Lateral control methods, devices, vehicles and storage media for driver assistance

Abstract

This application relates to a method, device, vehicle, and storage medium for lateral control of a driver assistance system. The method includes: identifying the driver's actual operational intention; when the actual operational intention is not to actively control the steering wheel to take over the vehicle's lateral control, controlling the vehicle to enter a driver assistance activation mode; when the actual operational intention is to actively control the steering wheel to take over the vehicle's lateral control, controlling the vehicle to enter a temporary exit state of the driver assistance activation mode; and responding to the vehicle's lateral control actions based on operational data until exiting or re-entering the driver assistance activation mode. This application's embodiments can control the vehicle to enter a temporary exit state of the driver assistance activation mode when the driver's actual operational intention is to actively control the steering wheel to take over the vehicle's lateral control, thereby reducing the exit rate of the driver assistance lateral control function, improving the continuity of driver assistance function use, and enhancing the user experience.

Description

Technical Field

[0001] This application relates to the field of automotive driver assistance technology, and in particular to a lateral control method, device, vehicle, and storage medium for driver assistance. Background Technology

[0002] In recent years, the automotive industry has developed rapidly, with cars gradually shifting from traditional gasoline-powered vehicles to new energy electric vehicles. Similarly, car driving is becoming increasingly intelligent, with driver assistance systems featuring functions such as adaptive cruise control, automatic emergency braking, and driver takeover.

[0003] In related technologies, patent [202110129122.0] proposes a method for taking over the steering wheel of an intelligent driving system. It can monitor in real time whether the electric power steering system is active. If it is active, it determines whether the hand torque meets the takeover conditions based on the changing trend and duration of the hand torque applied to the steering wheel, the steering wheel angle, and the steering wheel angular velocity. If it meets the conditions, it exits the autonomous driving function, and the electric power steering system assists the steering according to the steering needs, thereby achieving takeover.

[0004] However, the relevant technologies can only simply control the current vehicle's exit from the lateral driving system activation state, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome. It cannot accurately judge the driver's intention to intervene and only defines the exit time from the perspective of functional design, which makes it difficult to improve the continuity of control functions and reduces the driver's user experience, and urgently needs to be improved. Summary of the Invention

[0005] This application provides a lateral control method, device, vehicle, and storage medium for driving assistance, in order to solve the problems of related technologies that can only simply control the current vehicle to exit the active state of the lateral driving system, and the process of controlling the lateral function of intelligent driving assistance is relatively cumbersome. It is difficult to accurately judge the driver's intention to intervene and only defines the exit time from the perspective of functional design, which makes it difficult to improve the continuity of control functions and reduces the driver's user experience.

[0006] The first aspect of this application provides a lateral control method for driving assistance, comprising the following steps: identifying the driver's actual operating intention based on the driver's operation data; if the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle, controlling the vehicle to enter a driving assistance activation mode; and if the actual operating intention is an intention to actively control the steering wheel to take over the lateral control of the vehicle, controlling the vehicle to enter a temporary exit state of the driving assistance activation mode, and responding to the lateral control action of the vehicle based on the operation data, until exiting or re-entering the driving assistance activation mode.

[0007] Based on the above technical means, the embodiments of this application can control the vehicle to enter a temporary exit state of the driving assistance activation mode when the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, the vehicle is controlled to remain in the driving assistance activation mode. This avoids the driver's unexpected exit from the lateral control function, reduces the exit rate of the driving assistance lateral control function, improves the continuity of driving assistance function use, and enhances the user experience.

[0008] Optionally, in some embodiments, identifying the driver's actual operating intention includes: acquiring the driver's hand torque, the vehicle's steering information, and / or the vehicle's braking information based on the operating data; and determining, based on the hand torque, the steering information, and / or the braking information, the actual operating intention as either not an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control.

[0009] Based on the above technical means, embodiments of this application can obtain the driver's hand torque, vehicle steering information, and / or vehicle braking information based on operation data, thereby helping to further determine the driver's actual operating intention; embodiments of this application can determine whether the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle based on hand torque, steering information, and / or braking information, thereby improving the user experience and enhancing the intelligence and practicality of the vehicle.

[0010] Optionally, in some embodiments, determining the actual driving intention as either "not an intention to actively control the steering wheel to take over lateral control of the vehicle" or "is an intention to actively control the steering wheel to take over lateral control of the vehicle" based on the hand torque, the steering information, and / or the braking information includes: if the hand torque is greater than a preset threshold, then determining the driver's driving intention as "is an intention to actively control the steering wheel to take over lateral control of the vehicle," otherwise determining it as "is not an intention to actively control the steering wheel to take over lateral control of the vehicle"; if the steering information includes information that the driver has turned on the turn signal, then determining the driver's driving intention as "is an intention to actively control the steering wheel to take over lateral control of the vehicle," otherwise determining it as "is not an intention to actively control the steering wheel to take over lateral control of the vehicle"; if the braking information includes information that the driver has actively applied the brakes, then determining the driver's driving intention as "is an intention to actively control the steering wheel to take over lateral control of the vehicle," otherwise determining it as "is not an intention to actively control the steering wheel to take over lateral control of the vehicle."

[0011] Based on the above technical means, the embodiments of this application can determine whether the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle or not to actively control the steering wheel to take over the lateral control of the vehicle, thereby avoiding the driver's unexpected withdrawal of the lateral control function, reducing the withdrawal rate of the driving assistance lateral control function, and improving the continuity of driving assistance function use.

[0012] Optionally, in some embodiments, before identifying the driver's actual operating intention, the method further includes: determining whether the vehicle is in a driving assistance activation mode; if it is in the driving assistance activation mode, then allowing the identification of the actual operating intention.

[0013] Based on the above technical means, the embodiments of this application can determine whether the vehicle is in the driving assistance activation mode, providing support for subsequent identification of the driver's operating intention; the embodiments of this application can allow the identification of the driver's actual operating intention when the vehicle is in the driving assistance activation mode, thereby helping to determine whether the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, further avoiding the driver's unexpected withdrawal of lateral control functions and improving the intelligence of the vehicle.

[0014] Optionally, in some embodiments, after controlling the vehicle to enter the temporary exit state of the driving assistance activation mode, the method further includes: generating a temporary exit reminder signal based on the temporary exit state; and controlling the vehicle to provide a temporary exit reminder to the driver based on the temporary exit reminder signal.

[0015] Based on the above-mentioned technical means, the embodiments of this application can control the vehicle to remind the driver to temporarily exit based on the temporary exit reminder signal, thereby improving the timeliness and effectiveness of the reminder and enhancing the user experience.

[0016] A second aspect of this application provides a lateral control device for driving assistance, comprising: an identification module for identifying the driver's actual operating intention based on the driver's operation data; a first control module for controlling the vehicle to be in a driving assistance activation mode when the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle; and a second control module for controlling the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operating intention is an intention to actively control the steering wheel to take over the lateral control of the vehicle, and responding to the lateral control action of the vehicle based on the operation data, until exiting or re-entering the driving assistance activation mode.

[0017] Optionally, in some embodiments, the identification module includes: an acquisition unit, configured to acquire the driver's hand torque, the vehicle's steering information, and / or the vehicle's braking information based on the operation data; and a determination unit, configured to determine, based on the hand torque, the steering information, and / or the braking information, whether the actual operation intention is either not an intention to actively control the steering wheel to take over the vehicle's lateral control or an intention to actively control the steering wheel to take over the vehicle's lateral control.

[0018] Optionally, in some embodiments, the determining unit includes: a first determining subunit, configured to determine that the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle when the hand torque is greater than a preset threshold, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle; a second determining subunit, configured to determine that the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle when the steering information includes information that the driver has turned on the turn signal, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle; and a third determining subunit, configured to determine that the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle when the braking information includes information that the driver has actively applied the brakes, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0019] Optionally, in some embodiments, the system further includes: a determination module, configured to determine whether the vehicle is in a driving assistance activation mode before identifying the driver's actual operating intention; and an intention recognition module, configured to allow the identification of the actual operating intention when the vehicle is in the driving assistance activation mode.

[0020] Optionally, in some embodiments, the system further includes: a generation module, configured to generate a temporary exit reminder signal based on the temporary exit state after controlling the vehicle to enter the temporary exit state of the driving assistance activation mode; and a reminder module, configured to control the vehicle to remind the driver of the temporary exit based on the temporary exit reminder signal.

[0021] A third aspect of this application provides a vehicle including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lateral control method for driving assistance as described in the above embodiments.

[0022] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon that is executed by a processor to implement the lateral control method for driving assistance as described in the above embodiments.

[0023] The beneficial effects of the embodiments of this application are as follows:

[0024] (1) In this embodiment, when the driver’s actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle can be controlled to enter the temporary exit state of the driving assistance activation mode. Otherwise, the vehicle is controlled to be in the driving assistance activation mode, thereby avoiding the driver’s unexpected exit of the lateral control function, reducing the exit rate of the driving assistance lateral control function, improving the continuity of the use of driving assistance function, and enhancing the user experience.

[0025] (2) The embodiments of this application can determine whether the driver’s operating intention is to actively control the steering wheel to take over the lateral control of the vehicle or not to actively control the steering wheel to take over the lateral control of the vehicle, thereby avoiding the driver’s unexpected exit from the lateral control function, reducing the exit rate of the driving assistance lateral control function, and improving the continuity of driving assistance function use.

[0026] (3) The embodiments of this application can determine whether the vehicle is in the driving assistance activation mode, which provides support for subsequent identification of the driver's operation intention. When the vehicle is in the driving assistance activation mode, it can allow the identification of the driver's actual operation intention, thereby helping to determine whether the driver's actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, further avoiding the driver's unexpected withdrawal of the lateral control function and improving the intelligence of the vehicle.

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 This is a flowchart of a lateral control method for driving assistance provided according to an embodiment of this application;

[0030] Figure 2 This is a flowchart of a lateral control method for driving assistance according to an embodiment of this application;

[0031] Figure 3 This is a flowchart of a lateral control method for driving assistance according to an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the structure of a lateral control device for driving assistance provided according to an embodiment of this application;

[0033] Figure 5 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application.

[0034] Among them, 10-lateral control device for driving assistance; 100-identification module, 200-first control module and 300-second control module; 501-memory, 502-processor and 503-communication interface. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] The following description, with reference to the accompanying drawings, outlines a lateral control method, device, vehicle, and storage medium for driver assistance according to embodiments of this application. Addressing the issues raised in the background art, which only allows for simple control of the vehicle exiting the active state of the lateral driving system and involves cumbersome processes for controlling the lateral functions of intelligent driving assistance, failing to accurately determine the driver's intervention intention and defining the exit timing solely from a functional design perspective, thus hindering the improvement of control function continuity and reducing the driver's user experience, this application provides a lateral control method for driver assistance. In this method, if the driver's actual intention is to actively control the steering wheel to take over the vehicle's lateral control, the vehicle can be temporarily exited from the driver assistance activation mode; otherwise, the vehicle remains in the driver assistance activation mode. This avoids unexpected exits of the driver's lateral control function, reduces the exit rate of the driver assistance lateral control function, improves the continuity of driver assistance function use, and enhances the user experience. Therefore, this method solves the problems of related technologies, which only allow for simple control of the vehicle exiting the active state of the lateral driving system, involve cumbersome processes for controlling the lateral functions of intelligent driving assistance, fail to accurately determine the driver's intervention intention and define the exit timing solely from a functional design perspective, hindering the improvement of control function continuity and reducing the driver's user experience.

[0037] Specifically, Figure 1 This is a flowchart illustrating a lateral control method for driving assistance provided in an embodiment of this application.

[0038] like Figure 1 As shown, the lateral control method of this driving assistance includes the following steps:

[0039] In step S101, the driver's actual operating intention is identified based on the driver's operation data.

[0040] It is understandable that, since the activation of the lateral control function of driving assistance in the relevant technology is based on the activation of the longitudinal function, when the longitudinal function is deactivated, the lateral function will also be deactivated. At the same time, when the driver intends to change lanes and turns on the turn signal, the lateral control function will also be deactivated immediately. Specifically, this is reflected in the following two scenarios: (1) When using the lateral control function of driving assistance, if the driver brakes to slow down but does not control the steering wheel, the current technical solution is to deactivate the longitudinal control function and the lateral control function when the driver brakes. If the driver brakes but does not control the steering wheel, it means that the driver only needs to take over the longitudinal control of the vehicle and has no intention to take over the lateral control. At this time, the lateral function is deactivated, and the lateral control of the vehicle is very likely to be out of control, which poses a certain safety risk. At the same time, after the driver brakes to deactivate, the driver needs to reactivate it, which increases the driver's operation and reduces the continuity of the use of the lateral function. (2) When using the lateral control function of driving assistance, if the driver turns on the turn signal but does not control the steering wheel to start changing lanes, the current technical solution is to deactivate the lateral control function when the turn signal is turned on. When the driver turns on the turn signal but does not control the steering wheel, the driver does not need to start changing lanes immediately. After the driver turns on the turn signal, he usually needs a certain amount of time to ensure that it is safe to change lanes before controlling the steering wheel to change lanes. During this period, the lateral control function has been deactivated. At this time, the driver's attention is on checking the lane change environment. Therefore, the lateral control of the vehicle is very likely to be out of control, which poses a certain safety risk.

[0041] Therefore, in actual implementation, the embodiments of this application can identify the driver's actual operating intention based on the driver's operation data. For example, the driver's operation data in the embodiments of this application includes, but is not limited to, the driver's control of the steering wheel, the control of the brake, and the control of the turn signals. The driver's actual operating intention in the embodiments of this application can be, but is not limited to, whether the driver actively controls the steering wheel to take over the lateral control of the vehicle, thereby meeting the driver's wishes and enabling good human-machine co-driving without disengaging the lateral control function of the driver assistance system, indirectly improving the continuity of the lateral control function of the driver assistance system and enhancing the user experience.

[0042] Optionally, in some embodiments, identifying the driver's actual operating intention includes: acquiring the driver's hand torque, vehicle steering information, and / or vehicle braking information based on operating data; and determining, based on the hand torque, steering information, and / or braking information, whether the actual operating intention is either an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle.

[0043] Specifically, embodiments of this application can obtain the driver's hand torque, vehicle steering information, and / or vehicle braking information based on operation data, thereby helping to further determine the driver's actual operating intention; embodiments of this application can determine whether the actual operating intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle based on hand torque, steering information, and / or braking information, thereby improving the intelligence of the vehicle and enhancing the user experience.

[0044] Optionally, in some embodiments, determining whether the actual driving intention is not an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle based on hand torque, steering information, and / or braking information includes: if the hand torque is greater than a preset threshold, then the driver's driving intention is determined to be an intention to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is not an intention to actively control the steering wheel to take over the lateral control of the vehicle. If the steering information includes information that the driver turns on the turn signal, then the driver's driving intention is determined to be an intention to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is not an intention to actively control the steering wheel to take over the lateral control of the vehicle. If the braking information includes information that the driver actively applies the brakes, then the driver's driving intention is determined to be an intention to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is not an intention to actively control the steering wheel to take over the lateral control of the vehicle.

[0045] It is understood that the preset thresholds in this application embodiment include, but are not limited to, threshold A, threshold B, and threshold C. Threshold A allows the driver to clearly distinguish between the vehicle's lateral control function and the difference in steering wheel resistance. The driver can clearly perceive the lateral control status of the vehicle through steering wheel resistance. Threshold B allows the driver to more easily take over lateral control of the vehicle by controlling the steering wheel; the resistance to the driver taking over steering wheel control should be small, therefore threshold B should be less than threshold A. Threshold C allows the driver to more easily take over lateral control of the vehicle by controlling the steering wheel; the resistance to the driver taking over steering wheel control should not hinder the driver's smooth takeover, therefore threshold C should be less than threshold A. Threshold C and hand torque threshold B are the hand torque thresholds for two different scenarios: the user turns on the turn signal and the user applies the brakes. In these two scenarios, the resistance to the driver taking over steering wheel control should not hinder the driver's smooth takeover, therefore thresholds B and C are both less than threshold A. Furthermore, these two scenarios correspond to different driving intentions of the driver. The values ​​of thresholds B and C are not necessarily related. It should be noted that, for the convenience of user learning, the specific values ​​can be calibrated to be equal or have small differences in actual calibration.

[0046] For example, in the embodiments of this application, when the function is active and the driver's steering wheel torque is greater than a threshold A (to distinguish the differences between different thresholds, threshold A may be, but is not limited to, 2.2 Nm), it is determined that the driver's intention is to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driver assistance lateral control function enters a temporary disengagement state, and the driver assistance lateral control function should temporarily disengage from the lateral control of the vehicle, returning the lateral control of the vehicle to the driver. When the function is active and the driver's steering wheel torque is less than or equal to threshold A, it is determined that the driver's intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0047] Furthermore, in this embodiment, when the driver's steering wheel torque is less than or equal to threshold A, braking information can be further determined to determine whether the driver actively applies the brakes to take over the longitudinal control of the vehicle. When the driver actively applies the brakes to take over the longitudinal control of the vehicle, the steering wheel torque can be determined to determine whether the driver's steering wheel torque is greater than threshold B (to distinguish the differences between different thresholds, threshold B can be, but is not limited to, 1.5 Nm). When the driver's steering wheel torque is greater than threshold B, it is determined that the driver's intention is to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driver assistance lateral control function enters a temporary disengagement state, and the driver assistance lateral control function temporarily withdraws from the lateral control of the vehicle, returning the lateral control of the vehicle to the driver. When the function is active, when the driver's steering wheel torque is less than or equal to threshold B, it is determined that the driver's intention is not to actively control the steering wheel to take over the lateral control of the vehicle. At this time, the driver assistance lateral control function remains active, continuously assisting the driver in controlling the lateral movement of the vehicle, and the lateral control of the vehicle belongs to the driver assistance lateral control function.

[0048] Furthermore, in this embodiment, when the driver's steering wheel torque is less than or equal to threshold A and the driver has not applied the brakes to take over longitudinal control of the vehicle, the steering information is further determined, including whether the driver has activated the turn signal. If the driver has not applied the brakes and has not activated the turn signal, it is determined that the driver's intention is not to actively control the steering wheel to take over lateral control of the vehicle. In this case, the driver assistance lateral control function remains active, continuously assisting the driver in controlling the lateral movement of the vehicle, and the lateral control of the vehicle belongs to the driver assistance lateral control function. If the driver has not applied the brakes and has activated the turn signal, the steering wheel torque is determined, and it is determined whether the driver's steering wheel torque is greater than threshold C (to distinguish...). Depending on the threshold value (C can be, but is not limited to, 1.5 Nm), when the driver's steering wheel torque exceeds the threshold value C, the driver's intention is determined to be to actively control the steering wheel and take over the vehicle's lateral control. At this time, the driver assistance lateral control function enters a temporary disengagement state, temporarily relinquishing lateral control of the vehicle and returning lateral control to the driver. When the driver's steering wheel torque does not exceed the threshold value C, the driver's intention is determined not to actively control the steering wheel and take over the vehicle's lateral control. At this time, the driver assistance lateral control function remains active, continuously assisting the driver in controlling the vehicle's lateral movement, and lateral control of the vehicle belongs to the driver assistance lateral control function.

[0049] The embodiments of this application can determine whether the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle or not to actively control the steering wheel to take over the lateral control of the vehicle, thereby avoiding the driver's unexpected withdrawal of the lateral control function, reducing the withdrawal rate of the driving assistance lateral control function, and improving the continuity of driving assistance function use.

[0050] It should be noted that the preset threshold can be set by those skilled in the art based on actual calibration experience for different vehicle models, and no specific restrictions are imposed here.

[0051] Optionally, in some embodiments, before recognizing the driver's actual operating intention, the method further includes: determining whether the vehicle is in a driving assistance activation mode; if it is in a driving assistance activation mode, then recognizing the actual operating intention is permitted.

[0052] It is understood that the driving assistance activation mode in this application embodiment can be that the driving assistance lateral control function is in an active state, the driving assistance lateral control function is in a running state, and continuously assists the driver in controlling the lateral movement of the vehicle. The lateral control of the vehicle belongs to the driving assistance lateral control function. Here, the driving assistance lateral control function refers to the function that assists in controlling the lateral movement behavior of the vehicle, such as assisting in controlling the vehicle to stay centered within the lane.

[0053] In actual implementation, the embodiments of this application can determine whether the vehicle is in the driving assistance activation mode, providing support for subsequent identification of the driver's operating intention; when the vehicle is in the driving assistance activation mode, the embodiments of this application can allow identification of the driver's actual operating intention, thereby helping to determine whether the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, thereby avoiding the driver's unexpected exit from the lateral control function and reducing the exit rate of the driving assistance lateral control function.

[0054] In step S102, if the actual operating intention is not to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to be in driving assistance activation mode.

[0055] In actual implementation, this application embodiment can control the vehicle to be in driving assistance activation mode when the actual operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle. At this time, it can continuously assist the driver in controlling the lateral movement of the vehicle, continue to judge the driver's operation intention, and then when the user intervenes to take over the control of the vehicle, and it is determined that it is not to actively control the steering wheel to take over the lateral control of the vehicle, the lateral control function can be continuously maintained according to the user's expectations, so as to avoid the driver's unexpected exit from the lateral control function.

[0056] In step S103, when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to enter a temporary exit state of the driving assistance activation mode. Based on the operation data, the lateral control action of the vehicle is responded to until the driving assistance activation mode is exited or re-entered.

[0057] It is understood that the functional states in the embodiments of this application include, but are not limited to, an active state and a temporary exit state. Temporary exit means that the driver assistance lateral control function temporarily exits the lateral control of the vehicle. After temporary exit, the function should be able to recover on its own. The temporary exit state can be that the driver assistance lateral control function is in a non-operating state and the lateral control of the vehicle belongs to the driver.

[0058] As one possible implementation, this application embodiment can control the vehicle to enter a temporary exit state of the driving assistance activation mode when the driver's actual operating intention is to actively control the steering wheel to take over the lateral control of the vehicle. Based on the driver's operation data, it responds to the lateral control action of the vehicle and returns the lateral control of the vehicle to the driver until it exits or re-enters the driving assistance activation mode, thereby further improving the continuity of driving assistance function use, improving the intelligence of the vehicle, and enhancing the user experience.

[0059] Optionally, in some embodiments, after controlling the vehicle to enter the temporary exit state of the driver assistance activation mode, the method further includes: generating a temporary exit reminder signal based on the temporary exit state; and controlling the vehicle to remind the driver to temporarily exit based on the temporary exit reminder signal.

[0060] It is understood that the temporary exit reminder in the embodiments of this application may, but is not limited to, reminding the driver to temporarily exit through acoustic, optical and / or text display and other reminder methods.

[0061] In actual implementation, this application embodiment can generate a temporary exit reminder signal based on the temporary exit status, providing support for subsequent reminders to the driver to temporarily exit; this application embodiment can control the vehicle to remind the driver to temporarily exit based on the temporary exit reminder signal, for example, this application embodiment can control the vehicle to remind the driver to temporarily exit via voice based on the temporary exit reminder signal; another example, this application embodiment can control the vehicle to remind the driver to temporarily exit by flashing lights on the display screen based on the temporary exit reminder signal; yet another example, this application embodiment can control the vehicle to remind the driver to temporarily exit via text on the display screen based on the temporary exit reminder signal.

[0062] This application embodiment can control the vehicle to temporarily exit the vehicle and remind the driver based on the temporary exit reminder signal, thereby improving the timeliness and effectiveness of the reminder and enhancing the user experience.

[0063] Specifically, it can be combined with Figure 2 and Figure 3 As shown, the working principle of the lateral control method for driving assistance according to an embodiment of this application will be explained in detail with a specific example.

[0064] like Figure 2 As shown, embodiments of this application may include the following steps:

[0065] Step S201: Activate state, judge the driver's operating intention through the driver's operation (steering wheel control, stepping on the brake, turning on the turn signal).

[0066] Step S202: The driver's intention is to actively control the steering wheel and take over the lateral control of the vehicle.

[0067] Step S203: Enter temporary exit state and return lateral control of the vehicle to the driver.

[0068] Step S204: The driver's intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0069] Furthermore, such as Figure 3 As shown, embodiments of this application may include the following steps:

[0070] Step S301: The function is active.

[0071] In this embodiment, the driver assistance lateral control function is in operation when the vehicle is in the active state, and continuously assists the driver in controlling the lateral movement of the vehicle. The lateral control of the vehicle belongs to the driver assistance lateral control function.

[0072] Step S302: Determine if the hand torque is greater than the threshold A. If yes, proceed to step S303; otherwise, proceed to step S304.

[0073] In this embodiment, it can determine whether the hand torque is greater than the threshold A. If yes, then step S303 is executed and the function enters a temporary exit state. If no, then step S304 is executed to determine whether the user has stepped on the brake.

[0074] Step S303: The function enters a temporary exit state.

[0075] In this embodiment of the application, the lateral control function of the driving assistance is in a non-operating state during the temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0076] Step S304: Determine if the user has pressed the brake pedal. If yes, proceed to step S305; otherwise, proceed to step S306.

[0077] In this embodiment, it can determine whether the user has pressed the brake pedal. If so, step S305 is executed to determine whether the hand torque is greater than a threshold B. If not, step S306 is executed to determine whether the turn signal is turned on.

[0078] Step S305: Determine if the hand torque is greater than the threshold B. If yes, proceed to step S307; otherwise, proceed to step S308.

[0079] In this embodiment, it can determine whether the hand torque is greater than the threshold B. If yes, step S307 is executed and the function enters a temporary exit state; if no, step S308 is executed and the function is in an active state.

[0080] Step S306: Determine whether the turn signal is on. If yes, proceed to step S309; ​​otherwise, proceed to step S310.

[0081] In this embodiment, it can determine whether the turn signal is turned on. If so, step S309 is executed to determine whether the hand torque is greater than the threshold C. If not, step S310 is executed, and the function is in an active state.

[0082] Step S307: The function enters a temporary exit state.

[0083] In this embodiment of the application, the lateral control function of the driving assistance is in a non-operating state during the temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0084] Step S308: The function is active.

[0085] In this embodiment, the driver assistance lateral control function is in operation when the vehicle is in the active state, and continuously assists the driver in controlling the lateral movement of the vehicle. The lateral control of the vehicle belongs to the driver assistance lateral control function.

[0086] Step S309: Determine if the hand torque is greater than the threshold C. If yes, proceed to step S311; otherwise, proceed to step S308.

[0087] In this embodiment, it can determine whether the hand torque is greater than the threshold C. If yes, then step S311 is executed, and the function enters a temporary exit state; if no, then step S308 is executed, and the function is in an active state.

[0088] Step S310: The function is active.

[0089] In this embodiment, the driver assistance lateral control function is in operation when the vehicle is in the active state, and continuously assists the driver in controlling the lateral movement of the vehicle. The lateral control of the vehicle belongs to the driver assistance lateral control function.

[0090] Step S311: The function enters a temporary exit state.

[0091] In this embodiment of the application, the lateral control function of the driving assistance is in a non-operating state during the temporary exit state, and the lateral control of the vehicle belongs to the driver.

[0092] The lateral control method for driving assistance proposed in this application can temporarily deactivate the driving assistance activation mode when the driver's actual intention is to actively control the steering wheel to take over the lateral control of the vehicle. Otherwise, the vehicle is kept in the driving assistance activation mode. This avoids unintended deactivation of the lateral control function by the driver, reduces the deactivation rate of the driving assistance lateral control function, improves the continuity of driving assistance function use, and enhances the user experience. Therefore, it solves the problems of related technologies that can only simply control the current vehicle to exit the lateral driving system activation state, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome. Furthermore, it cannot accurately determine the driver's intervention intention and only defines the deactivation time from the perspective of functional design, making it difficult to improve the continuity of control function and reducing the driver's user experience.

[0093] Next, referring to the accompanying drawings, a lateral control device for driving assistance according to an embodiment of this application is described.

[0094] Figure 4 This is a schematic diagram of the lateral control device for driving assistance according to an embodiment of this application.

[0095] like Figure 4 As shown, the lateral control device 10 for driving assistance includes: a recognition module 100, a first control module 200, and a second control module 300.

[0096] Specifically, the recognition module 100 is used to recognize the driver's actual operating intention based on the driver's operation data.

[0097] The first control module 200 is used to control the vehicle to be in driving assistance activation mode when the actual operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0098] The second control module 300 is used to control the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle. Based on the operation data, it responds to the lateral control actions of the vehicle until it exits or re-enters the driving assistance activation mode.

[0099] Optionally, in some embodiments, the identification module 100 includes an acquisition unit and a determination unit.

[0100] The acquisition unit is used to acquire the driver's hand torque, vehicle steering information, and / or vehicle braking information based on the operation data.

[0101] The determining unit is used to determine, based on hand torque, steering information, and / or braking information, whether the actual operating intention is either not an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle.

[0102] Optionally, in some embodiments, the determining unit includes: a first determining subunit, a second determining subunit, and a third determining subunit.

[0103] The first determining subunit is used to determine whether the driver's intention is to actively control the steering wheel to take over the lateral control of the vehicle when the hand torque is greater than a preset threshold, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0104] The second determining subunit is used to determine whether the driver's intention is to actively control the steering wheel to take over the lateral control of the vehicle when the steering information includes the information that the driver turns on the turn signal; otherwise, it is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0105] The third determining subunit is used to determine whether the driver's intention is to actively control the steering wheel to take over the lateral control of the vehicle when the braking information includes information about the driver actively pressing the brake. Otherwise, it is determined that the driver's intention is not to actively control the steering wheel to take over the lateral control of the vehicle.

[0106] Optionally, in some embodiments, the lateral control device 10 for driving assistance further includes a determination module and an intent recognition module.

[0107] The judgment module is used to determine whether the vehicle is in driving assistance activation mode before recognizing the driver's actual operating intention.

[0108] The intent recognition module is used to identify the actual operating intent when the driver assistance activation mode is active.

[0109] Optionally, in some embodiments, the lateral control device 10 for driving assistance further includes a generation module and a reminder module.

[0110] The generation module is used to generate a temporary exit reminder signal based on the temporary exit state after the vehicle enters the temporary exit state of the driving assistance activation mode.

[0111] The reminder module is used to control the vehicle to remind the driver to temporarily exit the vehicle based on the temporary exit reminder signal.

[0112] It should be noted that the foregoing explanation of the lateral control method embodiment for driving assistance also applies to the lateral control device for driving assistance in this embodiment, and will not be repeated here.

[0113] The lateral control device for driving assistance proposed in this application can temporarily exit the driving assistance activation mode when the driver's actual intention is to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it controls the vehicle to remain in the driving assistance activation mode. This avoids unintended exits of the lateral control function by the driver, reduces the exit rate of the driving assistance lateral control function, improves the continuity of driving assistance function use, and enhances the user experience. Therefore, it solves the problems of related technologies that can only simply control the current vehicle to exit the lateral driving system activation state, and the process of controlling the intelligent driving assistance lateral function is relatively cumbersome. Furthermore, it cannot accurately determine the driver's intervention intention and only defines the exit timing from the perspective of functional design, making it difficult to improve the continuity of control function and reducing the driver's user experience.

[0114] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0115] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0116] When the processor 502 executes the program, it implements the lateral control method for driving assistance provided in the above embodiments.

[0117] Furthermore, the vehicle also includes:

[0118] Communication interface 503 is used for communication between memory 501 and processor 502.

[0119] The memory 501 is used to store computer programs that can run on the processor 502.

[0120] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0121] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0122] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0123] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0124] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described lateral control method for driving assistance.

[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0126] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0127] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0128] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0129] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0130] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A lateral control method for driver assistance, characterized in that, Includes the following steps: Based on the driver's operation data, identify the driver's actual operating intention; When the actual operational intent is not to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to be in driving assistance activation mode. as well as When the actual operational intent is to actively control the steering wheel to take over the lateral control of the vehicle, the vehicle is controlled to enter the temporary exit state of the driving assistance activation mode. Based on the operation data, the lateral control action of the vehicle is responded to until the driving assistance activation mode is exited or re-entered. The step of identifying the driver's actual operating intention includes: The driver's hand torque, the vehicle's steering information, and the vehicle's braking information are obtained based on the operation data. Based on the hand torque, the steering information, and the braking information, the actual operating intention is determined to be either not an intention to actively control the steering wheel to take over the lateral control of the vehicle, or an intention to actively control the steering wheel to take over the lateral control of the vehicle. The step of determining the actual operating intention based on the hand torque, the steering information, and the braking information as either "not an intention to actively control the steering wheel to take over the lateral control of the vehicle" or "is an intention to actively control the steering wheel to take over the lateral control of the vehicle" includes: If the hand torque is greater than a preset threshold, then the driver's intention is determined to be to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is determined to be not to actively control the steering wheel to take over the lateral control of the vehicle. If the steering information includes the information that the driver turns on the turn signal, then the driver's intention is determined to be an intention to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is determined to be an intention not to actively control the steering wheel to take over the lateral control of the vehicle. If the braking information includes information about the driver actively pressing the brake, then the driver's intention is determined to be an intention to actively control the steering wheel to take over the lateral control of the vehicle; otherwise, it is determined to be an intention not to actively control the steering wheel to take over the lateral control of the vehicle. Specifically, when the driver's steering wheel torque is greater than threshold A, the driver's intention is determined to be the intention to actively control the steering wheel to take over the lateral control of the vehicle. When the driver's steering wheel torque is less than or equal to threshold A, it is determined whether the driver actively applies the brake to take over the longitudinal control of the vehicle. When the driver actively applies the brake to take over the longitudinal control of the vehicle, it is determined whether the driver's steering wheel torque is greater than threshold B. When the driver does not apply the brake and does not turn on the turn signal, the driver's intention is determined not to be the intention to actively control the steering wheel to take over the lateral control of the vehicle. When the driver does not apply the brake and turns on the turn signal, it is determined whether the driver's steering wheel torque is greater than threshold C.

2. The method according to claim 1, characterized in that, Before identifying the driver's actual operational intent, the process also includes: Determine whether the vehicle is in driver assistance activation mode; If the driver assistance activation mode is active, the actual operational intent can be recognized.

3. The method according to claim 1, characterized in that, After controlling the vehicle to enter the temporary exit state of the driver assistance activation mode, the method further includes: A temporary exit reminder signal is generated based on the temporary exit status; The vehicle is controlled to issue a temporary exit reminder to the driver based on the temporary exit reminder signal.

4. A lateral control device for driver assistance, characterized in that, include: The recognition module is used to identify the driver's actual operating intention based on the driver's operation data; The first control module is used to control the vehicle to be in driving assistance activation mode when the actual operation intention is not to actively control the steering wheel to take over the lateral control of the vehicle. as well as The second control module is used to control the vehicle to enter a temporary exit state of the driving assistance activation mode when the actual operation intention is to actively control the steering wheel to take over the lateral control of the vehicle. Based on the operation data, it responds to the lateral control action of the vehicle until it exits or re-enters the driving assistance activation mode. The identification module includes: The acquisition unit is used to acquire the driver's hand torque, the vehicle's steering information, and the vehicle's braking information based on the operation data. The determining unit is configured to determine, based on the hand torque, the steering information, and the braking information, whether the actual operating intention is either not an intention to actively control the steering wheel to take over the lateral control of the vehicle or an intention to actively control the steering wheel to take over the lateral control of the vehicle. The determining unit includes: The first determining subunit is used to determine the driver's operating intention as actively controlling the steering wheel to take over the lateral control of the vehicle when the hand torque is greater than a preset threshold, and otherwise as not actively controlling the steering wheel to take over the lateral control of the vehicle. The second determining subunit is used to determine, when the steering information includes the information that the driver turns on the turn signal, that the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle. The third determining subunit is used to determine, when the braking information includes information about the driver actively pressing the brake, that the driver's operating intention is to actively control the steering wheel to take over the lateral control of the vehicle, otherwise it is not to actively control the steering wheel to take over the lateral control of the vehicle. Specifically, when the driver's steering wheel torque is greater than threshold A, the driver's intention is determined to be the intention to actively control the steering wheel to take over the lateral control of the vehicle. When the driver's steering wheel torque is less than or equal to threshold A, it is determined whether the driver actively applies the brake to take over the longitudinal control of the vehicle. When the driver actively applies the brake to take over the longitudinal control of the vehicle, it is determined whether the driver's steering wheel torque is greater than threshold B. When the driver does not apply the brake and does not turn on the turn signal, the driver's intention is determined not to be the intention to actively control the steering wheel to take over the lateral control of the vehicle. When the driver does not apply the brake and turns on the turn signal, it is determined whether the driver's steering wheel torque is greater than threshold C.

5. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the lateral control method for driving assistance as described in any one of claims 1-2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the lateral control method for driving assistance as described in any one of claims 1-2.

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