle, which can be a sedan, SUV, bus, or truck, etc. The autonomous driving system can include various autonomous driving functions, through which the vehicle controls its automatic driving.

[0032] The vehicle's autonomous driving function can include automatic lane changing. Once the automatic lane changing function is activated, the vehicle begins to perform automatic lane changing operations based on road conditions (including road information, traffic light information, road sign information, surrounding vehicle information, and surrounding pedestrian information) and vehicle speed. This automatic lane changing process does not require manual intervention from the driver.

[0033] In one implementation method, during vehicle operation, the vehicle's autonomous driving system can automatically collect information such as road conditions and vehicle speed. Based on the collected information, the system determines that the vehicle needs to perform a lane change operation. The autonomous driving system then generates an automatic lane change signal to activate the automatic lane change function.

[0034] As another implementation method, the driver can send an automatic lane change command to the vehicle via voice or touch operation, and the vehicle can activate the automatic lane change function according to the automatic lane change command.

[0035] The lane change time refers to the time taken for a vehicle to change lanes. The timing of the lane change time begins when the target tire of the vehicle reaches the target lane boundary, and ends when the midpoint of the vehicle's rear axle reaches the target lane boundary. The target tire is the front tire of the vehicle closest to the direction of the lane change, and the target lane boundary is the lane boundary in the vehicle's current lane that matches the direction of the lane change. The lane boundary matching the direction of the lane change can refer to the lane boundary closest to the direction of the lane change.

[0036] For example, a vehicle is traveling in the second lane of a one-way highway with three lanes. The vehicle changes lanes to the left lane, with the target tire being the vehicle's left front wheel and the target lane boundary being the leftmost lane boundary of the second lane.

[0037] Lateral acceleration of a vehicle refers to the lateral acceleration of the vehicle along the direction of lane change, which can be collected by the vehicle's inertial navigation unit. Driver intervention torque gradient refers to the gradient of the driver intervention torque, obtained from the driver intervention torque. Collision status refers to whether a collision occurred during the lane change process.

[0038] As one implementation method, it can be a vehicle-mounted data collection device (e.g., Figure 1 111) Collects various signals during vehicle operation and determines whether the automatic lane change function is activated, the lane change duration, lateral acceleration, driver intervention torque gradient, and collision status based on these signals. The signals during vehicle operation are listed in Table 1, which includes, but is not limited to, the signals listed in Table 1. Table 1 is as follows:

[0039] Table 1

[0040] Signal signal type Collection cycle Signal triggering standard Automatic lane change signal Event triggered / Value change Vehicle lane crossing status signal Periodic 10s / Driver takeover torque signal Periodic 100ms / Driver takeover torque gradient signal Periodic 100ms / Vehicle collision signal Event triggered / Value change Accelerator pedal action signal Periodic 200ms / Brake pedal action signal Event triggered / Value change

[0041] Table 1 shows that vehicle lane change status signals can include information such as vehicle weight, lateral acceleration, and vehicle lane change position. Event-triggered signals are generated by corresponding events; for example, automatic lane change function activation will generate a corresponding automatic lane change function signal. Periodic signals are detected periodically, and the acquisition period refers to the period of periodic signal monitoring. The signal triggering standard refers to the triggering criteria for events; different events correspond to different values, representing different events. For example, the value for automatic lane change function activation is 1, and the value for automatic lane change function deactivation is 0. When the value changes from 0 to 1, it indicates that an automatic lane change function activation event has occurred, generating the corresponding automatic lane change function signal.

[0042] The activation status of the automatic lane change function can be determined by detecting whether an automatic lane change signal is detected: if an automatic lane change signal is detected, the automatic lane change function is activated. The vehicle's lateral acceleration can be obtained from the lane-crossing status signal, the driver intervention torque gradient from the driver intervention torque gradient signal, and the vehicle collision situation from the vehicle collision signal.

[0043] S120. Based on the lane change duration and the lateral acceleration, the driver takeover analysis results are obtained.

[0044] Based on the lane change duration and lateral acceleration, determine whether the driver takes over the vehicle during the automatic lane change process.

[0045] When the driver takes over the vehicle during an automatic lane change based on the lane change duration and lateral acceleration, a driver takeover analysis result is obtained for the vehicle in driver-takeover mode. Conversely, when the driver does not take over the vehicle during an automatic lane change based on the lane change duration and lateral acceleration, a driver takeover analysis result is obtained for the vehicle not taking over the vehicle. In other words, the driver takeover analysis result is either a vehicle in driver-takeover mode or a vehicle not in driver-takeover mode.

[0046] S130. If the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle does not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, the detection result of the vehicle abusing the automatic lane change function is obtained.

[0047] In this embodiment, the driver takeover torque gradient is used to characterize the degree of driver involvement in taking over the vehicle. The higher the driver takeover torque gradient, the higher the degree of driver involvement in taking over the vehicle; the lower the driver takeover torque gradient, the lower the degree of driver involvement in taking over the vehicle.

[0048] If the driver takeover torque gradient is greater than a preset gradient threshold, the driver's participation in the vehicle is determined to be high, and the driver takeover analysis result is "driver-taken vehicle." If the driver takeover torque gradient is not greater than the preset gradient threshold, the driver's participation in the vehicle is determined to be low, and the driver takeover analysis result is "driver-untaken vehicle." The preset gradient threshold can be a value determined based on requirements and actual scenarios, and this application does not impose any limitations on it. For example, the preset gradient threshold could be 4 Newtons per meter.

[0049] When the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle did not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, a detection result is obtained that the vehicle has abused the automatic lane change function. When none of the following occurs: the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle did not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, a detection result is obtained that the vehicle has not abused the automatic lane change function.

[0050] For example, if the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle did not collide, and the driver takeover torque gradient is less than a preset gradient threshold, then the detection result is that the vehicle did not abuse the automatic lane change function.

[0051] In this embodiment, the driver takeover analysis result is obtained by measuring the lane change duration and lateral acceleration of the vehicle when the automatic lane change function is activated. When the driver takeover analysis result indicates that the driver has taken over the vehicle, the collision situation is that the vehicle has not collided, and the driver takeover torque gradient is greater than a preset gradient threshold, the detection result of the vehicle abusing the automatic lane change function is obtained, thereby realizing the automatic detection of the abuse of the automatic lane change function.

[0052] Please see Figure 3 , Figure 3 A flowchart is shown below illustrating a method for detecting abuse of automatic lane change function according to yet another embodiment of this application. The method is used for vehicles and includes:

[0053] S210. When the vehicle's automatic lane change function is activated, acquire the vehicle's lane change duration, lateral acceleration, driver takeover torque gradient, and collision status.

[0054] The description of S210 is the same as that of S110 above, and will not be repeated here.

[0055] S220. Calculate intermediate results based on the lane change duration and the lateral acceleration.

[0056] As one implementation method, intermediate results can be calculated based on the lane change duration and the lateral acceleration according to Formula 1, which is as follows:

[0057]

[0058] Where A is the intermediate result, a is the lateral acceleration, and t is the lane change duration.

[0059] S230. Based on the intermediate results, the driver takeover analysis results are obtained.

[0060] After calculating the intermediate results, the driver takeover analysis results are determined based on the relationship between the intermediate results and the preset interval: if the intermediate results are within the preset interval, the driver takeover analysis results for vehicles where the driver has taken over are obtained; if the intermediate results are not within the preset interval, the driver takeover analysis results for vehicles where the driver has not taken over are obtained.

[0061] In this embodiment, the preset interval is determined based on the width of the lane the vehicle is currently in before the vehicle automatically changes lanes and the vehicle's own width. Half of the lane width can be used as the maximum value of the preset interval, and one-eighth of the vehicle's own width rounded down can be used as the minimum value of the preset interval. For example, if the lane width is 3.5m and the vehicle's own width is 2.2m, the resulting preset interval is [0.25, 1.75].

[0062] The process of automatic lane changing of vehicles is referenced. Figure 4 A vehicle is traveling forward on a road with three lanes (two solid lines and two dashed lines dividing the lanes into three lanes). The vehicle is currently in the second lane. For example... Figure 4In the sequence of events, when the vehicle reaches position 1, its automatic lane-changing function is activated, and the vehicle changes lanes to the left lane. When the vehicle reaches position 3, its left front tire reaches the left edge of the second lane, and the lane-changing timer begins. When the vehicle reaches position 4, the end of the vehicle's rear axle reaches the left edge of the second lane, confirming that the lane-changing process has been implemented, and the lane-changing timer ends, thus obtaining the lane-changing duration. When the vehicle reaches position 5, all of the vehicle's rear wheels have passed the left edge of the second lane, and the lane-changing operation is essentially complete. When the vehicle reaches position 6, the lane-changing is complete, and the vehicle continues driving normally.

[0063] When the vehicle is between position 2 and position 3, the lateral acceleration of the vehicle is acquired, and intermediate results are calculated based on the lateral acceleration and lane change time. Then, the driver takeover analysis results are determined based on the relationship between the intermediate results and the preset interval.

[0064] S240. If the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle does not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, the detection result of the vehicle abusing the automatic lane change function is obtained.

[0065] The description of S240 is the same as that of S130 above, and will not be repeated here.

[0066] In this embodiment, intermediate results are calculated using Formula 1, and highly accurate driver takeover analysis results can be obtained based on these intermediate results, thereby resulting in high accuracy of the detection results obtained from the driver takeover analysis results.

[0067] Please see Figure 5 , Figure 5 A flowchart is shown below illustrating a method for detecting abuse of automatic lane change function according to another embodiment of this application. The method is used for vehicles and includes:

[0068] S310. When the vehicle's automatic lane change function is activated, acquire the vehicle's lane change duration, lateral acceleration, driver takeover torque gradient, and collision status.

[0069] S320. Based on the lane change duration and the lateral acceleration, the driver takeover analysis results are obtained.

[0070] S330. If the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle does not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, the detection result of the vehicle abusing the automatic lane change function is obtained.

[0071] The descriptions of S310-S330 are the same as those of S110-S130 above, and will not be repeated here.

[0072] S340. Obtain lane change records, the lane change records include the total number of lane changes of the vehicle and the number of times lane changes were abused. The total number of lane changes refers to the total number of times the vehicle changed lanes when the automatic lane change function of the vehicle was activated. The abuse of lane changes refers to the detection result of the vehicle indicating that the vehicle abused the automatic lane change function when the automatic lane change function of the vehicle was activated.

[0073] Each time the automatic lane change function is activated, data during the automatic lane change process can be recorded to obtain a lane change record. The lane change record includes the total number of lane changes and the number of lane changes abused. The total number of lane changes refers to the total number of times the vehicle changes lanes when the automatic lane change function is activated. Lane changes abused refers to the detection results indicating that the vehicle has abused the automatic lane change function when the automatic lane change function is activated.

[0074] S350. The abuse rate is obtained based on the total number of lane changes and the number of abused lane changes.

[0075] One implementation method is to use the ratio of the number of lane changes abused to the total number of lane changes as the abuse rate. For example, if the total number of lane changes includes 150 manual lane changes by the driver and 50 lane changes when the vehicle's automatic lane change function is activated, and the number of lane changes abused is 5, then the abuse rate is 5 / 50 = 10%.

[0076] S360. Based on the abuse rate, obtain the expected functional safety test results of the vehicle.

[0077] After obtaining the abuse rate, the expected functional safety test results for the vehicle are determined based on the abuse rate. Expected functional safety (SOTIF) contrasts sharply with traditional functional safety, which focuses on mitigating safety risks arising from system failures. SOTIF, on the other hand, focuses on ensuring safety in the absence of system failures. SOTIF provides guidance during the design, verification, and validation phases, helping drivers achieve expected safety requirements without errors.

[0078] As one implementation method, a preset abuse rate threshold can be set according to needs and actual driving scenarios, for example, a preset abuse rate threshold of 1%. When the abuse rate reaches the preset abuse rate threshold, the expected functional safety test result of the vehicle is determined to be unacceptable, indicating that the expected functional safety of the vehicle is poor. When the abuse rate does not reach the preset abuse rate threshold, the expected functional safety test result of the vehicle is determined to be acceptable, indicating that the expected functional safety of the vehicle is good.

[0079] As another implementation method, functional maneuvering accident information of the vehicle is obtained, and information on abuse of automatic lane change function of the corresponding vehicle is obtained from the target database; based on the information on abuse of automatic lane change function, the information on functional maneuvering accidents, and the abuse rate, the expected functional safety test result of the vehicle is obtained.

[0080] If the information on abuse of the automatic lane change function does not include records of abuse of the automatic lane change function, the information on functional maneuvering accidents does not include records of functional maneuvering accidents, and the abuse rate is lower than a preset abuse rate threshold, an expected functional safety test result that is expected to be acceptable for functional safety is obtained. If none of the following occurs: the information on abuse of the automatic lane change function does not include records of abuse of the automatic lane change function, the information on functional maneuvering accidents does not include records of functional maneuvering accidents, and the abuse rate is lower than a preset abuse rate threshold, an expected functional safety test result that is expected to be acceptable for functional safety is obtained.

[0081] Information on functional motor vehicle accidents can be obtained from vehicle repair shops, official repair shops, or third-party repair shops. It can also be obtained from the driver's vehicle repair records. This information can be from accidents occurring within the past one or two years.

[0082] The target database can be the database of the 4S store to which the vehicle belongs or the online channel database of the vehicle brand (such as online forums). The information on the abuse of the automatic lane change function can be the information on the abuse of the automatic lane change function within the past one or two years.

[0083] Furthermore, after obtaining the expected functional safety test result of the vehicle, the method further includes: if the expected functional safety test result is acceptable, obtaining an expected functional safety strategy based on the information on abuse of the automatic lane change function, the information on functional maneuvering accidents, and the abuse rate; if the expected functional safety test result is unacceptable, disabling the automatic lane change function of the vehicle.

[0084] When the expected functional safety test result indicates that the expected functional safety is acceptable, an expected functional safety strategy can be obtained based on the information on abuse of the automatic lane change function, the information on functional maneuvering accidents, and the abuse rate. This expected functional safety strategy is used to improve the expected functional safety of the vehicle. The expected functional safety strategy may include a new preset range for updating existing preset ranges, a new preset abuse rate threshold for updating existing preset abuse rate thresholds, and a new preset gradient threshold for updating existing preset gradient thresholds. After obtaining the expected functional safety strategy, it can be added to the autonomous driving system of existing vehicles to optimize the vehicle's autonomous driving functions and mitigate the risks of existing vehicles. Alternatively, the expected functional safety strategy can be added to the autonomous driving system of next-generation vehicles to improve the autonomous driving functions of next-generation vehicles and mitigate the risks of new vehicles.

[0085] When the expected functional safety test result is unacceptable, the expected functional safety of the vehicle is poor. The automatic lane changing function or the automatic driving function of the vehicle can be disabled to mitigate the risk of the vehicle and reduce the vehicle's driving failure and danger.

[0086] In this embodiment, the expected functional safety test results of the vehicle are obtained based on the abuse rate. Then, the expected functional safety level of the vehicle is determined based on the expected functional safety test results. Based on the expected functional safety level, different actions are performed, thereby improving the safety of autonomous driving and driving safety.

[0087] Reference Figure 6 , Figure 6 This diagram illustrates a structural block diagram of a detection device for abusing the automatic lane change function according to an embodiment of this application. The device 600 is used in a vehicle and includes:

[0088] The acquisition module 610 is used to acquire the lane change duration, lateral acceleration, driver take-off torque gradient, and collision situation of the vehicle when the automatic lane change function of the vehicle is activated.

[0089] Analysis module 620 is used to obtain driver takeover analysis results based on the lane change duration and the lateral acceleration;

[0090] The result acquisition module 630 is used to obtain the detection result of the vehicle abusing the automatic lane change function if the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle does not collide, and the driver takeover torque gradient is greater than a preset gradient threshold.

[0091] Furthermore, the analysis module 620 is also used to calculate intermediate results based on the lane change duration and the lateral acceleration;

[0092] Based on the intermediate results, the driver takeover analysis results are obtained;

[0093] The intermediate results are calculated using the following formula:

[0094]

[0095] Where A is the intermediate result, a is the lateral acceleration, and t is the lane change duration.

[0096] Furthermore, the analysis module 620 is also used to obtain a driver takeover analysis result for a vehicle where the driver has taken over if the intermediate result is within a preset range; and to obtain a driver takeover analysis result for a vehicle where the driver has not taken over if the intermediate result is not within the preset range.

[0097] Furthermore, the device 600 also includes: an expected functional safety detection module, used to acquire lane change records, the lane change records including the total number of lane changes of the vehicle and the number of abused lane changes, the total number of lane changes refers to the total number of lane changes of the vehicle when the automatic lane change function of the vehicle is activated, and the abused lane changes refer to the detection results of the vehicle indicating that the automatic lane change function of the vehicle is being abused when the automatic lane change function of the vehicle is activated; based on the total number of lane changes and the number of abused lane changes, an abuse rate is obtained; based on the abuse rate, the expected functional safety detection result of the vehicle is obtained.

[0098] Furthermore, the expected functional safety detection module is also used to acquire functional maneuvering accident information of the vehicle and acquire information on the abuse of automatic lane change function of the corresponding vehicle from the target database; based on the information on the abuse of automatic lane change function, the information on functional maneuvering accidents, and the abuse rate, the expected functional safety detection result of the vehicle is obtained.

[0099] Furthermore, the device 600 also includes:

[0100] The execution module is configured to, if the expected functional safety test result indicates that the expected functional safety is acceptable, obtain an expected functional safety strategy based on the information on abuse of the automatic lane change function, the information on functional maneuvering accidents, and the abuse rate; and if the expected functional safety test result indicates that the expected functional safety is unacceptable, disable the automatic lane change function of the vehicle.

[0101] Furthermore, the expected functional safety detection module is also used to obtain an expected functional safety detection result that is acceptable if the information on abuse of automatic lane change function does not include records of abuse of automatic lane change function, the information on functional maneuvering accidents does not include records of functional maneuvering accidents, and the abuse rate is lower than a preset abuse rate threshold.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0103] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0104] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0105] refer to Figure 7 , Figure 7 A structural block diagram of a computer-readable storage medium provided in an embodiment of this application is shown. The computer-readable storage medium 900 stores program code that can be called by a processor to execute the methods described in the above method embodiments.

[0106] The computer-readable storage medium 900 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 900 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 900 has storage space for program code 910 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 910 may be compressed, for example, in a suitable form.

[0107] In summary, the calibration pattern generation method, calibration pattern registration method, apparatus, and vehicle provided in this application, after acquiring a calibration scene, obtain a pseudo-random array corresponding to the calibration scene, and generate a calibration pattern based on the pseudo-random array and various graphic primitives. The pseudo-random array is used to determine the position of the graphic primitives in the calibration pattern. This method allows for the generation of different pseudo-random arrays for different calibration scenes, and thus different calibration patterns based on different pseudo-random arrays, thereby improving the accuracy of sensor calibration under different calibration scenes.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for detecting the abuse of automatic lane changing function, characterized in that, The method includes: When the vehicle's automatic lane change function is activated, the lane change duration, lateral acceleration, driver take-off torque gradient, and collision status of the vehicle are acquired. Based on the lane change duration and the lateral acceleration, intermediate results are calculated; if the intermediate results are within a preset range, driver takeover analysis results for vehicles where the driver takes over are obtained; if the intermediate results are not within the preset range, driver takeover analysis results for vehicles where the driver does not take over are obtained. If the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle does not collide, and the driver takeover torque gradient is greater than a preset gradient threshold, then the detection result of the vehicle abusing the automatic lane change function is obtained. The intermediate results are calculated using the following formula: Where A represents the intermediate result. a For the lateral acceleration, t The lane change duration is [value].

2. The method according to claim 1, characterized in that, The starting point for timing the lane change duration is when the target tire of the vehicle reaches the target lane boundary, and the ending point for timing the lane change duration is when the midpoint of the rear axle of the vehicle reaches the target lane boundary. The target tire is the front tire of the vehicle that is closer to the lane change direction, and the target lane boundary is the lane boundary in the vehicle's current lane that matches the lane change direction.

3. The method according to claim 1, characterized in that, After obtaining the abuse detection result of the vehicle's automatic lane change function based on the driver takeover analysis result, the collision situation, and the driver takeover torque gradient, the method further includes: The lane change record is obtained, which includes the total number of lane changes of the vehicle and the number of times lane changes are abused. The total number of lane changes refers to the total number of times the vehicle changes lanes when the automatic lane change function of the vehicle is activated. The abuse of lane changes refers to the detection result of the vehicle indicating that the vehicle has abused the automatic lane change function when the automatic lane change function of the vehicle is activated. The abuse rate is obtained based on the total number of lane changes and the number of abused lane changes; Based on the abuse rate, the expected functional safety test results of the vehicle are obtained.

4. The method according to claim 3, characterized in that, The step of obtaining the expected functional safety test results of the vehicle based on the abuse rate includes: Obtain functional maneuvering accident information of the vehicle, and obtain information on the abuse of automatic lane change function of the corresponding vehicle from the target database; Based on the information on the abuse of the automatic lane change function, the information on functional maneuvering accidents, and the abuse rate, the expected functional safety test results of the vehicle are obtained.

5. The method according to claim 4, characterized in that, After obtaining the expected functional safety test results of the vehicle, the method further includes: If the expected functional safety test result is that the expected functional safety is acceptable, the expected functional safety strategy is obtained based on the information on abuse of automatic lane change function, the information on functional maneuvering accidents, and the abuse rate. If the expected functional safety test result is unacceptable, the vehicle's automatic lane change function will be disabled.

6. The method according to claim 4, characterized in that, The step of obtaining the expected functional safety test result of the vehicle based on the information on abuse of the automatic lane change function, the information on functional maneuvering accidents, and the abuse rate includes: If the information on abuse of the automatic lane change function does not include records of abuse of the automatic lane change function, the information on functional maneuvering accidents does not include records of functional maneuvering accidents, and the abuse rate is lower than a preset abuse rate threshold, then the expected functional safety test result is acceptable.

7. A detection device for the abuse of automatic lane changing function, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's lane change duration, lateral acceleration, driver take-off torque gradient, and collision status when the vehicle's automatic lane change function is activated. The analysis module is used to calculate intermediate results based on the lane change duration and the lateral acceleration; if the intermediate results are within a preset range, the driver takeover analysis result for the vehicle under driver control is obtained; if the intermediate results are not within the preset range, the driver takeover analysis result for the vehicle under driver non-control is obtained. The result acquisition module is used to obtain the detection result of the vehicle abusing the automatic lane change function if the driver takeover analysis result is that the driver takes over the vehicle, the collision situation is that the vehicle did not collide, and the driver takeover torque gradient is greater than a preset gradient threshold. The intermediate results are calculated using the following formula: Where A represents the intermediate result. a For the lateral acceleration, t The lane change duration is [value].

8. A vehicle, characterized in that, The vehicles include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-6.

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