Emergency processing method and system for driver abnormity under auxiliary driving

Abstract

The invention discloses an emergency processing method and system for driver abnormity under auxiliary driving, and belongs to the technical field of safe driving, and the method comprises the steps: judging whether a driver is in a concentrated driving state or not and whether a steering wheel is in a hand release state or not according to driver concentration information and steering wheel hand release information; when it is judged that the driver is not in the driving concentration state and the steering wheel is in the hand release state, vehicle taking-over reminding information of the driver is sent; controlling an execution unit to stimulate the driver when the duration time of the steering wheel in the hand release state is greater than or equal to the first time after the driver takes over vehicle reminding information is sent; after the driver is stimulated, when the duration time of the steering wheel in the hand release state is longer than or equal to second time, the vehicle is controlled to slow down and stop; in the vehicle deceleration parking process, when the driver does not intervene in the parking exiting process, rescue information is sent out. The driving safety and the accuracy of judging the abnormity of the driver can be improved.

Description

Technical Field

[0001] The present application relates to the field of driving safety technology, and specifically to an emergency handling method and system for driver abnormality under assisted driving. Background Art

[0002] With the installation and application of Advanced Driving Assistant System (ADAS) in vehicles, in the current L2 level advanced driving assistance system, TJA (Pilot Assist or Traffic Jam Assist, also known as intelligent navigation) and ACC (Adaptive Cruise Control, also known as adaptive cruise control), as auxiliary control systems, can control the vehicle instead of the driver.

[0003] In the related technology, during the assisted driving process, whether the driver has the ability to take over is judged only when the driver is required to take over the vehicle. Only when it is determined that the driver does not have the ability to take over and control the vehicle to brake, will it be judged whether the driver has an abnormality.

[0004] However, the relevant technology will only determine whether the driver is abnormal when the driver is required to take over the vehicle. It cannot perform real-time detection of whether the driver has any abnormality during the assisted driving process, and thus cannot detect the driver's abnormal state in time, affecting the rescue of the driver. Summary of the invention

[0005] In view of this, the present application provides an emergency handling method and system for driver abnormality under assisted driving, which can provide real-time reminders to the driver during the assisted driving process, and perform real-time detection of whether the driver is abnormal, thereby improving the timeliness of driver rescue.

[0006] This application specifically adopts the following technical solutions:

[0007] A first aspect of the embodiments of the present application provides an emergency handling method for driver abnormality under assisted driving, the method is applied to a driving scenario in which a vehicle is driving with the assisted driving function turned on, and the execution subject of the method is a vehicle with the assisted driving function;

[0008] The method comprises:

[0009] Obtain information on driver concentration and hands-off steering;

[0010] Based on the driver's concentration information and the hands-off steering wheel information, determine whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state;

[0011] When it is determined that the driver is not in a state of focused driving and the steering wheel is in a hands-off state, a driver take-over reminder message is issued, and the duration of the steering wheel being in the hands-off state after the driver take-over reminder message is issued is obtained;

[0012] When the duration of the steering wheel being in the hands-off state after the reminder message for the driver to take over the vehicle is issued is greater than or equal to the first time, the control execution unit is used to stimulate the driver, and obtains the duration of the steering wheel being in the hands-off state after the stimulation is applied to the driver;

[0013] When the driver is stimulated and the duration of the steering wheel being in the hands-off state is greater than or equal to the second time, the vehicle is controlled to decelerate and stop;

[0014] When the vehicle is decelerating and stopping, and the driver does not intervene to exit the parking process, a rescue message is issued.

[0015] Optionally, the stimulation applied to the driver includes turning on the hazard warning lights, blowing cold air to the back of the driver's neck and loosening and tightening the seat belt back and forth.

[0016] Optionally, the rescue information sent includes the location information of the vehicle when it is parked.

[0017] Optionally, when the driver is not in a state of focused driving but the steering wheel is in a state of not letting go, a driver rest reminder message is issued.

[0018] Optionally, the driver rest reminder information includes a rest location recommended for the driver to go to.

[0019] Optionally, when the driver is in a focused driving state, but the steering wheel is in a hands-off state, and the steering wheel hands-off state lasts longer than a set hands-off time, a voice reminder message is issued.

[0020] A second aspect of an embodiment of the present application provides an emergency handling system for driver abnormality under assisted driving, comprising:

[0021] An information acquisition module is used to obtain driver concentration information, steering wheel hands-off information, and the time the steering wheel is in a hands-off state;

[0022] The emergency handling module is used to determine whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state based on the driver's concentration information and the steering wheel hands-off information; when it is determined that the driver is not in a focused driving state and the steering wheel is in a hands-off state, a reminder message for the driver to take over the vehicle is issued; when the duration of the steering wheel being in the hands-off state is greater than or equal to a first time after the reminder message for the driver to take over the vehicle is issued, the control execution unit stimulates the driver; when the duration of the steering wheel being in the hands-off state is greater than or equal to a second time after the driver is stimulated, the vehicle is controlled to slow down and stop; when the driver does not intervene in the exit of the parking process during the vehicle deceleration and parking process, a rescue message is issued.

[0023] A third aspect of an embodiment of the present application provides a computer device, the device comprising:

[0024] a processor adapted to execute a computer program;

[0025] A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, the method for emergency handling of driver abnormality under assisted driving proposed in the first aspect is implemented.

[0026] The fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is suitable for being loaded by a processor and executed by a method for emergency handling of driver abnormality under assisted driving proposed in the first aspect.

[0027] A fifth aspect of an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements an emergency handling method for driver abnormality under assisted driving proposed in the first aspect.

[0028] The embodiment of the present application provides an emergency handling method and system for driver abnormality under assisted driving, the method comprising: when the vehicle is driving with the assisted driving function turned on, when the driver is in a state of not paying attention to the steering wheel and not focusing on driving at the same time, a reminder message for the driver to take over the vehicle is issued; after the reminder message for the driver to take over the vehicle is issued, further reminder messages and stimulation to the driver are used to restore the driver to a normal driving state; when the driver cannot return to a normal driving state after the reminder and stimulation, it can be preliminarily determined that the driver is abnormal; at this time, the vehicle is controlled to slow down and stop, and the driver's state is confirmed again during the vehicle deceleration and parking process; when the driver does not intervene in the exit parking process during the vehicle deceleration and parking process, it is finally confirmed that the driver is abnormal, and a rescue message is sent to the rescue center. In the process of assisted driving, the driver's abnormality can be discovered in time, and rescue information can be sent in time so that the driver can be rescued in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 It is a flow chart of an emergency handling method for driver abnormality under assisted driving provided in an embodiment of the present application.

[0031] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0033] Before explaining in detail a method for emergency handling of driver abnormality under assisted driving provided in an embodiment of the present application, an application scenario provided in an embodiment of the present application is first introduced.

[0034] An emergency handling method for driver abnormality under assisted driving provided in an embodiment of the present application is applied to vehicles with assisted driving function. When driving with the assisted driving function turned on, in order to ensure driving safety, the driver is required to take over the vehicle in a timely manner. In related technologies, when the driver is required to take over the vehicle, it is first determined whether the driver has the ability to take over. When it is determined that the driver does not have the ability to take over, the vehicle is directly controlled to brake and then it is determined whether the driver has an abnormality. On the basis of affecting driving safety, it affects the driving experience, and it is only possible to determine whether the driver has an abnormality when the driver is required to take over the vehicle. For time periods other than when the driver is required to take over the vehicle, it is not possible to determine whether the driver has an abnormality, thereby failing to achieve real-time detection of whether the driver is abnormal during assisted driving, and failing to provide timely rescue for abnormal drivers. An emergency handling method for driver abnormality under assisted driving provided in an embodiment of the present application, when the vehicle is traveling with the assisted driving function turned on, the driver's status is monitored at all times, and when it is detected that the driver is not in a normal driving state, various reminders are given to the driver at the time, and when the driver still cannot restore the normal driving state after the reminder, it is preliminarily determined that the driver is abnormal, and in order to ensure safety, the vehicle is controlled to slow down and stop; during the deceleration and parking process, the driver's status is finally judged, and when the driver does not intervene in the exit of the parking process during the deceleration and parking process of the vehicle, it is finally confirmed that the driver is abnormal, and a rescue message is sent to the rescue center; through reminders, drivers without abnormalities can be restored to normal driving states, thereby ensuring driving safety; for drivers with abnormalities, the vehicle can stop and send rescue messages, thereby realizing real-time detection of driver abnormalities during assisted driving, and improving the timeliness of rescuing abnormal drivers.

[0035] An embodiment of the present application provides an emergency handling method for driver abnormality under assisted driving. The method is applied to a vehicle with an assisted driving function, which includes an adaptive cruise control unit ACC, an intelligent navigation control unit TJA, an image acquisition device, a status detection sensor and a timer.

[0036] Among them, the adaptive cruise control unit ACC is used to control the vehicle to perform adaptive cruise; the intelligent navigation control unit TJA is used to control the vehicle to perform intelligent navigation; when the vehicle turns on adaptive cruise or intelligent navigation, it indicates that the vehicle has turned on the assisted driving function.

[0037] The image acquisition device may be a camera device for acquiring the driver's facial image; performing corresponding processing on the facial image, such as enhancement, denoising and deep learning processing, etc., to acquire the driver's concentration information from the facial image; and judging whether the driver is in a focused driving state based on the driver's concentration information.

[0038] The state detection sensor can be a torque sensor or a capacitive sensor. The torque sensor is used to detect the torque of the steering wheel. According to the change of the front and rear torque of the steering wheel, the information of the steering wheel being released from the hands is obtained. When the change of the front and rear torque of the steering wheel is greater than the set threshold, the steering wheel is judged to be in the state of being released from the hands. The capacitive sensor is used to sense whether the driver's hands are in contact with the steering wheel, so as to obtain the information of the steering wheel being released from the hands. When it is judged that the driver's hands are not in contact with the steering wheel, it means that the steering wheel is in the state of being released from the hands.

[0039] A timer used to obtain the duration of the hands-off state of the steering wheel.

[0040] Those skilled in the art should understand that the above-mentioned application scenarios and modules in the vehicle are only examples, and other existing or future application scenarios and modules, if applicable to the embodiments of the present application, should also be included in the protection scope of the embodiments of the present application and are included here by reference.

[0041] It should be noted that the business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0042] Next, an emergency handling method for driver abnormality under assisted driving provided in an embodiment of the present application is explained in detail. Figure 1 This is a flowchart of an emergency handling method for driver abnormality under assisted driving provided by an embodiment of the present application. Please refer to Figure 1 The method is applied to a scenario in which a vehicle is driving with an assisted driving function turned on. The execution subject of the method is a vehicle with an assisted driving function. The method includes the following steps.

[0043] Step 101: Acquire driver concentration information and steering wheel hands-off information;

[0044] Step 102: judging whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state according to the driver's concentration information and the hands-off steering wheel information;

[0045] Step 103: When it is determined that the driver is not in a focused driving state and the steering wheel is in a hands-off state, a driver take-over reminder message is issued, and a duration of the steering wheel being in the hands-off state after the driver take-over reminder message is issued is obtained;

[0046] Step 104: when the duration of the steering wheel being in the hands-off state after the reminder message for the driver to take over the vehicle is issued is greater than or equal to the first time, the control execution unit stimulates the driver and obtains the duration of the steering wheel being in the hands-off state after the stimulation is applied to the driver;

[0047] Step 105: When the duration of the steering wheel being in the hands-off state after the driver is stimulated is greater than or equal to the second time, the vehicle is controlled to decelerate and stop.

[0048] Step 106: When the vehicle is decelerating and parking, and the driver does not intervene to exit the parking process, a rescue message is issued.

[0049] Therefore, an emergency handling method for driver abnormality under assisted driving provided in an embodiment of the present application can determine whether the driver is in a normal driving state by monitoring whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state when the vehicle is traveling with the assisted driving function turned on; when it is determined that the driver is not in a normal driving state, the driver is reminded by issuing a reminder message and stimulating the driver, so that the driver can take over the vehicle and return to a normal driving state to ensure driving safety; if the reminder is invalid and the driver cannot return to a normal driving state, it is determined that the driver is abnormal. For safety reasons, the vehicle is controlled to decelerate and stop. During the deceleration and parking process, a final judgment is made on whether the driver is abnormal. If the driver intervenes to exit the parking process, it is determined that the driver is not abnormal and the vehicle returns to a normal driving state. If the driver does not intervene to exit the parking process, it is finally determined that the driver is abnormal. At this time, a rescue message is issued so that the driver can get help in time.

[0050] This embodiment uses the driver's concentration information to determine whether the driver is in a focused driving state or a distracted driving state; and uses the steering wheel hands-off information to determine whether the steering wheel is in a hands-off state or a hands-on state.

[0051] When the driver takes over the vehicle after the reminder message is issued, the driver takes over the vehicle, that is, it is detected that the steering wheel is not in a hands-off state, then it is determined that the driver has returned to a normal driving state, and the timer recording the duration of the steering wheel being in a hands-off state is reset.

[0052] The stimulation implemented on the driver in this embodiment includes turning on the hazard warning lights, blowing cold air to the back of the driver's neck and loosening and tightening the seat belt back and forth. By performing different stimulations on the driver, the driver can be restored to a normal driving state.

[0053] This embodiment also turns on the double flash after controlling the vehicle to slow down and stop, so as to remind other vehicles.

[0054] This embodiment also obtains the location information of the vehicle. When the vehicle slows down and stops, the rescue information sent contains the location information of the vehicle when it stops, so that the rescue center can quickly locate the abnormal driver and rescue the driver.

[0055] In addition, when the driver is not concentrating on driving but keeps his hands on the steering wheel, a driver rest reminder message is issued.

[0056] The driver's rest reminder information includes a rest location recommended for the driver.

[0057] When the driver is concentrating on driving but the steering wheel is in the hands-off state, and the steering wheel is in the hands-off state for a duration greater than the set hands-off time, a voice reminder message is issued.

[0058] This embodiment also detects and alarms the activation and exit of the vehicle's assisted driving function; when it is detected that the assisted driving function is exited, an assisted driving function exit reminder message is issued; when it is detected that the assisted driving function is activated, an assisted driving function activation reminder message is issued.

[0059] In summary, the present embodiment provides an emergency handling method for driver abnormality under assisted driving. When the vehicle is traveling with the assisted driving function turned on, whether the driver is in a normal driving state is determined by monitoring whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state; when it is determined that the driver is not in a normal driving state, the driver is reminded through various reminder methods to enable the driver to return to a normal driving state and ensure safe driving; when the driver is unable to return to a normal driving state after being reminded, it is determined that the driver is abnormal, the vehicle is controlled to slow down and stop, and during the deceleration and stopping process, it is determined again whether the driver has returned to normal; when the driver is still unable to return to normal, a rescue message is issued, thereby realizing real-time detection of the driver's state during assisted driving, so as to provide timely rescue to the driver.

[0060] The embodiment of the present application also provides an emergency handling system for driver abnormality under assisted driving, including:

[0061] An information acquisition module is used to obtain driver concentration information, steering wheel hands-off information, and the time the steering wheel is in a hands-off state;

[0062] The emergency handling module is used to determine whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state based on the driver's concentration information and the steering wheel hands-off information; when it is determined that the driver is not in a focused driving state and the steering wheel is in a hands-off state, a reminder message for the driver to take over the vehicle is issued; when the duration of the steering wheel being in the hands-off state is greater than or equal to a first time after the reminder message for the driver to take over the vehicle is issued, the control execution unit stimulates the driver; when the duration of the steering wheel being in the hands-off state is greater than or equal to a second time after the driver is stimulated, the vehicle is controlled to slow down and stop; when the driver does not intervene in the exit of the parking process during the vehicle deceleration and parking process, a rescue message is issued.

[0063] It should be noted that: the above-mentioned embodiment provides an emergency handling system for driver abnormality under assisted driving, when performing emergency handling of driver abnormality, only uses the division of the above-mentioned functional modules as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. In addition, the above-mentioned embodiment provides an emergency handling system for driver abnormality under assisted driving and an embodiment of an emergency handling method for driver abnormality under assisted driving, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0064] The present application also provides a computer device, which includes:

[0065] a processor adapted to execute a computer program;

[0066] A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, an emergency handling method for driver abnormality under assisted driving is implemented.

[0067] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and the computer program is suitable for being loaded by a processor and executing an emergency handling method for driver abnormality under assisted driving.

[0068] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, an emergency handling method for driver abnormality under assisted driving is implemented.

[0069] The method provided in the embodiment of the present application can be directly embodied as a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0070] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0071] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An emergency handling method for driver abnormality under assisted driving, characterized in that: include: Obtain information about driver concentration and hands-off steering; Based on the driver's concentration information and the hands-off steering wheel information, determine whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state; When it is determined that the driver is not in a state of focused driving and the steering wheel is in a hands-off state, a driver take-over reminder message is issued, and the duration of the steering wheel being in the hands-off state after the driver take-over reminder message is issued is obtained; When the duration of the steering wheel being in the hands-off state after the reminder message for the driver to take over the vehicle is issued is greater than or equal to the first time, the control execution unit is used to stimulate the driver, and obtains the duration of the steering wheel being in the hands-off state after the stimulation is applied to the driver; When the driver is stimulated and the duration of the steering wheel being in the hands-off state is greater than or equal to the second time, the vehicle is controlled to decelerate and stop; When the vehicle is decelerating and stopping, and the driver does not intervene to exit the parking process, a rescue message is issued.

2. The method for emergency handling of driver abnormality under assisted driving as claimed in claim 1, characterized in that: Driver stimulation included turning on the hazard lights, blowing cold air on the back of the driver's neck and loosening and tightening the seat belt.

3. The method for emergency handling of driver abnormality under assisted driving as claimed in claim 1, characterized in that: The rescue information sent includes the location information of the vehicle when it stopped.

4. The method for emergency handling of driver abnormality under assisted driving as claimed in claim 1, characterized in that: When the driver is not concentrating on driving but keeps his hands on the steering wheel, a driver rest reminder message is issued.

5. The method for emergency handling of driver abnormality under assisted driving as claimed in claim 4, characterized in that: The driver rest reminder information includes a rest location recommended for the driver.

6. The method for emergency handling of driver abnormality under assisted driving as claimed in claim 1, characterized in that: When the driver is concentrating on driving but the steering wheel is in the hands-off state, and the steering wheel is in the hands-off state for a duration greater than the set hands-off time, a voice reminder message is issued.

7. An emergency handling system for driver abnormality under assisted driving, characterized in that: include: An information acquisition module is used to obtain driver concentration information, steering wheel hands-off information, and the time the steering wheel is in a hands-off state; An emergency handling module is used to determine whether the driver is in a focused driving state and whether the steering wheel is in a hands-off state based on the driver's concentration information and the steering wheel hands-off information; When it is determined that the driver is not concentrating on driving and the steering wheel is out of hands, a reminder message is sent to the driver to take over the vehicle; When the duration of the steering wheel being in the hands-off state is greater than or equal to the first time after a reminder message for the driver to take over the vehicle is issued, the control execution unit stimulates the driver; when the duration of the steering wheel being in the hands-off state is greater than or equal to the second time after the driver is stimulated, the vehicle is controlled to decelerate and stop; when the driver does not intervene in the exit of the parking process during the vehicle deceleration and parking process, a rescue message is issued.

8. An electronic device, characterized in that: The device comprises: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the emergency handling method for driver abnormality under assisted driving as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the emergency handling method for driver abnormality under assisted driving as described in any one of claims 1-6.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the emergency handling method for driver abnormality under assisted driving as described in any one of claims 1-6.

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