Driving behavior monitoring method, device and computer readable storage medium

Abstract

The present application provides a driving behavior monitoring method, device and computer-readable storage medium to monitor vehicle state changes. When the vehicle switches from a restricted parking state to a controllable driving state, relevant behavior information of the driver is obtained to ensure its safety during the vehicle startup phase. Specifically, based on the relevant behavior information, it is determined whether the change in the vehicle state is the driver's real driving intention, and a judgment result is obtained. Through the judgment result, it is determined whether the current operation of switching the vehicle from a restricted parking state to a controllable driving state is the driver's real driver intention, and further determines whether the vehicle startup process is a false start. When a judgment result that is not a real driving intention is obtained, that is, when the vehicle is mistakenly started, an emergency response strategy is initiated to control vehicle safety.

Description

Technical Field

[0001] The present application relates to the field of automobile safety technology, and in particular to a driving behavior monitoring method, device, and computer-readable storage medium. Background Art

[0002] With the development of the modern automobile industry, the automatic parking system (AUTOHOLD) has become a common configuration for various types of vehicles due to its remarkable convenience. However, it cannot be ignored that there is a hidden safety crisis behind this convenience. When the driver accidentally touches the accelerator pedal due to distraction, or the vehicle starts due to the wrong operation of the button, the existing system often cannot accurately judge the current situation, which leads to accidental start.

[0003] Such misstart situations can easily cause accidents in relatively cramped spaces such as underground garages, posing a serious threat to the safety of life and property. In view of this, it is urgent to develop a system that can effectively monitor driver behavior and give timely reminders, which is of great significance to improving the safety of automobile driving. Summary of the invention

[0004] To overcome the problems existing in the related art, this specification provides a driving behavior monitoring method, device and computer-readable storage medium.

[0005] According to a first aspect of an embodiment of this specification, a driving behavior monitoring method is provided, the method comprising:

[0006] Monitor vehicle status changes and obtain relevant driver behavior information when the vehicle switches from a restricted parking state to a controllable driving state;

[0007] Determine whether the change in the vehicle state is the driver's actual driving intention based on the relevant behavior information, and obtain a determination result;

[0008] When a judgment result of non-real driving intention is obtained, an emergency response strategy is initiated, and the emergency response strategy is used to control vehicle safety.

[0009] According to a driving behavior monitoring method provided by the present application, the relevant behavior information includes information of a first driver's gaze area;

[0010] The determining, based on the relevant behavior information, whether the change in the vehicle state is the driver's actual driving intention, and obtaining a determination result includes:

[0011] Determining whether the first driver's gaze area deviates from a set effective gaze area for safe driving of the vehicle;

[0012] If the first driver's gaze area deviates from the effective gaze area, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

[0013] According to a driving behavior monitoring method provided by the present application, if the first driver's gaze area deviates from the effective gaze area, obtaining a judgment result that the change in the vehicle state is the driver's non-real driving intention includes:

[0014] If the first driver's gaze area leaves the effective gaze area, monitoring a first duration of the gaze leaving process;

[0015] If the first time duration reaches a threshold, a judgment result is obtained that the change in the vehicle state is a non-actual driving intention of the driver.

[0016] According to a driving behavior monitoring method provided by the present application, the method further includes:

[0017] If the first driver's gaze area does not leave the effective gaze area, obtaining information of a second driver's gaze area within a second time period before the vehicle switches from the restricted parking state to the controllable driving state;

[0018] determining whether the change in the vehicle state is the driver's actual driving intention according to the smoothness of the switching from the second driver's gaze area to the first driver's gaze area;

[0019] When the degree of stability does not satisfy a set condition, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

[0020] According to a driving behavior monitoring method provided by the present application, the relevant behavior information includes the opening information of the accelerator pedal;

[0021] The determining, based on the relevant behavior information, whether the change in the vehicle state is the driver's actual driving intention, and obtaining a determination result includes:

[0022] Determining, according to the opening information of the accelerator pedal, a jump amplitude of the accelerator pedal when the vehicle state is switched;

[0023] When the jump amplitude is greater than a set value, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

[0024] According to a driving behavior monitoring method provided by the present application, when a judgment result of non-real driving intention is obtained, an emergency response strategy is initiated, including:

[0025] When a judgment result of non-real driving intention is obtained, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result;

[0026] Initiate an emergency response strategy corresponding to the hazard level.

[0027] According to a driving behavior monitoring method provided by the present application, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result includes:

[0028] Obtaining the real-time speed of the vehicle in the current state;

[0029] Determining the danger level of the vehicle in the current state according to the relevant behavior information and the real-time vehicle speed corresponding to the judgment result;

[0030] Therein, the vehicle speed is positively correlated with the change in the danger level.

[0031] According to a driving behavior monitoring method provided by the present application, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result includes:

[0032] Acquiring data of a pressure sensing area on a brake pedal of the vehicle, wherein the data of the pressure sensing area is used to feedback a contact state of the brake pedal;

[0033] The danger level of the vehicle in the current state is determined according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal.

[0034] According to a driving behavior monitoring method provided by the present application, determining the danger of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal includes:

[0035] Determining a basic danger level of the vehicle in a current state according to the relevant behavior information corresponding to the judgment result;

[0036] When the pressure sensing area on the brake pedal detects a non-zero change in pressure data, determining that the brake pedal is in a contact state;

[0037] The basic danger level is reduced to obtain a final danger level of the vehicle in the current state.

[0038] According to a driving behavior monitoring method provided by the present application, the emergency response strategy includes a danger warning strategy.

[0039] The initiating of an emergency response strategy corresponding to the danger level includes:

[0040] Obtaining an execution method of a danger warning corresponding to the danger level;

[0041] Outputting a hazard warning signal to an actuator corresponding to the execution mode in the vehicle, so as to warn the driver through the actuator.

[0042] According to a driving behavior monitoring method provided by the present application, the emergency response strategy also includes a braking strategy.

[0043] The initiating of an emergency response strategy corresponding to the danger level includes:

[0044] When the danger level is the highest level, a danger warning signal is output to the actuator corresponding to the execution mode in the vehicle, and a braking signal is sent to the braking system of the vehicle to control the automatic braking of the vehicle.

[0045] The present application also provides a driving behavior monitoring device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the driving behavior monitoring method described above is implemented.

[0046] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the driving behavior monitoring method as described in any one of the above is implemented.

[0047] The driving behavior monitoring method, device, and computer-readable storage medium in the embodiments of this specification monitor vehicle state changes. When the vehicle switches from a restricted parking state to a controllable driving state, relevant behavior information of the driver is obtained to ensure its safety during the vehicle startup phase. Specifically, it is determined based on the relevant behavior information whether the change in the vehicle state is the driver's real driving intention, and a judgment result is obtained. The judgment result is used to determine whether the current operation of switching the vehicle from a restricted parking state to a controllable driving state is the driver's real driver intention, and further determine whether the vehicle startup process is a false start. When a judgment result that is not a real driving intention is obtained, that is, when the vehicle is mistakenly started, an emergency response strategy is initiated to control vehicle safety.

[0048] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0050] Figure 1is a flow chart of a driving behavior monitoring method according to an exemplary embodiment of the present specification;

[0051] Figure 2 is another flowchart of a driving behavior monitoring method according to an exemplary embodiment of the present specification;

[0052] Figure 3 is a schematic diagram of a process of judging driving intention according to an exemplary embodiment of the present specification;

[0053] Figure 4 is another flowchart of driving intention judgment according to an exemplary embodiment of the present specification;

[0054] Figure 5 is a schematic diagram of a process for determining a danger level according to an exemplary embodiment of the present specification;

[0055] Figure 6 is a schematic diagram of a driving behavior monitoring device according to an exemplary embodiment of the present specification;

[0056] Figure 7 It is a schematic block diagram of a driving behavior monitoring device shown in this specification according to an exemplary embodiment. DETAILED DESCRIPTION

[0057] Here, the technical solutions in the embodiments (or "implementation methods") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0058] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first" and "second" in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0059] The present application provides a driving behavior monitoring method, device and computer readable storage medium. The present application is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0060] When the vehicle is waiting at a red light or making a temporary stop, the driver usually stops the vehicle by using the automatic parking function or shifting the vehicle into P gear. In this case, the driver is relaxed and may start the vehicle due to misoperation of buttons or accidentally touching the accelerator pedal due to distraction. Such misoperation can easily cause accidents in relatively cramped spaces such as underground garages, posing a serious threat to the safety of life and property.

[0061] In order to solve the above technical problems, this specification provides a driving behavior monitoring method.

[0062] It aims to advance the vehicle's safety protection to the starting stage, complementing the traditional solution of ensuring driving safety during the driving stage. By timely monitoring the driving behavior when the vehicle is stationary and starting to determine the false start, and quickly responding to the false start, it effectively fills the gap in the safety issues of the vehicle starting link that are easily overlooked, greatly expands the time dimension and scenario coverage of automobile safety protection, and improves the overall automobile driving safety.

[0063] It should be noted that the driving behavior monitoring solution in this article is applied to any device or system in terminals, vehicles, independent servers, server clusters, cloud, vehicle network platforms, Internet of Things platforms, etc.

[0064] The present application provides an embodiment of a driving behavior monitoring method, referring to Figure 1 and Figure 2 , Figure 1 Schematic diagram of a driving behavior monitoring method provided in an embodiment of this specification, comprising the following steps:

[0065] S110, monitoring the vehicle state change, when the vehicle switches from the restricted parking state to the controllable driving state, obtaining the driver's relevant behavior information.

[0066] The restricted parking state of the vehicle described in this article means that the vehicle cannot be started and driven at will due to certain specific conditions, which may include but is not limited to the situation where the vehicle starts the automatic parking mode and the vehicle gear is in the P gear. The controllable driving state of the vehicle means that the vehicle has the conditions for starting, accelerating, turning, braking, etc. to be driven normally through the driver's operation, which may include but is not limited to the situation where the automatic parking mode is released and the gear is changed from the P gear to other gears. At this time, the vehicle can be driven normally according to the driver's operation.

[0067] The vehicle is equipped with a variety of sensors and electronic control systems that can grasp the vehicle's status in real time. For example, the electronic control unit inside the vehicle continuously collects data from various sensors, and after processing and analysis, it can accurately determine whether the vehicle is in a restricted parking state or has switched to a controllable driving state.

[0068] When the vehicle switches from the restricted parking state to the controllable driving state, it indicates the process of vehicle startup. It can be understood that the various restrictive factors that originally prevented the vehicle from running normally have been lifted, and it is about to enter the normal operation stage. However, this switching process may be caused by the driver's active operation, such as releasing the handbrake normally, switching the gear from the parking gear to the forward gear while stepping on the clutch (for manual transmission vehicles), or stepping on the brake and shifting into D gear (for automatic transmission vehicles). It may also be that the driver's misoperation (such as mistakenly pressing the automatic parking button, mistakenly stepping on the accelerator pedal, etc.) caused the vehicle to start. Misstartion can easily induce accidents and pose a serious threat to the safety of life and property. It needs to be identified and effectively resolved in a timely manner, which is of great significance to improving the safety of car driving.

[0069] Therefore, when the vehicle switches from a restricted parking state to a controllable driving state, the driver's behavior information is monitored and analyzed to effectively identify the vehicle's misstart event at this stage. In the case of misstart, further emergency response is performed, such as warnings and automatic braking, to ensure driving safety. This part will be introduced in detail in subsequent chapters.

[0070] S120: Determine whether the change in the vehicle state is the driver's actual driving intention based on the relevant behavior information, and obtain a determination result.

[0071] Continue to refer to Figure 2 , based on whether the driver's driving intention is consistent with the vehicle state change, it is determined whether the vehicle start is an error start or a normal start. It can be understood that if the driver's driving intention is to start the vehicle, then the vehicle start at this time is a normal start. On the contrary, if the driver's driving intention is not to start the vehicle or the driver has no intention to start the vehicle, then the vehicle start is an error start at this time, and an emergency response strategy needs to be activated to ensure driving safety.

[0072] In some embodiments, the relevant behavior information includes information about the first driver's gaze area. When the vehicle state changes, whether the driver's sight is focused on the valid area is used to determine whether the change in the vehicle state is the driver's real driving intention.

[0073] As an example, see Figure 3 , judging whether the change of the vehicle state is the driver's real driving intention according to the relevant behavior information, and obtaining a judgment result, including:

[0074] S1210, determining whether the first driver's gaze area deviates from a set effective gaze area for safe driving of the vehicle;

[0075] S1211: If the first driver's gaze area deviates from the effective gaze area, a judgment result is obtained that the change in the vehicle state is a non-actual driving intention of the driver.

[0076] The effective viewing area refers to the range that can provide the driver with visual information directly related to the current normal driving operation of the vehicle. For example, when driving in a normal straight line, the effective viewing area is mainly in front of the vehicle; when the vehicle is preparing to turn, the effective viewing area includes the area in front and on the side of the turning direction.

[0077] As an example, the effective gaze area EYEzone is divided into the following ranges according to the vehicle's built-in model: the front, the left rearview mirror, the right rearview mirror, the interior rearview mirror, and the area corresponding to the 360° surround view image.

[0078] The first driver's gaze area refers to the area where the driver's line of sight is located, and the area is constantly updated according to the driver's line of sight. Through the camera or other visual monitoring equipment installed in the car, the driver's line of sight direction and focus point can be tracked in real time to determine the first driver's gaze area.

[0079] Normally, when the vehicle state is about to change or is changing, such as when the vehicle is about to start moving forward, preparing to change lanes, or making a turn, the driver needs to focus his or her sight on a specific effective area in order to obtain accurate road condition information and make correct driving decisions. Therefore, once it is found that the driver's sight has deviated from the effective gaze area defined above (that is, the first driver's gaze area does not belong to a certain area in the effective gaze area), it is determined that the current vehicle change is not the driver's real driving intention, and a judgment result of non-real driving intention is obtained to trigger subsequent emergency strategies.

[0080] In other examples, continue to refer to Figure 3 , if the first driver's gaze area leaves the effective gaze area, obtaining a judgment result that the change in the vehicle state is the driver's non-real driving intention includes:

[0081] S1212, if the first driver's gaze area leaves the effective gaze area, monitoring a first duration of the gaze leaving process;

[0082] S1213: If the first time duration reaches a threshold, a judgment result is obtained that the change in the vehicle state is a false driving intention of the driver.

[0083] In some cases, the driver may temporarily leave the effective gaze area for a short moment due to normal operations such as checking the instrument information in the car or adjusting the rearview mirror. This situation usually recovers in a very short time. Therefore, in order to improve the accuracy of judging the driver's true intention, it is necessary to monitor the first duration of the gaze departure process.

[0084] When the first duration of the driver's sight leaving the effective gaze area reaches or exceeds the threshold, it means that the driver has a serious lack of concentration, a driver's wrong operation, etc. According to the system's logical judgment, the driver is deemed to have no driving intention at this time, and the operation corresponding to the current vehicle state change is considered to be a wrong operation. For example, if the vehicle is in the process of starting, and the driver's sight is away for more than 3 seconds, then this start operation may not be an intentional behavior based on the driver's full understanding of the road conditions and driving environment, and may be caused by accidentally touching the start button or unconscious body movements. In this case, the change in vehicle status is the result of the judgment that the driver has no real driving intention.

[0085] It is understandable that the setting of the threshold is an empirical value based on the research and analysis of normal driving behavior and distraction. For example, if the threshold is set to 3 seconds, then if the driver's eyes leave the effective gaze area for more than 3 seconds, it is likely that the driver has a serious lack of concentration or the driver has lost the intention and accuracy of the operation of the current vehicle state change.

[0086] In other embodiments, the driver's first driver's gaze area in the effective gaze area may be caused by the vehicle starting. It can be understood that in the automatic parking mode, the vehicle should theoretically be in a stable and stationary state and wait for the driver's clear instructions before starting. If a false start occurs, it may be due to misoperation, vehicle system failure, sensor misjudgment or other abnormal conditions. At this time, the driver's line of sight usually changes suddenly, such as suddenly leaving the effective gaze area to the line of sight falling in the effective gaze area (such as looking forward). This is because the unexpected start of the vehicle breaks the original expectation of stillness, and the driver will instinctively shift his attention to the road ahead, trying to understand why the vehicle starts and assess the current dangerous situation. However, this sudden change in line of sight is often passive and without prior driving intention, which further proves that the start of the vehicle is a false operation. Therefore, the driver's line of sight changes in this case are monitored to further improve the accuracy of judging the driver's true intentions.

[0087] As an example, continue to refer to Figure 3 After determining whether the first driver's gaze area is out of the set effective gaze area for safe driving of the vehicle, the method further includes:

[0088] S1220: If the first driver's gaze area does not leave the effective gaze area, obtaining information of a second driver's gaze area within a second time period before the vehicle is switched from the restricted parking state to the controllable driving state;

[0089] S1221, judging whether the change in the vehicle state is the driver's actual driving intention according to the degree of smoothness when the second driver's gaze area switches to the first driver's gaze area;

[0090] S1222, when the degree of stability does not satisfy a set condition, a judgment result is obtained that the change in the vehicle state is a non-genuine driving intention of the driver.

[0091] If the first driver's gaze area does not leave the effective gaze area, information about the second driver's gaze area of ​​the driver within the specified second time period before the vehicle state changes is obtained. If the second driver's gaze area also does not leave the effective gaze area, it means that the driver's starting of the vehicle is a conscious behavior during the process of switching the vehicle from the restricted parking state to the controllable driving state, that is, whether the change in the vehicle state is the driver's real driving intention.

[0092] If the second driver's gaze area deviates from the effective gaze area, there is a process of switching from the second driver's gaze area to the first driver's gaze area. Under normal circumstances, if the driver has a real driving intention to start the vehicle and drive, then the transfer of his line of sight will be relatively coherent and orderly, switching smoothly from the second driver's gaze area to the first driver's gaze area, so as to obtain accurate road condition information through the first driver's gaze area and the second driver's gaze area and make correct driving decisions. It should be noted that the "smoothness" mentioned in this article mainly considers whether the conversion of the gaze area is smooth, natural and in line with normal driving logic. The set condition is the condition for judging the smooth switching of the line of sight.

[0093] If the process of switching from the second driver's gaze area to the first driver's gaze area is more drastic and does not meet the set conditions, and there is a situation where the sight switching is chaotic and does not conform to the normal driving process, the system will conclude that the change in the vehicle state is not the driver's true driving intention. For example, the driver may start the vehicle by mistake, or the vehicle may be disturbed by other external factors, causing the state to change, and the driver himself has no intention of driving. Once such a judgment result is reached, corresponding measures can be taken later, such as sending a reminder message to the driver to confirm the situation, suspending further state change operations of the vehicle, etc., to ensure driving safety and avoid potential accidents caused by non-subjective changes in vehicle state. This part will be explained in detail in subsequent chapters.

[0094] Through the above-mentioned multiple embodiments, the driver's driving intention is determined based on the mechanism of vehicle state changes and driver's line of sight monitoring, aiming to improve driving safety, timely discover and correct misoperation, and reduce the risk of accidents.

[0095] In other embodiments, the relevant behavior information includes the opening degree information of the accelerator pedal. By the change of the accelerator pedal when the vehicle state is switched, it is determined that this operation is the real intention of the driver.

[0096] As an example, see Figure 4 , judging whether the change of the vehicle state is the driver's real driving intention according to the relevant behavior information, and obtaining a judgment result, including:

[0097] S1230, determining, according to the opening information of the accelerator pedal, a jump amplitude of the accelerator pedal when the vehicle state is switched;

[0098] S1231, when the jump amplitude is greater than the set value, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

[0099] A specific jump amplitude value is set as the critical standard for judgment. When the calculated accelerator pedal jump amplitude is greater than this set value, it means that the driver's operation of the accelerator pedal has undergone a major change that is inconsistent with normal driving logic.

[0100] Under normal circumstances, when the driver starts the vehicle or accelerates after switching the state, he will step on the accelerator pedal smoothly and gradually based on comprehensive consideration of factors such as road conditions, the vehicle's surroundings, and his own driving needs. For example, when starting normally, the driver will generally step on the accelerator lightly to start the vehicle slowly, and then deepen the pedal opening appropriately according to the actual situation to steadily increase the speed. However, if the jump amplitude is too large and exceeds the normal and reasonable range, it is likely that the change in the vehicle state is not an operation implemented by the driver after rational thinking and based on the real driving intention. Therefore, it is concluded that the change in the vehicle state is not the result of the judgment of the driver's real driving intention.

[0101] For example, when the vehicle has just released the automatic parking, the accelerator pedal opening suddenly jumps from 0 to 80%. Such a large jump is not in line with the normal operation habits when starting. It may be a driver's misoperation, such as accidentally stepping on the accelerator pedal hard, instead of wanting to start the vehicle quickly and drive at high speed. In other words, the change in vehicle status is not the driver's real driving intention. Once such a judgment result is obtained, the vehicle needs to take corresponding measures to ensure safety.

[0102] Through this embodiment, by monitoring the jump amplitude of the accelerator pedal when the vehicle state switches and comparing it with the set value, it helps to more accurately analyze the rationality of the driver's operation and the authenticity of the vehicle state change, which is of great significance to improving safety during driving.

[0103] S130: When a judgment result of non-real driving intention is obtained, an emergency response strategy is initiated, where the emergency response strategy is used to control vehicle safety.

[0104] When the judgment result of non-real driving intention is obtained, it means that the vehicle's start operation may not be an intentional behavior based on the driver's full understanding of the road conditions and driving environment, but may be caused by accidentally touching the start button or unconscious body movements. In order to avoid safety accidents that may be caused by such misoperation, the vehicle's control system will immediately initiate an emergency response strategy.

[0105] As an example, when a judgment result of non-real driving intention is obtained, the emergency response strategy is initiated, including:

[0106] S1310, when a judgment result of non-real driving intention is obtained, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result;

[0107] S1320: Initiate an emergency response strategy corresponding to the danger level.

[0108] When the judgment result that the vehicle state change is not a real driving intention is obtained, the current danger level of the vehicle is further measured based on the relevant behavior information corresponding to the judgment result, that is, the danger level is determined. Among them, the relevant behavior information corresponding to the judgment result can be, but is not limited to, the above-mentioned changes in the driver's gaze area, the opening and jump amplitude of the accelerator pedal, the contact state of the brake pedal, the current real-time speed of the vehicle, etc. By comprehensively analyzing these detailed behavior information, a quantitative assessment of the dangerous situation faced by the vehicle is performed.

[0109] Different danger levels reflect the possibility of a dangerous accident occurring in the current state of the vehicle and the severity of the consequences if an accident occurs. In addition, different danger levels correspond to different emergency response strategies.

[0110] In one case, the danger level is determined based on changes in the driver's gaze area.

[0111] Specifically, when the driver's line of sight leaves the effective gaze area, the update time is recorded as T. The threshold of T is 3s. , which means that the driver's gaze position temporarily leaves the effective gaze area, and the danger level is low or there is no accident risk. The danger level of the vehicle in the current state is determined to be 0. 3s, which means that the driver’s line of sight is not in the effective gaze area for a long time and the danger level is high. The danger level of the vehicle in its current state is determined to be Level 1.

[0112] In another case, the danger level is determined based on relevant behavioral information and the real-time speed of the vehicle in its current state.

[0113] Specifically, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result includes:

[0114] Step a11, obtaining the real-time speed of the vehicle in the current state;

[0115] Step a12, determining the danger level of the vehicle in the current state according to the relevant behavior information and the real-time vehicle speed corresponding to the judgment result;

[0116] Therein, the vehicle speed is positively correlated with the change in the danger level.

[0117] Reference Figure 3 The real-time vehicle speed can intuitively reflect the current state of motion of the vehicle and the potential degree of danger. As the vehicle speed increases, the danger level faced by the vehicle will also increase accordingly. Therefore, the driving danger level caused by the vehicle state switching is further determined based on the real-time vehicle speed. Specifically, based on the danger level determined based on whether the driver's line of sight leaves the effective gaze area, the danger level is updated based on the size of the real-time vehicle speed or whether the vehicle speed is zero.

[0118] The updates of specific hazard levels are shown in Table 1 below:

[0119] Table 1:

[0120]

[0121] In another case, the danger level is determined based on the operation of the accelerator pedal.

[0122] Specifically, refer to Figure 4 , the opening of the accelerator pedal and the jump amplitude when the vehicle state switches. If the jump amplitude is too large, it often implies that the operation may not be in line with normal driving intentions and may easily cause danger. The change of the accelerator pedal will affect the real-time vehicle speed. Therefore, when the accelerator pedal changes drastically, it means that the vehicle suddenly accelerates, and the degree of danger at this time is high. It is determined that the danger level of the vehicle in the current state is increased to the highest level.

[0123] In other cases, the brake pedal is combined to further determine whether the driver has a sense of braking. If the driver has a certain sense of braking, it means that the driving risk caused by the vehicle's false start is controllable. For example, the driver can make a braking operation in time, so the danger level can be reduced or the driving behavior monitoring program can be exited according to the contact state of the brake pedal.

[0124] Specifically, refer to Figure 5 , determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result includes:

[0125] Step b11, acquiring data of a pressure sensing area on a brake pedal of the vehicle, wherein the data of the pressure sensing area is used to feedback a contact state of the brake pedal;

[0126] Step b12, determining the danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal.

[0127] The contact state of the brake pedal is determined by the data of the pressure sensing area on the vehicle's brake pedal. For example, when the driver's foot just touches the brake pedal, even if no significant pedal force has been applied, the pressure sensor can capture this slight contact. When the driver's foot is detected to be in contact with the brake pedal, it means that the driver has a certain degree of braking awareness or safety awareness, and can reduce the safety risks caused by false start in time by stepping on the brake pedal. In this case, the initially determined danger level can be further reduced to obtain the final danger level of the vehicle in the current state.

[0128] As an example, continue to refer to Figure 5 , determining the danger of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal, comprises:

[0129] Step b121, determining a basic danger level of the vehicle in the current state according to the relevant behavior information corresponding to the judgment result;

[0130] Step b122, when the pressure sensing area on the brake pedal detects a non-zero change in pressure data, determining that the brake pedal is in a contact state;

[0131] Step b123, reducing the basic danger level to obtain the final danger level of the vehicle in the current state.

[0132] The basic danger level of the vehicle in its current state is determined based on the relevant behavioral information corresponding to the judgment result. The relevant behavioral information covers multiple key aspects, such as the relationship between the driver's gaze area and the effective gaze area, the operation of the accelerator pedal, the real-time vehicle speed, etc.

[0133] The vehicle's brake pedal is equipped with a pressure sensing area, whose main function is to detect the pressure applied to the pedal. When this pressure sensing area detects a non-zero change in pressure data, it means that an external force is acting on the brake pedal, that is, the brake pedal is determined to be in contact. This indicates that the driver has operated the brake pedal, whether it is lightly or heavily stepped on, as long as there is a pressure change, it means that the driver intends to intervene in the vehicle's driving state by braking. For example, when the vehicle accelerates abnormally, the driver realizes the danger, touches the brake pedal with his foot and begins to apply a certain amount of pressure. The sensor in the pressure sensing area can capture this change and promptly feedback to the vehicle's control system.

[0134] Once it is determined that the brake pedal is in contact, based on the positive effect of braking operation on ensuring driving safety, the previously determined basic danger level will be adjusted, that is, the basic danger level will be reduced, so as to obtain the final danger level of the vehicle in the current state. This is because braking operation can effectively reduce the speed of the vehicle, control the distance between the vehicle and other objects, and avoid or reduce possible dangerous consequences to a certain extent.

[0135] In this embodiment, the contact state of the brake pedal is taken into consideration to determine the driving hazard level caused by the vehicle state switching, which can accurately reflect the driver's safety intentions, optimize the vehicle safety prevention and control mechanism to the greatest extent, and effectively reduce unnecessary alarms and interventions.

[0136] Through the above-mentioned situations, the driving hazard level caused by the vehicle state switching can be accurately determined, and different emergency strategies can be flexibly selected accordingly, which can significantly improve the active safety of the vehicle under complex working conditions, effectively reduce the probability of accidents and alleviate the degree of harm caused by accidents, providing more reliable travel protection for drivers and passengers.

[0137] Then, according to different danger levels, different and matching emergency response strategies are flexibly selected and output to relevant actuators according to the final decision results to minimize risks and ensure driving safety.

[0138] As an example, the emergency response strategy includes a hazard warning strategy, a braking strategy, and the like.

[0139] The output alarm execution mode is determined according to the danger level. The specific judgment criteria are shown in Table 2 below:

[0140] Table 2:

[0141]

[0142] For situations where the danger level is 0, the driving safety risk is low, so no response is required and monitoring continues.

[0143] For situations with a danger level of 1, the emergency response strategy is relatively mild, avoiding excessive braking that interferes with the vehicle's driving smoothness and driving comfort while ensuring safety.

[0144] As an example, the initiating an emergency response strategy corresponding to the danger level includes:

[0145] Obtaining an execution method of a danger warning corresponding to the danger level;

[0146] Outputting a hazard warning signal to an actuator corresponding to the execution mode in the vehicle, so as to warn the driver through the actuator.

[0147] In order to avoid safety accidents that may be caused by mis-starting, the vehicle's control system will immediately activate the hazard warning function. Danger warnings can be carried out in a variety of ways, such as sound and light alarms. Sound and light alarms can be, but are not limited to, sharp alarm sounds in the car, eye-catching warning icons displayed on the dashboard, vibrations of the seat or steering wheel, flashing warning lights, etc., to attract the driver's attention, so that he can restore his sight to the effective area as soon as possible and re-evaluate the current driving operation.

[0148] For situations with a danger level of Level 2, the emergency response strategy needs to be more decisive and powerful. Use the emergency response strategy of warning and emergency braking to quickly prevent the dangerous situation from deteriorating further.

[0149] As an example, the initiating an emergency response strategy corresponding to the danger level includes:

[0150] When the danger level is the highest level, a danger warning signal is output to the actuator corresponding to the execution mode in the vehicle, and a braking signal is sent to the braking system of the vehicle to control automatic braking of the vehicle.

[0151] In this embodiment, to supplement the mechanism of the automatic parking system, when the system identifies that the vehicle is mistakenly started, the vehicle is braked when the driving risk level is high and the driver fails to make an operation in time, ensuring that the possibility of accidents can be effectively avoided in risk scenarios. For example, when emergency operations such as the brake pedal being stepped on, the handbrake being pulled up, and the P gear being engaged are not detected, a brake signal is output to control the vehicle braking in time.

[0152] Through the above-mentioned embodiments, a mechanism for determining the danger level according to the non-real driving intention judgment result and initiating the corresponding emergency response strategy has been established, thereby constructing a relatively complete driving safety guarantee system. When abnormal vehicle operation is found, measures can be flexibly taken according to the actual degree of danger, thereby effectively reducing the occurrence of accidents and reducing the losses caused by accidents.

[0153] In addition, emergency response strategies corresponding to different danger levels are used to enable drivers to understand the vehicle status more intuitively.

[0154] The present application provides a driving behavior monitoring method, device and computer-readable storage medium to monitor vehicle state changes. When the vehicle switches from a restricted parking state to a controllable driving state, relevant behavior information of the driver is obtained to ensure its safety during the vehicle startup phase. Specifically, based on the relevant behavior information, it is determined whether the change in the vehicle state is the driver's real driving intention, and a judgment result is obtained. Through the judgment result, it is determined whether the current operation of switching the vehicle from a restricted parking state to a controllable driving state is the driver's real driver intention, and further determines whether the vehicle startup process is a false start. When a judgment result that is not a real driving intention is obtained, that is, when the vehicle is mistakenly started, an emergency response strategy is initiated to control vehicle safety.

[0155] Based on the same application concept as the above method, the present application embodiment also proposes a driving behavior monitoring device, such as Figure 6 shown.

[0156] The device comprises:

[0157] The state monitoring module 602 is used to monitor the vehicle state change and obtain the driver's relevant behavior information when the vehicle switches from the restricted parking state to the controllable driving state;

[0158] The intention judgment module 604 is used to judge whether the change of the vehicle state is the real driving intention of the driver according to the relevant behavior information, and obtain a judgment result;

[0159] The emergency response module 606 is used to initiate an emergency response strategy when a judgment result of non-real driving intention is obtained, and the emergency response strategy is used to control vehicle safety.

[0160] The implementation process of the functions and effects of each module / submodule / unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and the same technical effect can be achieved, so it will not be repeated here.

[0161] Figure 7 An example of a physical structure diagram of a driving behavior monitoring device is shown in FIG. Figure 7As shown, the driving behavior monitoring device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the driving behavior monitoring method.

[0162] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0163] On the other hand, the present application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the driving behavior monitoring methods provided by the above methods.

[0164] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the driving behavior monitoring method provided by the above-mentioned methods.

[0165] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A driving behavior monitoring method, characterized in that: The method comprises: Monitor vehicle status changes and obtain relevant driver behavior information when the vehicle switches from a restricted parking state to a controllable driving state; Determine whether the change in the vehicle state is the driver's actual driving intention based on the relevant behavior information, and obtain a determination result; When a judgment result of non-real driving intention is obtained, the danger level of the vehicle in the current state is determined according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal, and an emergency response strategy corresponding to the danger level is initiated. The emergency response strategy is used to control vehicle safety, wherein when the brake pedal is in a contact state, the danger level is reduced.

2. The driving behavior monitoring method according to claim 1, characterized in that: The relevant behavior information includes information about the first driver's gaze area; The determining, based on the relevant behavior information, whether the change in the vehicle state is the driver's actual driving intention, and obtaining a determination result includes: Determining whether the first driver's gaze area deviates from a set effective gaze area for safe driving of the vehicle; If the first driver's gaze area deviates from the effective gaze area, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

3. The driving behavior monitoring method according to claim 2, characterized in that: If the first driver's gaze area deviates from the effective gaze area, obtaining a judgment result that the change in the vehicle state is the driver's non-real driving intention includes: If the first driver's gaze area leaves the effective gaze area, monitoring a first duration of the gaze leaving process; If the first time duration reaches a threshold, a judgment result is obtained that the change in the vehicle state is a non-actual driving intention of the driver.

4. The driving behavior monitoring method according to claim 2, characterized in that: The method further comprises: If the first driver's gaze area does not leave the effective gaze area, obtaining information of a second driver's gaze area within a second time period before the vehicle switches from the restricted parking state to the controllable driving state; determining whether the change in the vehicle state is the driver's actual driving intention according to the smoothness of the switching from the second driver's gaze area to the first driver's gaze area; When the degree of stability does not satisfy a set condition, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

5. The driving behavior monitoring method according to claim 1, characterized in that: The relevant behavior information includes the opening information of the accelerator pedal; The determining, based on the relevant behavior information, whether the change in the vehicle state is the driver's actual driving intention, and obtaining a determination result includes: Determining, according to the opening information of the accelerator pedal, a jump amplitude of the accelerator pedal when the vehicle state is switched; When the jump amplitude is greater than a set value, a judgment result is obtained that the change in the vehicle state is a non-real driving intention of the driver.

6. The driving behavior monitoring method according to claim 1, characterized in that: The method further comprises: Obtaining the real-time speed of the vehicle in the current state; Determining the danger level of the vehicle in the current state according to the relevant behavior information and the real-time vehicle speed corresponding to the judgment result; Therein, the vehicle speed is positively correlated with the change in the danger level.

7. The driving behavior monitoring method according to claim 1, characterized in that: The method further comprises: Data of a pressure sensing area on a brake pedal of the vehicle is acquired, and the data of the pressure sensing area is used to feedback a contact state of the brake pedal.

8. The driving behavior monitoring method according to claim 1, characterized in that: The determining, according to the relevant behavior information corresponding to the judgment result and the contact state of the brake pedal, the danger level of the vehicle in the current state includes: Determining a basic danger level of the vehicle in a current state according to the relevant behavior information corresponding to the judgment result; When the pressure sensing area on the brake pedal detects a non-zero change in pressure data, determining that the brake pedal is in a contact state; The basic danger level is reduced to obtain a final danger level of the vehicle in the current state.

9. The driving behavior monitoring method according to claim 1, characterized in that: The emergency response strategy includes a hazard warning strategy, The initiating of an emergency response strategy corresponding to the danger level includes: Obtaining an execution method of a danger warning corresponding to the danger level; Outputting a hazard warning signal to an actuator corresponding to the execution mode in the vehicle, so as to warn the driver through the actuator.

10. The driving behavior monitoring method according to claim 9, characterized in that: The emergency response strategy also includes a braking strategy. The initiating of an emergency response strategy corresponding to the danger level includes: When the danger level is the highest level, a danger warning signal is output to the actuator corresponding to the execution mode in the vehicle, and a braking signal is sent to the braking system of the vehicle to control automatic braking of the vehicle.

11. A driving behavior monitoring device, characterized in that: It includes a memory, a processor, and a driving behavior monitoring program stored in the memory and executable on the processor, wherein the processor implements the steps of the driving behavior monitoring method as described in any one of claims 1 to 10 when executing the driving behavior monitoring program.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a driving behavior monitoring program, which, when executed, implements the steps of the driving behavior monitoring method according to any one of claims 1 to 10.

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