Driving-off warning method, driving-off warning system, automobile and storage medium

Abstract

The application discloses a driving-off early warning method, a driving-off early warning system, a vehicle and a storage medium. The method comprises the following steps: acquiring first vehicle data, judging whether the first vehicle data meets a warning activation condition or not; if the first vehicle data meets the warning activation condition, activating a driving-off early warning function, sensing a driving environment, and acquiring a current driving scene; if the current driving scene is a target driving scene, acquiring second vehicle data corresponding to the current driving scene; and if the second vehicle data meets a driving-off early warning condition corresponding to the current driving scene, performing a driving-off early warning operation. The method can remind a driver to respond in time, avoid frequent start-stop crawling and parking waiting and the like, cause a safety hazard due to the fact that the driver is not concentrated, and thus driving safety is ensured.

Description

Technical Field

[0001] This invention relates to the field of automotive driving control technology, and in particular to a method for vehicle departure warning, a vehicle departure warning system, an automobile, and a storage medium. Background Technology

[0002] With the continuous increase in car ownership, urban traffic often experiences widespread congestion during morning and evening rush hours. Typical congestion scenarios include traffic jams at traffic light intersections, on older streets, and at intersections where elevated roads converge. In congested situations, following vehicles need to react quickly by starting and stopping frequently based on the driving conditions of the vehicles in front. This prolonged and frequent stop-and-go driving and waiting often leads to inefficient driving, draining drivers' energy and causing anxiety. It creates a tense driving environment between vehicles. Furthermore, prolonged congestion, coupled with closely spaced vehicles and a stressful driving environment, places immense pressure on drivers, increasing the risk of accidents when attention is lost. Summary of the Invention

[0003] This invention provides a vehicle departure warning method, a vehicle departure warning system, a vehicle, and a storage medium to address the safety hazards that can easily arise when existing vehicles are driving in congested scenarios due to frequent starts, stops, creeping, and parking.

[0004] This invention provides a method for vehicle departure warning, comprising:

[0005] Acquire the first vehicle data and determine whether the first vehicle data meets the warning activation conditions;

[0006] If the data of the first vehicle meets the warning activation conditions, the vehicle departure warning function is activated to perceive the driving environment and obtain the current driving scenario.

[0007] If the current driving scenario is the target driving scenario, then the second vehicle data corresponding to the current driving scenario is obtained;

[0008] If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed.

[0009] Preferably, the first vehicle data includes the first measured speed of the current vehicle;

[0010] The determination of whether the first vehicle data meets the warning activation conditions includes:

[0011] Based on the first measured vehicle speed, determine the critical time when the first measured vehicle speed reaches the first vehicle speed threshold;

[0012] The difference between the critical time and the preset time period is determined as the start time, and the starting measured vehicle speed corresponding to the start time is obtained.

[0013] If the initial measured vehicle speed is greater than the second vehicle speed threshold, then a first duration is obtained, where the first duration is the duration during which the first measured vehicle speed is less than or equal to the first vehicle speed threshold.

[0014] If the first duration is greater than the first duration threshold, then the first vehicle data is determined to meet the warning activation conditions.

[0015] Wherein, the second vehicle speed threshold is greater than the first vehicle speed threshold.

[0016] Preferably, the step of sensing the driving environment and obtaining the current driving scenario includes:

[0017] Obstacle detection is performed in the current vehicle's forward sensing area;

[0018] If there is an obstacle in the forward sensing area, the obstacle is sensed and identified to obtain the current driving scene;

[0019] If there are no obstacles in the forward sensing area, the current environmental data is acquired, and the current driving scene is obtained by sensing and recognizing the current environmental data.

[0020] Preferably, the step of sensing and identifying the obstacle to obtain the current driving scene includes:

[0021] The obstacles are perceived and identified, and the obstacle identification results are obtained;

[0022] Obtain the current distance between the vehicle and the obstacle;

[0023] If the obstacle recognition result indicates the presence of a target vehicle ahead, and the current distance is within a preset distance range for a second duration longer than a second duration threshold, then the current driving scenario is identified as a congested driving scenario.

[0024] Preferably, the step of acquiring current environmental data, performing perception and recognition on the current environmental data, and acquiring the current driving scenario includes:

[0025] Acquire current environmental data, which includes at least one of current camera data and traffic light communication data;

[0026] The current environmental data is perceived and identified. If the current camera data contains a traffic light signal image, or the traffic light communication data contains a traffic light signal, then the current driving scenario is identified as a traffic light driving scenario.

[0027] Preferably, the second vehicle data corresponding to the current driving scenario includes the measured data of the vehicle in front corresponding to the congested driving scenario;

[0028] If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including:

[0029] The driving status of the vehicle in front is determined based on the measured data of the vehicle in front corresponding to the congested driving scenario.

[0030] If the driving status of the preceding vehicle is that the preceding vehicle has left the driving state, then it is determined that the conditions for leaving the driving state corresponding to the congested driving scenario are met, and the leaving the driving state warning operation is executed.

[0031] Preferably, after determining the driving status of the vehicle in front based on the measured data of the vehicle in front corresponding to the congested driving scenario, the vehicle departure warning method further includes:

[0032] If the driving state of the preceding vehicle is in a crawling state, then obtain the current vehicle configuration;

[0033] If the current vehicle configuration meets the crawling following conditions, then the crawling following operation is executed;

[0034] If the current vehicle configuration does not meet the creep following conditions, a departure warning operation will be executed.

[0035] Preferably, the second vehicle data corresponding to the current driving scenario includes traffic light signal data corresponding to the traffic light driving scenario;

[0036] If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including:

[0037] Identify the traffic light signal data corresponding to the traffic light driving scenario to determine the current traffic light signal;

[0038] If the current traffic light signal changes from red to green, it is determined that the departure warning conditions corresponding to the traffic light driving scenario are met, and the departure warning operation is executed.

[0039] Preferably, the execution of the departure warning operation includes:

[0040] Get the current vehicle configuration;

[0041] If the current vehicle configuration includes a driver monitoring system, then the driver status determined by the driver monitoring system is obtained, and the target delay time is determined based on the driver status and the current driving scenario; or, the target delay time is determined based on the driver status, the current driving scenario, and the measured data of the preceding vehicle.

[0042] If the current vehicle configuration does not include a driver monitoring system, then the target delay time is determined based on the current driving scenario;

[0043] If the current time reaches the target delay time, then a departure warning operation will be executed.

[0044] Preferably, the step of performing the creeping following operation includes:

[0045] Get the speed of the vehicle ahead of the target vehicle;

[0046] Based on the speed of the vehicle in front, determine the corresponding following speed for the current vehicle, and then perform a creeping following operation based on the following speed.

[0047] Preferably, after the creeping following operation is performed, the vehicle departure warning method further includes:

[0048] Get the current vehicle configuration;

[0049] If the current vehicle configuration includes a lane keeping assist system, then the second measured speed of the current vehicle is obtained. When the second measured speed is greater than the first following speed threshold, the current vehicle is controlled to drive along the lane line identified by the lane keeping assist system.

[0050] If the current vehicle configuration does not include a lane keeping assist system, then the second measured speed of the current vehicle and the current distance between the current vehicle and the target vehicle are obtained. When the second measured speed is greater than the second following speed threshold and the current distance is greater than the preset distance threshold, a takeover warning operation is performed.

[0051] Preferably, controlling the current vehicle to travel along the lane line identified by the lane keeping assist system includes:

[0052] Get the current distance between the current vehicle and the target vehicle in front;

[0053] If the current vehicle distance is less than the first vehicle distance threshold, then control the current vehicle to perform a braking operation;

[0054] If the current vehicle distance is not less than the first vehicle distance threshold and the current vehicle distance is less than the second vehicle distance threshold, then control the current vehicle to maintain the second measured vehicle speed and perform a creeping following operation.

[0055] If the current vehicle distance is not less than the second vehicle distance threshold and the current vehicle distance is less than the third vehicle distance threshold, then the speed of the vehicle in front of the target vehicle is obtained, and the current vehicle is controlled to perform a creeping following operation or a takeover reminder operation based on the speed of the vehicle in front of the target vehicle.

[0056] If the current vehicle distance is not less than the third vehicle distance threshold, then a takeover reminder operation is performed.

[0057] Preferably, controlling the current vehicle to perform a creeping following operation or a takeover warning operation based on the speed of the vehicle ahead of the target vehicle includes:

[0058] Compare the speed of the vehicle preceding the target vehicle with the target speed threshold.

[0059] If the speed of the vehicle ahead of the target vehicle is greater than the target speed threshold, a takeover warning operation will be performed.

[0060] If the speed of the vehicle ahead of the target vehicle is not greater than the target speed threshold, then the current vehicle is controlled to accelerate, maintaining the current distance not less than the first distance threshold and the current distance less than the second distance threshold, and a creeping following operation is performed.

[0061] This invention provides a vehicle departure warning system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned vehicle departure warning method.

[0062] This invention provides a vehicle including the aforementioned vehicle departure warning system.

[0063] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned vehicle departure warning method.

[0064] The aforementioned vehicle departure warning method, system, vehicle, and storage medium activate the vehicle departure warning function only when the first vehicle data meets the warning activation conditions. This involves sensing the driving environment and acquiring the current driving scenario to avoid the warning function remaining constantly active and requiring real-time environmental sensing, thus saving system resources. Second vehicle data is only acquired when the current driving scenario is the target scenario requiring a departure warning operation, avoiding real-time data collection that would waste system resources. When the second vehicle data meets the departure warning conditions for the current driving scenario, the departure warning operation is executed to remind the driver to respond promptly, preventing frequent starts and stops, and waiting, which could lead to driver inattention and safety hazards, thereby ensuring driving safety. Attached Figure Description

[0065] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a schematic diagram of an application environment for a vehicle departure warning method according to an embodiment of the present invention;

[0067] Figure 2 This is a flowchart of a vehicle departure warning method according to an embodiment of the present invention;

[0068] Figure 3 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0069] Figure 4 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0070] Figure 5 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0071] Figure 6 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0072] Figure 7 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0073] Figure 8 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0074] Figure 9 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0075] Figure 10 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0076] Figure 11 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0077] Figure 12 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0078] Figure 13 This is another flowchart of the vehicle departure warning method in one embodiment of the present invention;

[0079] Figure 14This is another flowchart of the vehicle departure warning method in one embodiment of the present invention. Detailed Implementation

[0080] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] This invention provides a vehicle departure warning method, which can be applied to... Figure 1 The vehicle departure warning system shown can be connected to the vehicle's existing hardware and driver assistance systems. By reusing the vehicle's configuration and driver assistance systems, it can achieve functions such as active following or active reminders.

[0082] like Figure 1 As shown, the vehicle departure warning system is connected to the onboard sensing equipment and can receive the sensing information collected by the onboard sensing equipment. It then analyzes and processes the received sensing information to determine whether to actively follow or provide a warning. In this example, the onboard sensing equipment can be based on the basic hardware and software of a 1R1V (oneRadar oneVision) autonomous driving system. A 1R1V autonomous driving system refers to an autonomous driving assistance system consisting of a front-facing millimeter-wave radar and a front-facing camera. That is, when the vehicle departure warning system is integrated with a 1R1V autonomous driving system, its onboard sensing equipment can reuse, but is not limited to, a front-facing camera and a front-facing millimeter-wave radar. Furthermore, the onboard sensing equipment also includes ultrasonic radar, a V2V communication module, and a V2X communication module. The V2V (Vehicle to Vehicle communication) module refers to a communication module based on wireless technology for transmitting data between vehicles; the V2X (Vehicle to Everything) communication module refers to a communication module based on wireless communication technology for transmitting data between vehicles and the outside world.

[0083] like Figure 1As shown, the vehicle departure warning system includes a departure alert system and a crawl control system. The departure alert system is the basic functional system, comprising a collision warning system for collision warning, a forward vehicle status assessment module for judging the status of the vehicle ahead, and a departure alert module for the departure warning function. Furthermore, if the vehicle is equipped with a Driver Monitor System (DMS), the DMS is an expandable option that can be selectively intervened; the DMS can affect the accuracy of the vehicle's active warnings. The crawl control system is an upgraded functional system, which can only be implemented when the vehicle has lane keeping assist. The crawl control system includes a collision warning system for collision warning, a forward vehicle status assessment module for judging the status of the vehicle ahead, and a lane keeping assist system for lane keeping assist. The lane keeping assist system is a mandatory component of the crawl control system.

[0084] In this embodiment, the vehicle departure warning system can receive sensing information sent by onboard sensing devices and selectively process and output the input sensing information according to different vehicle configurations (including hardware and software configurations). For example, if the vehicle is equipped with a lane keeping assist system with lane keeping function, that is, when the vehicle can perform lane keeping function, the forward vehicle status judgment module and collision warning system can judge the forward vehicle status and collision status to determine when the lane keeping function should intervene or when it should stop, and wake up the departure warning module to provide timely reminders.

[0085] In this embodiment, the warning execution device is connected to the vehicle departure warning system and can execute warning reminder operations according to the control commands output by its departure reminder module. For example... Figure 1 As shown, the warning execution devices include, but are not limited to, DMS execution devices, timers, memory, PADs, audio systems, lighting systems, and vibration systems. Among them, PAD (Portable Android Device) is a small computer that is currently widely used in automotive host systems.

[0086] In this embodiment, the vehicle departure warning system can be flexibly adapted to different vehicle models. By utilizing the vehicle's built-in vehicle configuration and software configuration, the vehicle departure warning operation can be realized, thereby reducing system costs, maximizing the realization of assisted driving functions, and alleviating the driving pressure on drivers in traffic jam scenarios.

[0087] In one embodiment, such as Figure 2 As shown, a vehicle departure warning method is provided. Taking the application of this vehicle departure warning method in a departure reminder system as an example, the method includes the following steps:

[0088] S201: Obtain the data of the first vehicle and determine whether the data of the first vehicle meets the warning activation conditions;

[0089] S202: If the data of the first vehicle meets the warning activation conditions, the vehicle departure warning function is activated to perceive the driving environment and obtain the current driving scenario;

[0090] S203: If the current driving scenario is the target driving scenario, then obtain the second vehicle data corresponding to the current driving scenario;

[0091] S204: If the data of the second vehicle meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed.

[0092] The first vehicle data refers to the vehicle data collected at the current moment, specifically the vehicle data used to assess whether the warning activation conditions are met. The warning activation conditions are pre-set conditions used to assess whether the vehicle departure warning function needs to be activated.

[0093] As an example, in step S201, the vehicle departure warning system can receive the first vehicle data collected by the vehicle-mounted sensing device, and determine whether the pre-set warning activation conditions are met based on the first vehicle data, so as to determine whether the vehicle departure warning function needs to be activated.

[0094] The current driving scenario refers to the driving situation the vehicle is currently in. As an example, the current driving scenario can be any of the following: a congested driving scenario requiring a departure warning, a traffic light driving scenario, or a creeping driving scenario; or any other driving scenario that does not require a departure warning. A congested driving scenario refers to a scenario where the vehicle is in a congested driving state. A traffic light driving scenario refers to a scenario where the vehicle is traveling at a traffic light intersection. A creeping driving scenario refers to a scenario where the vehicle is following the vehicle in front in a creeping mode.

[0095] As an example, in step S202, when the first vehicle data meets the warning activation conditions, the vehicle departure warning system can activate the vehicle departure warning function, control the on-board sensing devices to perceive the driving environment, acquire the sensing information collected by the on-board sensing devices, analyze and process the sensing information, and determine the current driving scenario. For example, the vehicle departure warning system can receive sensing information collected by at least one of the on-board sensing devices, including a front-facing camera, ultrasonic radar, front-facing millimeter-wave radar, V2V communication module, and V2X communication module, and analyze and determine the current driving scenario based on this sensing information. Understandably, if the first vehicle data does not meet the warning activation conditions, the vehicle departure warning system will not activate the vehicle departure warning function and can execute step S201 to reacquire the first vehicle data and determine whether the first vehicle data meets the warning activation conditions.

[0096] The target driving scenario refers to a pre-set driving scenario in which a departure warning operation needs to be executed. As an example, the target driving scenario includes, but is not limited to, traffic congestion scenarios, traffic light scenarios, and creeping scenarios.

[0097] The second type of vehicle data refers to vehicle data collected in real time after the current driving scenario is determined; specifically, it is vehicle data used to assess whether the conditions for a vehicle departure warning are met. The departure warning conditions are pre-set conditions used to assess whether a departure warning operation needs to be executed.

[0098] As an example, in step S203, after determining the current driving scenario, the departure warning system needs to determine whether the current driving scenario is the target driving scenario. Only when the current driving scenario is the target driving scenario can it be said that the current driving scenario corresponding to the driving environment is a scenario that requires the departure warning operation, and then control the on-board sensing device to collect the second vehicle data corresponding to the current driving scenario. In this example, the second vehicle data can be understood as the vehicle data corresponding to the departure warning conditions collected in real time under the current driving scenario.

[0099] In this example, when the current driving scenario is not the target driving scenario, the departure warning system can determine that the current driving scenario corresponding to the driving environment is a scenario that does not require the departure warning operation. At this time, the driving departure warning function can be exited, and the system will no longer perform the perception of the driving environment, obtain the current driving scenario and subsequent steps. This is to avoid the driving departure warning function being in a constantly active state, which requires real-time perception and identification of the driving environment, thereby saving system resources.

[0100] As an example, in step S204, after acquiring the second vehicle data, the departure warning system compares and analyzes the second vehicle data with the departure warning conditions corresponding to the current driving scenario. When the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, a departure warning operation is executed to remind the driver to respond in a timely manner, avoiding frequent start-stop creeping and stopping to wait, which could lead to driver inattention and safety hazards, thereby ensuring driving safety. In this example, when the departure warning module in the departure warning system needs to execute a departure warning operation, it can send a departure warning control command to the warning execution device to cause the warning execution device to execute the departure warning operation.

[0101] In this embodiment, the vehicle departure warning function is activated only when the first vehicle data meets the warning activation conditions. The system perceives the driving environment and acquires the current driving scenario to avoid the vehicle departure warning function being constantly activated, which would require real-time perception and identification of the driving environment, thus saving system resources. The second vehicle data corresponding to the current driving scenario is only acquired when the current driving scenario is the target driving scenario requiring the departure warning operation, avoiding the waste of system resources caused by real-time collection of the second vehicle data. When the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, the departure warning operation is executed to remind the driver to respond promptly, avoiding frequent start-stop creep and stopping, which can lead to driver inattention and safety hazards, thereby ensuring driving safety.

[0102] In one embodiment, the first vehicle data includes the first measured speed of the current vehicle;

[0103] like Figure 3 As shown, step S201, which determines whether the data of the first vehicle meets the warning activation conditions, includes:

[0104] S301: Based on the first measured vehicle speed, determine the critical time when the first measured vehicle speed reaches the first vehicle speed threshold;

[0105] S302: Determine the difference between the critical time and the preset time period as the start time, and obtain the starting measured vehicle speed corresponding to the start time;

[0106] S303: If the initial measured vehicle speed is greater than the second vehicle speed threshold, then obtain the first duration, which is the duration during which the first measured vehicle speed is less than or equal to the first vehicle speed threshold.

[0107] S304: If the first duration is greater than the first duration threshold, then the data of the first vehicle is determined to meet the warning activation condition.

[0108] The second vehicle speed threshold is greater than the first vehicle speed threshold.

[0109] Here, the first measured vehicle speed refers to the real-time measured speed of the current vehicle, which can be represented by v1. The current vehicle refers to the car equipped with a vehicle departure warning system that executes the vehicle departure warning method. The first speed threshold is a pre-set threshold used to evaluate whether the vehicle speed has reached a relatively small standard, which can be set to 0 or other relatively small thresholds.

[0110] As an example, in step S301, after receiving the first vehicle data, the departure reminder system can extract the first measured vehicle speed from the first vehicle data, compare the first measured vehicle speed with a preset first vehicle speed threshold, and determine the critical time t1 when the first measured vehicle speed reaches the first vehicle speed threshold, that is, determine the critical time t1 when the first measured vehicle speed is equal to the first vehicle speed threshold.

[0111] The preset time period is a pre-set time period, which can be represented by T1.

[0112] As an example, in step S302, after the departure reminder system determines the critical time t1 at which the first measured vehicle speed equals the first vehicle speed threshold, it can determine the difference between the critical time t1 and the preset time period T1 as the starting time t0, where t0 = t1 - T1; then, the vehicle speed measured in real time at the starting time t0 is determined as the starting measured vehicle speed, which can be represented by v0.

[0113] The second speed threshold is a pre-set threshold used to assess whether a larger standard has been reached. In other words, the second speed threshold is greater than the first speed threshold.

[0114] As an example, in step S303, after the departure reminder system obtains the initial measured vehicle speed v0, it can compare the initial measured vehicle speed v0 with the second vehicle speed threshold and compare the first duration with the first duration threshold. If the initial measured vehicle speed v0 is greater than the second vehicle speed threshold, it is determined that the current vehicle speed decreases rapidly within the preset time period T1, for example, from greater than the initial measured vehicle speed S km / h to equal to or less than the first vehicle speed threshold 0. At this time, it is determined that it meets the first evaluation criterion of the warning activation condition, and the first duration can be further determined. The first duration is the duration during which the first measured vehicle speed v1 is less than or equal to the first vehicle speed threshold, so as to further determine whether the warning activation condition is met based on the first duration. If the initial measured vehicle speed v0 is not greater than the second vehicle speed threshold, it is determined that it does not meet the first evaluation condition of the warning activation condition, and the subsequent steps are not executed.

[0115] As an example, in step S304, after determining that the first measured vehicle speed v1 is less than or equal to the first vehicle speed threshold for a first duration, the vehicle departure warning system can compare the first duration with the first duration threshold. If the first duration is greater than the first duration threshold, since the first vehicle speed threshold is a pre-set threshold used to evaluate whether the vehicle speed has reached a lower standard, it can be determined that the current vehicle has been stationary for a long time or the vehicle speed is low. Combined with the fact that the initial measured vehicle speed v0 is greater than the second vehicle speed threshold, it can be known that the current vehicle is highly likely to be in a driving scenario that requires the execution of a vehicle departure warning operation, such as a congested driving scenario, a traffic light driving scenario, or a creeping following scenario. At this time, it can be determined that the first vehicle data meets the warning activation conditions and the vehicle departure warning function needs to be activated, so that the vehicle departure warning function is in an activated state.

[0116] In this embodiment, the critical time for the first measured vehicle speed to reach the first vehicle speed threshold is first determined. The starting measured vehicle speed corresponding to the start time before the critical time is obtained, and the first duration after the critical time when the first measured vehicle speed is less than or equal to the first vehicle speed threshold is obtained. When the starting measured vehicle speed is greater than the second vehicle speed threshold and the first duration is greater than the first duration threshold, it is determined that the current vehicle is highly likely to be in a driving scenario such as a congested driving scenario, a traffic light driving scenario, or a creeping following scenario. At this time, it can be determined that the first vehicle data meets the warning activation conditions, so as to achieve the purpose of activating the vehicle departure warning function according to the first measured vehicle speed, and ensuring the real-time and intelligent nature of the vehicle departure warning function activation process.

[0117] Furthermore, after activating the vehicle departure warning function, the departure warning system continues to acquire the first vehicle data. If a change is detected in the first measured vehicle speed—for example, if the first measured vehicle speed reaches a third speed threshold (the third speed threshold is greater than the first speed threshold, and the difference between the two is significant)—it can be determined that the warning activation conditions are no longer met, and the vehicle departure warning function must be deactivated. Alternatively, after activating the vehicle departure warning function, the departure warning system continues to acquire the first vehicle data. If, based on the first vehicle data, it is determined that any one of the doors, the trunk lid, or the hood is open, it can be determined that the warning activation conditions are no longer met, and the vehicle departure warning function must be deactivated. This ensures the real-time and intelligent nature of the vehicle departure warning function deactivation process.

[0118] In one embodiment, such as Figure 4 As shown, step S202, which involves perceiving the driving environment and obtaining the current driving scene, includes:

[0119] S401: Detect obstacles in the area in front of the current vehicle;

[0120] S402: If there is an obstacle in the sensing area ahead, the obstacle will be sensed and identified to obtain the current driving scene;

[0121] S403: If there are no obstacles in the sensing area ahead, acquire the current environmental data, perform perception and recognition on the current environmental data, and acquire the current driving scene.

[0122] The current forward sensing area of ​​the vehicle refers to the area in front of the vehicle that can be sensed by the onboard sensing equipment. Generally, due to differences in vehicle configuration, installation location, and functional parameters of the onboard sensing equipment, the forward sensing area of ​​different vehicle models will vary. As an example, a sensing width distance is extended outward from both sides of the vehicle body. This sensing width distance can be set or adjusted by the user. In other words, the width of the forward sensing area is defined based on the vehicle body width and the two sensing width distances. Then, a sensing length distance is extended forward from the foremost side of the vehicle. This sensing length distance can also be set or adjusted by the user. In other words, the length of the forward sensing area is defined based on the foremost side of the vehicle and the sensing length distance. In this example, the forward sensing area can be directly determined based on its width and length; alternatively, the intersection of the forward sensing area determined by its width and length and the actual sensing area of ​​the onboard sensing equipment can be taken as the current forward sensing area of ​​the vehicle.

[0123] As an example, in step S401, when the vehicle departure warning function is activated, the vehicle departure reminder system can use onboard sensing equipment to detect obstacles in the sensing area ahead of the current vehicle. This means detecting whether there are obstacles in the sensing area ahead, and then using different sensing and recognition methods based on the detection results to determine the current driving scenario. For example, the departure reminder system can use sensing information collected by a front-mounted millimeter-wave radar to determine whether there are obstacles in the sensing area ahead; alternatively, the departure reminder system can use a V2V communication module to attempt to establish communication with the target vehicle ahead to determine whether there is a target vehicle ahead in the sensing area ahead, thus achieving the purpose of obstacle detection. The target vehicle ahead refers to the vehicle located in front of the current vehicle.

[0124] As an example, in step S402, when the vehicle departure warning system detects an obstacle in the forward sensing area, it identifies the obstacle to determine whether it is a vehicle. Based on the obstacle identification result, different methods can be used to determine the current driving scenario. In this example, when the obstacle is a vehicle, the vehicle in the forward sensing area can be defined as the target vehicle. At this time, the measured distance between the current vehicle and the target vehicle can be used to analyze whether the current vehicle is in a congested driving scenario. Generally speaking, if the measured distance between the current vehicle and the target vehicle is small, it can be determined that the current vehicle is in a congested driving scenario; otherwise, it can be determined that the current vehicle is not in a congested driving scenario.

[0125] The current environmental data refers to the environmental data collected at the current moment. As an example, the current environmental data includes, but is not limited to, current camera data and traffic light communication data. The current camera data refers to the camera data collected by the front-facing camera at the current moment. The traffic light communication data refers to the communication data collected during communication between the traffic light device and the V2X communication module.

[0126] As an example, in step S403, when there are no obstacles in the forward sensing area, the vehicle departure warning system needs to control the on-board sensing device to collect current environmental data and receive the current environmental data sent by the on-board sensing device, perform perception and recognition on the current environmental data, and obtain the current driving scenario. In this example, the current environmental data is perceived and recognized to determine whether the vehicle is currently in a traffic light driving scenario.

[0127] In this embodiment, obstacle detection is performed on the perception area in front of the current vehicle. Based on the detection results, obstacle perception recognition or current environmental data is used for perception recognition to determine the current driving scenario. This ensures the diversity and effectiveness of the current driving scenario determination method, making it applicable to vehicles with different vehicle configurations, installation locations of onboard perception devices, and functional parameters, thus ensuring the applicability of the solution.

[0128] In one embodiment, such as Figure 5 As shown, step S402, which involves perceiving and recognizing obstacles to obtain the current driving scene, includes:

[0129] S501: Perceive and identify obstacles, and obtain obstacle identification results;

[0130] S502: Obtain the current distance between the vehicle and the obstacle;

[0131] S503: If the obstacle recognition result indicates the presence of a target vehicle ahead, and the current distance is within the preset distance range and the second duration is greater than the second duration threshold, then the current driving scenario is identified as a congested driving scenario.

[0132] As an example, in step S501, when the vehicle departure warning system determines that there is an obstacle in the perception area ahead, it can use an obstacle detection algorithm to perceive and identify the obstacle to obtain the obstacle identification result. In this example, the obstacle identification result can be a vehicle or a non-vehicle. In this example, the vehicle departure warning system can acquire the current camera data collected by the front camera, and then use a pre-set deep learning algorithm related to target recognition and semantic segmentation to identify the current camera data to determine whether the obstacle identification result is a vehicle. For example, when the current vehicle is equipped with a lane keeping assist system, the lane keeping assist system can be used to identify the current camera data to determine whether the obstacle identification result is a vehicle.

[0133] The current distance is the distance between the vehicle and the obstacle detected at the current moment.

[0134] As an example, in step S502, when the vehicle departure warning system determines that there is an obstacle in the sensing area ahead, it needs to use on-board sensing equipment to detect the current distance between the current vehicle and the obstacle in real time. For example, on-board sensing equipment such as ultrasonic radar and front millimeter-wave radar can be used to measure the current distance between the current vehicle and the obstacle.

[0135] The second duration refers to the duration during which the current distance between the vehicle and the obstacle remains within a preset distance range. The preset distance range is a pre-set distance range used to assess whether the current vehicle is closely following the target vehicle. The second duration threshold is a pre-set duration threshold used to assess whether the second duration meets a longer standard.

[0136] As an example, in step S503, if the obstacle recognition result indicates the presence of a target vehicle, the departure reminder system can determine that a target vehicle exists within the current vehicle's forward perception area. If the second duration of the current distance being within a preset distance range exceeds a second duration threshold, it indicates that the current distance between the current vehicle and the target vehicle has been within the preset distance range for a considerable period. In this case, both the current vehicle and the target vehicle may be stationary, or the current vehicle may be closely following the target vehicle. This satisfies the evaluation conditions for a congested driving scenario, and the current driving scenario can be determined to be a congested driving scenario. In this example, if the obstacle recognition result is not a vehicle, or if the second duration of the current distance being within a preset distance range is not greater than the second duration threshold, it can be determined that the evaluation conditions for a congested driving scenario are not met, and the current driving scenario can be determined to be not a congested driving scenario.

[0137] In this embodiment, when there is an obstacle in the perception area in front of the current vehicle, the obstacle needs to be perceived and identified. When the obstacle identification result is that there is a target vehicle in front and the current distance is within the preset distance range, the second duration is greater than the second duration threshold. At this time, it can be determined that the current vehicle is closely following the target vehicle for a long time, and it is determined that it meets the evaluation conditions corresponding to the congested driving scenario. Therefore, it can be determined that its current driving scenario is a congested driving scenario.

[0138] In one embodiment, step S403, namely acquiring current environmental data, performing perception and recognition on the current environmental data, and acquiring the current driving scene, includes:

[0139] S601: Obtain current environmental data, which includes at least one of current camera data and traffic light communication data;

[0140] S602: Perceive and identify the current environmental data. If the current camera data contains traffic light signal images or the traffic light communication data contains traffic light signals, then the current driving scenario is obtained as a traffic light driving scenario.

[0141] As an example, in step S601, when the vehicle departure warning system determines that there are no obstacles in the sensing area ahead, it can control the on-board sensing device to collect current environmental data. For example, the vehicle departure warning system can control the front-facing camera to collect current camera data in real time, or it can control the V2X communication module to communicate with traffic light devices with V2X communication capabilities around the road to receive traffic light communication data returned by the traffic light devices. It can also simultaneously control the front-facing camera to collect current camera data and the V2X communication module to collect traffic light communication data.

[0142] As an example, in step S602, when the current environmental data collected by the departure reminder system includes the current camera data, the current camera data can be perceived and identified to determine whether the current camera data contains traffic light signal images. If the current camera data contains traffic light signal images, the current driving scenario is determined to be a traffic light driving scenario.

[0143] As another example, in step S602, when the current environmental data collected by the departure reminder system includes traffic light communication data, that is, when the current vehicle's V2X communication module can communicate with traffic light devices with V2X communication function around the road and receive traffic light communication data returned by the traffic light devices, the system can perceive and identify whether the traffic light communication data contains traffic light signals. If it contains traffic light signals, specifically, when it contains traffic light signals, the system can determine that the current driving scenario is a traffic light driving scenario.

[0144] As another example, in step S602, when the current environmental data collected by the departure reminder system includes current camera data and traffic light communication data, it needs to perform perception and recognition on the current camera data to identify whether the current camera data contains traffic light signal images, and perform perception and recognition on the traffic light communication data to identify whether the traffic light communication data contains traffic light signals. When the current camera data contains traffic light signal images and the traffic light communication data contains traffic light signals, the current driving scenario can be determined to be a traffic light driving scenario.

[0145] In this embodiment, perception and identification are performed based on the current camera data and / or traffic light communication data. When the current camera data contains traffic light signal images or the traffic light communication data contains traffic light signals, it can be determined that the evaluation conditions corresponding to the traffic light driving scenario are met. Therefore, the current driving scenario can be determined to be a traffic light driving scenario.

[0146] In one embodiment, the second vehicle data corresponding to the current driving scenario includes the measured data of the vehicle in front corresponding to the congested driving scenario;

[0147] like Figure 7 As shown, step S204, that is, if the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including:

[0148] S701: Determine the driving status of the vehicle in front based on the measured data of the vehicle in front in the corresponding traffic congestion scenario;

[0149] S702: If the driving status of the vehicle in front is that the vehicle in front has left the driving state, then it is determined that the conditions for leaving the driving state corresponding to the congested driving scenario are met, and the leaving the driving state warning operation is executed.

[0150] Among them, the measured data of the preceding vehicle refers to the data related to the target preceding vehicle collected in real time.

[0151] As an example, when the vehicle is in a congested driving scenario, the departure warning system can control the onboard sensing equipment to collect real-time data of the vehicle ahead, corresponding to the congested driving scenario. In this example, when the vehicle is in a congested driving scenario, the departure warning system can acquire real-time data of the vehicle ahead collected by the V2V communication module or the front millimeter-wave radar. For example, the real-time data of the vehicle ahead includes, but is not limited to, the speed of the vehicle ahead, the current distance between the current vehicle and the target vehicle ahead, and the wheel speed of the vehicle ahead. Furthermore, the second vehicle data corresponding to the current driving scenario can include not only the real-time data of the vehicle ahead, but also the real-time measured lane lines collected by the front camera.

[0152] The driving state of the vehicle ahead refers to the current state of the target vehicle ahead. As an example, the driving state of the vehicle ahead includes, but is not limited to, the state of the vehicle ahead leaving the current driving scene and the state of the vehicle ahead crawling. The state of the vehicle ahead leaving the current driving scene refers to the state of the target vehicle ahead leaving the current driving scene at a relatively high speed. The state of the vehicle ahead crawling refers to the state of the target vehicle ahead currently in crawl mode, which means moving slowly at a relatively low speed.

[0153] As an example, in step S701, after obtaining the measured data of the vehicle in front corresponding to the congested driving scenario, the departure reminder system analyzes the measured data of the vehicle in front, specifically comparing the measured data of the vehicle in front with its corresponding target threshold, and determining the driving status of the vehicle in front based on the comparison result.

[0154] For example, if the measured data of the vehicle in front includes the measured speed of the target vehicle in front, then the measured speed is compared with the preset speed. If the measured speed is greater than the preset speed, then the speed of the target vehicle in front is determined to be faster, and its driving state can be determined to be the vehicle in front leaving state. If the measured speed is not greater than the preset speed and the measured speed is not 0, then the speed of the target vehicle in front is determined to be slower, and its driving state can be determined to be the vehicle in front creeping state.

[0155] For example, if the measured data of the preceding vehicle includes the measured wheel speed of the target preceding vehicle, then the measured wheel speed is compared with the preset wheel speed. If the measured wheel speed is greater than the preset wheel speed, then the target preceding vehicle is considered to have a faster wheel speed, and its driving state is determined to be the preceding vehicle leaving state; if the measured wheel speed is not greater than the preset wheel speed and the measured wheel speed is not 0, then the target preceding vehicle is considered to have a slower wheel speed, and its driving state is determined to be the preceding vehicle crawling state.

[0156] For example, if the measured data of the vehicle in front includes the measured distance between the current vehicle and the target vehicle in front, the measured distance can be compared with the preset distance. If the measured distance is greater than the preset distance, it is determined that the distance between the current vehicle and the target vehicle in front is large, and the driving state of the vehicle in front is determined to be the state of the vehicle in front leaving. If the measured distance is not greater than the preset distance, it is determined that the distance between the current vehicle and the target vehicle in front is small, and the driving state of the vehicle in front is determined to be the state of the vehicle in front crawling.

[0157] As an example, in step S702, when the driving state of the vehicle in front is in the state of leaving the vehicle in front, the departure reminder system indicates that the target vehicle in front is leaving the current driving scene at a relatively high speed. It is determined that it meets the departure warning conditions corresponding to the congested driving scene and needs to execute the departure warning operation to remind the driver to respond in a timely manner, avoid frequent start-stop creeping and stopping and waiting, which may lead to safety hazards caused by the driver's lack of concentration, thereby ensuring driving safety.

[0158] In one embodiment, such as Figure 8As shown, after step S701, that is, after determining the driving status of the vehicle in front based on the measured data of the vehicle in front corresponding to the congested driving scenario, the vehicle departure warning method further includes:

[0159] S801: If the driving status of the vehicle in front is crawling, then obtain the current vehicle configuration;

[0160] S802: If the current vehicle configuration meets the creep following conditions, then perform the creep following operation;

[0161] S803: If the current vehicle configuration does not meet the creep following conditions, execute the departure warning operation.

[0162] The current vehicle configuration refers to the current vehicle configuration, including hardware and software configurations.

[0163] As an example, in step S801, when the driving state of the vehicle in front is in a crawling state, that is, when the target vehicle in front is in crawling mode, the departure reminder system needs to obtain the current vehicle configuration in order to evaluate whether the crawling following conditions are met based on the current vehicle configuration.

[0164] As an example, in step S802, when the vehicle departure reminder system determines that the current vehicle configuration meets the creep-following conditions, it performs a creep-following operation to ensure that the current vehicle follows the target vehicle at a lower speed, thus guaranteeing driving safety in congested traffic scenarios. For example, if the current vehicle configuration includes a creep-following system, it is determined that the current vehicle configuration meets the creep-following conditions. In this example, if the current vehicle configuration includes a creep-following system, it is assumed that the current vehicle configuration includes a lane-keeping assist system.

[0165] As an example, in step S803, if the current vehicle configuration does not meet the creep-following conditions, the departure reminder system determines that the current vehicle configuration does not meet the creep-following conditions. In this case, it can be assumed that the departure warning conditions corresponding to the congested driving scenario are met, and a departure warning operation should be executed to remind the driver to respond in a timely manner, avoiding frequent start-stop creeping and stopping to wait, which could lead to safety hazards caused by the driver's lack of concentration, thereby ensuring driving safety. For example, if the current vehicle configuration does not include a lane keeping assist system, that is, if the current vehicle configuration does not have a creep-following system, it can be determined that the current vehicle configuration does not meet the creep-following conditions.

[0166] In one embodiment, the second vehicle data corresponding to the current driving scenario includes traffic light signal data corresponding to the traffic light driving scenario;

[0167] like Figure 9 As shown, step S204, that is, if the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including:

[0168] S901: Identify the traffic light signal data corresponding to the traffic light driving scenario and determine the current traffic light signal;

[0169] S902: If the current traffic light signal changes from red to green, it is determined that the departure warning conditions corresponding to the traffic light driving scenario are met, and the departure warning operation is executed.

[0170] Traffic light signal data refers to data related to traffic light signals collected in real time. As an example, traffic light signal data includes traffic light camera data containing traffic light signal images collected in real time by the front-facing camera, or traffic light signal data reflecting changes in traffic light signals determined by communication between the V2V communication module and the traffic light device.

[0171] As an example, in step S901, when the vehicle is currently in a traffic light driving scenario, the departure reminder system can control the onboard sensing device to collect traffic light signal data corresponding to the traffic light driving scenario. For example, when the vehicle is currently in a congested driving scenario, the departure reminder system can obtain traffic light camera data sent by the front camera, identify the traffic light camera data corresponding to the traffic light driving scenario, and determine the current traffic light signal. As another example, when the vehicle is currently in a congested driving scenario, the departure reminder system can obtain traffic light signal data sent by the V2V communication module, parse the traffic light signal data, and determine the current traffic light signal.

[0172] As an example, in step S902, when the departure warning system detects that the current traffic light signal has changed from red to green, it indicates that both the current vehicle and the target vehicle ahead can start driving. At this time, it can be determined that the departure warning conditions corresponding to the traffic light driving scenario are met, and the departure warning operation needs to be executed to remind the driver to respond in a timely manner, avoid safety hazards caused by the driver's lack of concentration, and thus ensure driving safety.

[0173] In one embodiment, such as Figure 10 As shown, the departure warning operation includes:

[0174] S1001: Get the current vehicle configuration;

[0175] S1002: If the current vehicle configuration includes a driver monitoring system, obtain the driver status determined by the driver monitoring system, and determine the target delay time based on the driver status and the current driving scenario;

[0176] S1003: If the current vehicle configuration does not include a driver monitoring system, then determine the target delay time based on the current driving scenario;

[0177] S1004: If the current time reaches the target delay time, execute the departure warning operation.

[0178] The current vehicle configuration refers to the vehicle's current configuration and software configuration.

[0179] As an example, in step S1001, the vehicle departure reminder system needs to determine the current vehicle configuration before performing the departure warning operation, so as to determine the different methods to implement the departure warning operation based on the current vehicle configuration.

[0180] The target delay time refers to the delay period required to execute the departure warning operation. The Driver Monitor System (DMS) is a system used to monitor driver status. For example, a DMS can be a CCD camera mounted on the steering column, enabling functions such as driver fatigue monitoring. Driver status refers to the real-time detected state of the driver. As an example, driver status includes distracted and non-distracted states. The target reminder information refers to the reminder information required to execute the departure warning operation, specifically represented by the content of the reminder.

[0181] As an example, in step S1002, when the vehicle configuration includes a driver monitoring system, the departure warning system needs to obtain the driver's real-time monitoring data from the driver monitoring system. Based on the driver's status and the current driving scenario, it retrieves the delay time and warning information matching the driver's status and the current driving scenario from the memory of the warning execution device, and determines these as the target delay time and target warning information to provide warnings based on the current driving scenario and driver status. For example, if the driver is in a distracted state, the first delay time and the first warning information corresponding to the current driving scenario are determined as the target delay time and target warning information. The first delay time is a pre-set delay time corresponding to the distracted state and the current driving scenario, and the first warning information is a pre-set warning information corresponding to the distracted state and the current driving scenario. If the driver is not in a distracted state, the second delay time and the second warning information corresponding to the current driving scenario are determined as the target delay time and target warning information. The second delay time is a pre-set delay time corresponding to the non-distraction state and the current driving scenario, and the second reminder message is a pre-set reminder message corresponding to the non-distraction state and the current driving scenario.

[0182] As another example, in step S1002, when the current vehicle configuration includes a driver monitoring system, the departure warning system needs to obtain the driver's status monitored in real time by the driver monitoring system and control the on-board perception to collect the measured data of the vehicle in front of the target vehicle. Here, the target vehicle refers to the vehicle located in front of the current vehicle. The measured data of the vehicle in front refers to the data related to the target vehicle collected in real time. Then, the departure warning system can query a pre-set delay time lookup table based on the driver's status, the current driving scenario, and the measured data of the vehicle in front to determine the corresponding target delay time, thereby dynamically determining the target delay time and, in conjunction with the measured data of the vehicle in front of the target vehicle, dynamically determining when to execute the departure warning operation. Alternatively, the departure warning system can use the driver's status, the current driving scenario, and the measured data of the vehicle in front as input parameters, input them into a pre-set delay time mapping function for processing, obtain the target delay time output by the delay time mapping function, thereby dynamically determining the target delay time and, in conjunction with the measured data of the vehicle in front of the target vehicle, dynamically determining when to execute the departure warning operation.

[0183] As an example, in step S1003, when the current vehicle configuration does not include a driver monitoring system, the departure reminder system can retrieve the delay time and reminder information that match the current driving scenario from the memory of the warning execution device, and determine them as the target delay time and target reminder information, so as to provide a warning reminder based on the current driving scenario.

[0184] As an example, in step S1004, when the departure reminder system reaches the target delay time, it performs a departure warning operation. For example, it can use steering wheel vibration to remind the driver, or it can remind the driver through the lighting system and the audio system. The specific reminder method can be determined according to the pre-configuration. Furthermore, the departure reminder system can also control the audio system to play the voice prompt corresponding to the target reminder information to remind the driver.

[0185] In this embodiment, the system determines whether the driver's status can be obtained based on whether the current vehicle configuration includes a driver monitoring system. Depending on the different judgment results, different methods are used to obtain the target delay time and target reminder information. When the current time reaches the target delay time, a departure warning operation is executed. This allows the departure warning operation to be executed according to different current vehicle configurations, thus making it applicable to different vehicle models.

[0186] In one embodiment, such as Figure 11 As shown, performing the crawling following operation includes:

[0187] S1101: Obtain the speed of the vehicle ahead of the target vehicle;

[0188] S1102: Determine the following speed of the current vehicle based on the speed of the vehicle in front, and perform a creeping following operation based on the following speed.

[0189] As an example, in step S1101, the vehicle departure warning system can acquire the speed of the vehicle ahead of the target vehicle, which is the speed of the target vehicle detected in real time, as collected by the onboard sensing device. For example, the vehicle departure warning system can receive the front wheel speed and front wheel diameter of the target vehicle obtained by the V2V communication module, and calculate and determine the speed of the vehicle ahead of the target vehicle based on the front wheel speed and front wheel diameter. As another example, the vehicle departure warning system can receive the real-time speed of the vehicle ahead of the target vehicle collected by a front-mounted millimeter-wave radar.

[0190] The following speed refers to the speed at which the current vehicle needs to be controlled to creep along with the vehicle in front.

[0191] As an example, in step S1102, the departure reminder system can control the current vehicle's following speed when it is traveling synchronously with the target vehicle at a preset distance, based on the speed of the vehicle in front of the target vehicle. Based on the following speed, the current vehicle can be controlled to perform a creeping following operation, so that the first measured speed and the target vehicle can travel synchronously at a preset distance, thereby achieving the purpose of creeping following.

[0192] In one embodiment, such as Figure 12 As shown, after performing the creeping following operation, the vehicle departure warning method also includes:

[0193] S1201: Get the current vehicle configuration;

[0194] S1202: If the current vehicle configuration includes a lane keeping assist system, then obtain the second measured speed of the current vehicle, and when the second measured speed is greater than the first following vehicle speed threshold, control the current vehicle to drive along the lane line identified by the lane keeping assist system.

[0195] S1203: If the current vehicle configuration does not include a lane keeping assist system, obtain the second measured speed of the current vehicle and the current distance between the current vehicle and the target vehicle in front. When the second measured speed is greater than the second following speed threshold and the current distance is greater than the preset distance threshold, execute the takeover reminder operation.

[0196] The current vehicle configuration refers to the vehicle's current configuration and software configuration.

[0197] As an example, in step S1201, after performing the creeping follow operation, the departure reminder system needs to determine the current vehicle configuration in order to determine whether it is necessary to control the execution of the takeover reminder operation based on different current vehicle configurations.

[0198] The first following speed threshold refers to the pre-set speed threshold used to assess whether it is necessary to continue following another vehicle. Specifically, it is the speed threshold used to control the following speed of the current vehicle when the current vehicle is equipped with a lane keeping assist system.

[0199] As an example, in step S1202, when the current vehicle configuration includes a lane keeping assist system, the departure warning system can obtain the second measured speed of the current vehicle through the on-board sensing device, compare the second measured speed with the first following speed threshold, and if the second measured speed is greater than the first following speed threshold, control the current vehicle to drive along the lane line identified by the lane keeping assist system, specifically maintaining the second measured speed. During the process of the current vehicle maintaining the second measured speed, the departure warning system performs a takeover warning operation to remind the driver to take over the vehicle.

[0200] The second following speed threshold refers to a pre-set speed threshold used to assess whether to continue following the vehicle in front. Specifically, it is the speed threshold used to control the following speed of the current vehicle when the current vehicle does not have a lane keeping assist system. The second measured speed refers to the real-time speed of the current vehicle. The current distance refers to the real-time distance between the current vehicle and the target vehicle ahead. The preset distance threshold is a pre-set distance threshold used to assess whether to continue following the vehicle in front. Specifically, it is the distance threshold used to control the following speed of the current vehicle when the current vehicle does not have a lane keeping assist system.

[0201] As an example, in step S1203, when the current vehicle configuration does not include a lane keeping assist system, the departure warning system can obtain the second measured speed of the current vehicle through the on-board sensing device and obtain the current distance between the current vehicle and the target vehicle in front; compare the second measured speed with the second following speed threshold and compare the current distance with the preset distance threshold; if the second measured speed is greater than the first following speed threshold and the current distance is greater than the preset distance threshold, then control the current vehicle to drive along the lane line identified by the lane keeping assist system, specifically maintaining the second measured speed. During the process of the current vehicle maintaining the second measured speed, the departure warning system performs a takeover warning operation to remind the driver to take over the vehicle.

[0202] In this embodiment, different evaluation conditions are used based on different current vehicle configurations to assess whether it is necessary to remind the driver to take over the vehicle. After the driver takes over the vehicle, the crawl-following system is disengaged, realizing intelligent vehicle driving control. For example, during the crawl-following operation, the collision warning function of the collision warning system and the lane keeping assist function of the lane keeping assist system will be activated at any time. During the assisted crawl-following operation, when a collision warning is detected or the lane line disappears, the vehicle will automatically stop at a constant speed, activate the automatic parking function, and activate the warning execution device to remind the driver to take over the vehicle. Alternatively, based on throttle signal and steering wheel torque information, when the driver takes over the vehicle, the crawl-following system will disengage, and the driver will take over the vehicle to move forward, but the collision warning system will remain activated for a period of time to prevent a collision.

[0203] In one example, the vehicle departure warning method is applied to a vehicle equipped with 1R1V hardware, a lane keeping assist system, and a driver proximity system. When the vehicle detects a speed of 0 km / h, it activates the vehicle departure warning system. This system uses a V2I communication module and a front-facing camera to determine the current traffic situation. When a traffic light signal is detected, the vehicle automatically engages the electronic parking brake. When the traffic light changes from red to green, the vehicle activates the departure alert module, controlling the warning execution device to perform the departure warning operation. In this example, the departure alert system can retrieve the driver's status through the driver proximity system. Based on the vehicle's current driving scenario and the driver's status, it retrieves warning information from memory and then alerts the driver accordingly. Once the system detects throttle and steering wheel responses, it deactivates the vehicle departure warning function. For example, when a vehicle's detected speed is 0, the vehicle departure warning system is activated. The system identifies the driving environment based on perception information collected by the front-facing camera and front-facing millimeter-wave radar. When it detects a congested driving scenario, it selects a target vehicle to follow through target fusion. Then, it monitors the target vehicle via a V2V communication module or the front vehicle's millimeter-wave radar. If the target vehicle begins to leave, the creep following system activates to maintain a certain distance between the current vehicle and the target vehicle. As the target vehicle's speed increases and the current vehicle creates a certain distance, the departure warning module is activated, controlling the warning execution device to perform the departure warning operation. For example, during V2V following, if the speed of the vehicle in front exceeds a set threshold, the vehicle activates the warning warning module to remind the driver to take over. If the vehicle in front slows down and then stops, and the current vehicle detects that the distance to the target vehicle is less than a certain distance, the vehicle decelerates and stops, allowing the vehicle to enter the next operating cycle. In this example, the departure warning system's warning function works in conjunction with the Driver Monitoring System (DMS). Depending on whether the vehicle has a DMS function, the departure warning system can retrieve relevant warning information from its memory. The DMS can then determine the departure warning system's warning action to reduce the probability of disturbing the driver.

[0204] In one example, this vehicle departure warning method is applied to a vehicle with 1R1V hardware but lacking lane keeping assist and driver proximity systems. Because the vehicle departure warning system lacks lane keeping assist, it also lacks a creep-following system, only having a departure alert system; that is, the vehicle only has a departure alert function. When the vehicle has stopped on the road, if the current driving scenario is congested, after the target vehicle leaves, the current vehicle will directly remind the driver to take over the vehicle and depart.

[0205] Understandably, the vehicle departure warning system provided in this embodiment can adaptively activate corresponding auxiliary functions according to the conditions of the vehicle. For example, when the system detects that the vehicle has lane line recognition function, the system will automatically activate the crawl following system and activate the intelligent crawl following function. When the system does not have a driver monitoring system (DMS), the system will perform a delay to judge the driver's status, determine the target delay time and target reminder information based on the driver's status, so as to execute the departure warning operation.

[0206] In one embodiment, such as Figure 13 As shown, step S1202, which controls the current vehicle to travel along the lane keeping assist system-recognized lane lines, includes:

[0207] S1301: Obtain the current distance between the current vehicle and the target vehicle in front;

[0208] S1302: If the current distance to the vehicle is less than the first distance threshold, then control the current vehicle to perform a braking operation;

[0209] S1303: If the current distance to the vehicle is not less than the first distance threshold and the current distance to the vehicle is less than the second distance threshold, then control the current vehicle to maintain the second measured speed and perform a creeping following operation.

[0210] S1304: If the current distance to the target vehicle is not less than the second distance threshold and the current distance to the target vehicle is less than the third distance threshold, then obtain the speed of the vehicle in front of the target vehicle and control the current vehicle to perform a creeping following operation or a takeover reminder operation based on the speed of the vehicle in front of the target vehicle.

[0211] S1305: If the current distance to the vehicle is not less than the third vehicle distance threshold, then execute the takeover reminder operation.

[0212] The current vehicle distance refers to the distance between the current vehicle and the target vehicle ahead, as collected in real time. The first vehicle distance threshold, the second vehicle distance threshold, and the third vehicle distance threshold are three different pre-set vehicle distance thresholds, wherein the first vehicle distance threshold < the second vehicle distance threshold < the third vehicle distance threshold.

[0213] As an example, in step S1301, when the departure reminder system controls the current vehicle to drive along the lane line identified by the lane keeping assist system, it needs to obtain the current distance between the current vehicle and the target vehicle in front in real time. The current distance can be compared with the first distance threshold, the second distance threshold and the third distance threshold, so as to control the vehicle to perform different operations according to the comparison results.

[0214] As an example, in step S1302, if the current distance between the current vehicle and the target vehicle is less than the first distance threshold, it means that the following distance of the current vehicle is extremely small and it is easy to collide with the target vehicle. Therefore, it is necessary to control the current vehicle to perform a braking operation to stop the current vehicle and avoid collision with the target vehicle, thereby achieving the purpose of ensuring driving safety.

[0215] As an example, in step S1302, when the current distance between the current vehicle and the target vehicle is not less than the first distance threshold and less than the second distance threshold, that is, when the current distance is between the first distance threshold and the second distance threshold, it indicates that the following distance of the current vehicle is small. At this time, the creep following system can be used to perform creep following operation, specifically controlling the current vehicle to maintain the second measured speed and creep following the target vehicle to ensure driving safety.

[0216] As an example, in step S1303, when the current distance between the current vehicle and the target vehicle is not less than the second distance threshold and less than the third distance threshold (i.e., the current distance is between the second and third distance thresholds), it indicates that the current vehicle's following distance is too large. To ensure smooth traffic flow, the speed of the vehicle ahead of the target vehicle needs to be monitored in real time to determine whether the pre-set takeover warning conditions have been met. If the takeover warning conditions are met, a takeover warning operation is executed to remind the driver to take over the vehicle. If the takeover warning conditions are not met, the creeping follow operation continues to control the creeping follow system to perform the creeping follow operation. The takeover warning conditions here are pre-set conditions used to evaluate whether the takeover warning has been executed. For example, if the speed of the vehicle ahead of the target vehicle is large, provided that the current distance is between the second and third distance thresholds, it can be determined that the target vehicle has left the current driving scenario, and at this time, the takeover warning conditions can be considered met.

[0217] As an example, in step S1304, when the current distance between the current vehicle and the target vehicle is not less than the third distance threshold, it indicates that the following distance of the current vehicle is extremely large, and it is highly likely that the target vehicle is leaving the current driving scene at a relatively high speed. At this time, it can be determined that the pre-set takeover reminder conditions are met, and the takeover reminder operation can also be executed to remind the driver to take over the vehicle.

[0218] In one embodiment, such as Figure 4 As shown, based on the speed of the vehicle ahead, the current vehicle is controlled to perform a creeping following operation or a takeover warning operation, including:

[0219] S1401: Compare the speed of the vehicle ahead of the target vehicle with the target speed threshold;

[0220] S1402: If the speed of the vehicle ahead of the target vehicle is greater than the target speed threshold, then execute the takeover warning operation;

[0221] S1403: If the speed of the vehicle ahead of the target vehicle is not greater than the target speed threshold, then control the current vehicle to accelerate, maintain the current distance not less than the first distance threshold and the current distance less than the second distance threshold, and perform a creeping following operation.

[0222] The target speed threshold is a pre-set speed threshold, specifically used to switch between control takeover alert operation and creeping follow operation based on the speed of the vehicle in front.

[0223] As an example, in step S1401, when the current vehicle distance is between the second vehicle distance threshold and the third vehicle distance threshold, the departure reminder system can compare the speed of the vehicle in front of the target vehicle with the preset target speed threshold, so as to perform different operations according to the comparison result.

[0224] As an example, in step S1402, when the speed of the vehicle in front of the target vehicle is greater than the target speed threshold, it means that the speed of the vehicle in front of the target vehicle has not reached the takeover reminder condition for reminding the driver to take over the current vehicle. In other words, the target vehicle leaves the current driving scene at a relatively fast speed, indicating that there is no longer congestion in front of the current vehicle. At this time, the takeover reminder operation can be executed to remind the driver to take over the current vehicle.

[0225] As an example, in step S1403, when the speed of the vehicle in front of the target vehicle is not greater than the target speed threshold, it means that the speed of the vehicle in front of the target vehicle has not met the conditions for reminding the driver to take over the current vehicle. In other words, the target vehicle is still in the current driving scenario, and the current vehicle needs to follow the target vehicle. Furthermore, since the speed of the vehicle in front of the target vehicle is greater than the target speed threshold, in order for the current vehicle to follow the target vehicle, it is necessary to control the current vehicle to accelerate. Even if the current vehicle is traveling at a speed greater than the second measured speed, in order to maintain the current distance not less than the first distance threshold and the current distance less than the second distance threshold, the creeping following system can be used to perform creeping following operations to ensure road smoothness and avoid congestion.

[0226] The vehicle departure warning system provided in this embodiment is an expandable driving assistance system. This system can flexibly leverage the vehicle's existing driver assistance functions, hardware infrastructure, V2V communication modules, and other communication modules to achieve a highly compatible driving assistance system. The system can automatically adapt to different departure warning operations based on the current vehicle configuration. This vehicle departure warning system is a human-machine co-driving mode, not relying on automatic following as the primary function. During creeping following, it will issue appropriate reminders or follow at a slow speed based on information such as the speed of the vehicle ahead and the measured distance between the current vehicle and the target vehicle, achieving a good balance in terms of cost, versatility, and safety.

[0227] The vehicle departure warning system provided in this embodiment can determine the appropriate auxiliary control strategy by confirming the signal interface connection with the vehicle. Then, the system integrates and processes the sensing information collected by various onboard sensing devices to accurately identify the current driving scenario or the scenario requiring driver intervention. For example, when the system identifies that the vehicle ahead is in a creeping state, and the current vehicle has a lane keeping assist system, the system will combine the existing lane keeping assist system with control strategies supported by different hardware to achieve creeping following functionality. In congested driving scenarios or traffic light scenarios, the system can effectively identify driving scenarios requiring timely driver intervention and remind the driver to take over and leave the vehicle promptly. Furthermore, when the system is equipped with a driver monitoring system, it can remind the driver to take over the vehicle based on the driving status monitored by the driver monitoring system, avoiding frequent reminders.

[0228] In summary, the vehicle departure warning system provided in this embodiment is well adapted to the current uneven state of intelligent driving functions. It achieves different levels of intelligent driving assistance functions through different function combinations. Based on different vehicle models and configurations, combined with actual driving environment and test data, it assesses whether it is necessary to activate and execute departure warning operation or creep following operation. It can effectively assist the driver while taking into account functional safety, cost and driving experience.

[0229] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0230] In one embodiment, a vehicle departure warning system is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle departure warning method described in the above embodiment, for example... Figure 2 As shown in S201-S204, or Figures 3 to 12As shown in the figure, to avoid repetition, it will not be repeated here.

[0231] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the vehicle departure warning method described above, for example... Figure 2 As shown in S201-S204, or Figures 3 to 12 As shown in the figure, to avoid repetition, it will not be repeated here.

[0232] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0233] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0234] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for early warning of vehicle departure, characterized in that, include: Acquire the first vehicle data and determine whether the first vehicle data meets the warning activation conditions; If the data of the first vehicle meets the warning activation conditions, the vehicle departure warning function is activated to perceive the driving environment and obtain the current driving scenario. If the current driving scenario is the target driving scenario, then the second vehicle data corresponding to the current driving scenario is obtained; If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then a departure warning operation is executed, including: obtaining the current vehicle configuration; if the current vehicle configuration includes a driver monitoring system, obtaining the driver status determined by the driver monitoring system, and determining a target delay time based on the driver status and the current driving scenario, or determining a target delay time based on the driver status, the current driving scenario, and the measured data of the preceding vehicle; if the current vehicle configuration does not include a driver monitoring system, determining a target delay time based on the current driving scenario; if the current time reaches the target delay time, then a departure warning operation is executed; wherein, the measured data of the preceding vehicle refers to data related to the target preceding vehicle collected in real time.

2. The vehicle departure warning method as described in claim 1, characterized in that, The first vehicle data includes the first measured speed of the current vehicle; The determination of whether the first vehicle data meets the warning activation conditions includes: Based on the first measured vehicle speed, determine the critical time when the first measured vehicle speed reaches the first vehicle speed threshold; The difference between the critical time and the preset time period is determined as the start time, and the starting measured vehicle speed corresponding to the start time is obtained. If the initial measured vehicle speed is greater than the second vehicle speed threshold, then a first duration is obtained, where the first duration is the duration during which the first measured vehicle speed is less than or equal to the first vehicle speed threshold. If the first duration is greater than the first duration threshold, then the first vehicle data is determined to meet the warning activation conditions. Wherein, the second vehicle speed threshold is greater than the first vehicle speed threshold.

3. The vehicle departure warning method as described in claim 1, characterized in that, The process of sensing the driving environment and obtaining the current driving scenario includes: Obstacle detection is performed in the current vehicle's forward sensing area; If there is an obstacle in the forward sensing area, the obstacle is sensed and identified to obtain the current driving scene; If there are no obstacles in the forward sensing area, the current environmental data is acquired, and the current driving scene is obtained by sensing and recognizing the current environmental data.

4. The vehicle departure warning method as described in claim 3, characterized in that, The process of sensing and identifying the obstacle to obtain the current driving scene includes: The obstacles are perceived and identified, and the obstacle identification results are obtained; Obtain the current distance between the vehicle and the obstacle; If the obstacle recognition result indicates the presence of a target vehicle ahead, and the current distance is within a preset distance range for a second duration longer than a second duration threshold, then the current driving scenario is identified as a congested driving scenario.

5. The vehicle departure warning method as described in claim 3, characterized in that, The step of acquiring current environmental data, performing perception and recognition on the current environmental data, and acquiring the current driving scenario includes: Acquire current environmental data, which includes at least one of current camera data and traffic light communication data; The current environmental data is perceived and identified. If the current camera data contains a traffic light signal image, or the traffic light communication data contains a traffic light signal, then the current driving scenario is identified as a traffic light driving scenario.

6. The vehicle departure warning method as described in claim 1, characterized in that, The second vehicle data corresponding to the current driving scenario includes the measured data of the vehicle in front corresponding to the congested driving scenario. If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including: The driving status of the vehicle in front is determined based on the measured data of the vehicle in front corresponding to the congested driving scenario. If the driving status of the preceding vehicle is that the preceding vehicle has left the driving state, then it is determined that the conditions for leaving the driving state corresponding to the congested driving scenario are met, and the leaving the driving state warning operation is executed.

7. The vehicle departure warning method as described in claim 6, characterized in that, After determining the driving status of the vehicle in front based on the measured data of the vehicle in front corresponding to the congested driving scenario, the vehicle departure warning method further includes: If the driving state of the preceding vehicle is in a crawling state, then obtain the current vehicle configuration; If the current vehicle configuration meets the crawling following conditions, then the crawling following operation is executed; If the current vehicle configuration does not meet the creep following conditions, a departure warning operation will be executed.

8. The vehicle departure warning method as described in claim 1, characterized in that, The second vehicle data corresponding to the current driving scenario includes traffic light signal data corresponding to the traffic light driving scenario. If the second vehicle data meets the departure warning conditions corresponding to the current driving scenario, then the departure warning operation is executed, including: Identify the traffic light signal data corresponding to the traffic light driving scenario to determine the current traffic light signal; If the current traffic light signal changes from red to green, it is determined that the departure warning conditions corresponding to the traffic light driving scenario are met, and the departure warning operation is executed.

9. The vehicle departure warning method as described in claim 7, characterized in that, The execution of the creeping following operation includes: Get the speed of the vehicle ahead of the target vehicle; Based on the speed of the vehicle in front, determine the corresponding following speed for the current vehicle, and then perform a creeping following operation based on the following speed.

10. The vehicle departure warning method as described in claim 7, characterized in that, After the creeping following operation is performed, the vehicle departure warning method further includes: Get the current vehicle configuration; If the current vehicle configuration includes a lane keeping assist system, then the second measured speed of the current vehicle is obtained. When the second measured speed is greater than the first following speed threshold, the current vehicle is controlled to drive along the lane line identified by the lane keeping assist system. If the current vehicle configuration does not include a lane keeping assist system, then the second measured speed of the current vehicle and the current distance between the current vehicle and the target vehicle are obtained. When the second measured speed is greater than the second following speed threshold and the current distance is greater than the preset distance threshold, a takeover warning operation is performed.

11. The vehicle departure warning method as described in claim 10, characterized in that, The control of the current vehicle to travel along the lane line identified by the lane keeping assist system includes: Get the current distance between the current vehicle and the target vehicle in front; If the current vehicle distance is less than the first vehicle distance threshold, then control the current vehicle to perform a braking operation; If the current vehicle distance is not less than the first vehicle distance threshold and the current vehicle distance is less than the second vehicle distance threshold, then control the current vehicle to maintain the second measured vehicle speed and perform a creeping following operation. If the current vehicle distance is not less than the second vehicle distance threshold and the current vehicle distance is less than the third vehicle distance threshold, then the speed of the vehicle in front of the target vehicle is obtained, and the current vehicle is controlled to perform a creeping following operation or a takeover reminder operation based on the speed of the vehicle in front of the target vehicle. If the current vehicle distance is not less than the third vehicle distance threshold, then a takeover reminder operation is performed.

12. The vehicle departure warning method as described in claim 11, characterized in that, The step of controlling the current vehicle to perform a creeping following operation or a takeover warning operation based on the speed of the vehicle ahead of the target vehicle includes: Compare the speed of the vehicle preceding the target vehicle with the target speed threshold. If the speed of the vehicle ahead of the target vehicle is greater than the target speed threshold, a takeover warning operation will be performed. If the speed of the vehicle ahead of the target vehicle is not greater than the target speed threshold, then the current vehicle is controlled to accelerate, and the current distance is maintained at not less than the first distance threshold and less than the second distance threshold, and a creeping following operation is performed.

13. A vehicle departure warning system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle departure warning method as described in any one of claims 1 to 12.

14. A vehicle, characterized in that, Includes the vehicle departure warning system as described in claim 13.

15. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle departure warning method as described in any one of claims 1 to 12.

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