A single-lane hands-off cruise system and method

Abstract

The application discloses a single-lane auxiliary driving hands-off cruise system and method, and belongs to the field of vehicle control. The system comprises a sensor module, an auxiliary driving domain controller, an intelligent cabin domain module and an actuator. The auxiliary driving domain controller is connected with the sensor module, the intelligent cabin domain module and the actuator respectively. The auxiliary driving domain controller is used for judging whether hands-off cruise is possible according to road and environment information uploaded by the sensor module and the intelligent cabin domain module, reminding a user of hands-off cruise or taking over through the intelligent cabin domain module according to a judgment result, and sending a control signal to the actuator to drive the vehicle when the hands-off cruise is possible. The sensor module comprises a driver monitoring camera DMS, which is used for monitoring whether the driver's line of sight is away from a forward direction. The application realizes intelligent judgment of hands-off cruise, and allows long-time single-lane hands-off cruise under the monitoring of the driver when the hands-off cruise is possible.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of vehicle control, and particularly relates to a single-lane assisted driving hands-off cruise system and method. BACKGROUND

[0002] In the existing assisted driving system, if the driver drives hands-off cruise for a long time, the vehicle will remind the driver to take over in grades; if the driver has not taken over within the cutoff time of the last reminder (i.e. the highest level of reminder), the intelligent driving function is exited or the emergency light is turned on and gradually decelerated to a stop.

[0003] This means that the existing assisted driving system does not allow the driver to drive hands-off cruise for a long time, even if the road conditions on the highway or expressway are good, the curvature and slope of the road are not large, and the weather is fine, which does not allow long-time single-lane hands-off cruise under the monitoring of the driver. This cannot free the driver's hands for a long time, and long-time driving can easily lead to physical fatigue and decreased attention, thereby increasing the risk of accidents.

[0004] Therefore, the present application proposes a single-lane assisted driving hands-off cruise system and method, which allows the driver to drive hands-off cruise for a long time under the satisfaction of preset hands-off cruise conditions. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and proposes a single-lane assisted driving hands-off cruise system and method to achieve the following purposes: intelligent judgment of hands-off cruise, and long-time single-lane hands-off cruise under the monitoring of the driver during hands-off cruise.

[0006] To achieve the above purposes, the technical solution adopted by the present application is as follows: a single-lane assisted driving hands-off cruise system, the system comprising a sensor module, an assisted driving domain controller, an intelligent cockpit domain module, and an actuator, wherein the assisted driving domain controller is connected with the sensor module, the intelligent cockpit domain module, and the actuator respectively, for judging whether the vehicle can drive hands-off cruise according to the road and environmental information uploaded by the sensor module and the intelligent cockpit domain module, and reminding the user that the vehicle can drive hands-off cruise or take over according to the judgment result through the intelligent cockpit domain module, while sending a control signal to the actuator to drive the vehicle when the vehicle can drive hands-off cruise; the sensor module comprises a driver monitoring camera DMS for monitoring whether the driver's line of sight deviates from the forward direction and feeding back to the assisted driving domain controller for judgment of whether the vehicle can drive hands-off cruise.

[0007] Preferably, the sensor module comprises a front monocular camera module and a front millimeter wave radar, the front monocular camera module and the front millimeter wave radar are connected with the auxiliary driving domain controller respectively, and the front monocular camera module and the front millimeter wave radar are used for monitoring the road and obstacle conditions in front of the vehicle and sending to the auxiliary driving domain controller.

[0008] Preferably, the sensor module further comprises an angular millimeter wave radar and a panoramic image digital high-definition camera, the angular millimeter wave radar and the panoramic image digital high-definition camera are connected with the auxiliary driving domain controller respectively, and the panoramic image digital high-definition camera cooperates with the angular millimeter wave radar and is used for complementing the left, right and rear blind areas of the front monocular camera module and the front millimeter wave radar.

[0009] Preferably, the intelligent cabin domain module comprises an intelligent cabin domain controller, a man-machine interaction system and an ADAS map navigation system, wherein the intelligent cabin domain controller is connected with the auxiliary driving domain controller, the man-machine interaction system and the ADAS map navigation system respectively, wherein the man-machine interaction system is used for reminding the user of hands-off cruise or the need for takeover, and the ADAS map navigation system is used for providing map information and uploading to the auxiliary driving domain controller through the intelligent cabin domain controller for judging whether the hands-off cruise is possible.

[0010] Preferably, the man-machine interaction system comprises a vehicle instrument screen and a voice system, the vehicle instrument screen and the voice system are connected with the intelligent cabin domain controller respectively, the vehicle instrument screen is used for reminding the user of hands-off cruise or the need for takeover through different display pictures, and the voice system is used for reminding the user through voice when the vehicle cannot cruise off hands and needs to be taken over.

[0011] Preferably, the intelligent cabin domain module further comprises a wireless communication module T-box, the intelligent cabin domain controller is connected with a cloud big data platform through the wireless communication module T-box, so as to obtain weather conditions and traffic accident conditions from the cloud and send to the auxiliary driving domain controller for judging whether the hands-off cruise is possible.

[0012] Preferably, the intelligent cabin domain module further comprises a torque sensor arranged on the steering wheel, the torque sensor is connected with the intelligent cabin domain controller and is used for monitoring whether the driver's hand is on the steering wheel and feeding back to the auxiliary driving domain controller through the intelligent cabin domain controller.

[0013] Preferably, the actuators include brake systems, steering systems, and driving systems, wherein the brake systems, steering systems, and driving systems are connected to the auxiliary driving domain controller respectively, the brake systems are used to remind the driver to brake when the driver does not take over the vehicle for a long time and the hand-off cruise conditions are not met, until the driver takes over or brakes to a stop and turns on the emergency light; the steering systems are used to control the vehicle to always drive in a single lane under the control of the auxiliary driving domain controller during the hand-off cruise; and the driving systems are used to drive the vehicle during the hand-off cruise.

[0014] Preferably, the conditions for the auxiliary driving domain controller to determine whether the vehicle can currently hand-off cruise include: the current road is a highway or an expressway; the curvature radius of the road within a preset distance in front of the current road is greater than a preset curvature radius threshold; the slope of the road within the preset distance in front of the current road is less than a preset slope threshold; there is no traffic accident on the road within the preset distance in front of the current road; there is no lane split or combination on the road within the preset distance in front of the current road; the weather in the area where the vehicle is located is sunny; the driver's line of sight is in the forward direction; only when all the above conditions are met, the auxiliary driving domain controller determines that the vehicle can hand-off cruise; and when any of the above conditions is not met, the auxiliary driving domain controller determines that the vehicle cannot hand-off cruise.

[0015] Meanwhile, the application also provides a hand-off cruise method for single-lane auxiliary driving, which is applied to the single-lane auxiliary driving hand-off cruise system, and includes the following steps:

[0016] Step S1: obtaining the road information of the road within a preset distance in front of the current road, the weather information of the area where the vehicle is located, and the driver's line of sight information;

[0017] Step S2: determining whether the vehicle can hand-off cruise; the determination conditions include: the current road is a highway or an expressway; the curvature radius of the road within a preset distance in front of the current road is greater than a preset curvature radius threshold; the slope of the road within the preset distance in front of the current road is less than a preset slope threshold; there is no traffic accident on the road within the preset distance in front of the current road; there is no lane split or combination on the road within the preset distance in front of the current road; the weather in the area where the vehicle is located is sunny; the driver's line of sight is in the forward direction; only when all the above conditions are met, the vehicle can hand-off cruise; and when any of the above conditions is not met, the vehicle cannot hand-off cruise;

[0018] Step S3: when it is determined that the vehicle can hand-off cruise, the auxiliary driving domain controller sends a control signal to the actuators to realize hand-off cruise in combination with the radar, camera, ADAS map navigation, and current state parameters of the vehicle; and when it is determined that the vehicle cannot hand-off cruise, the intelligent cockpit domain module informs the driver to take over in time.

[0019] The technical effect of the present application is that, under the premise of ensuring safe driving and driver monitoring throughout the journey, the driver is allowed to perform long-time single-lane hands-off cruising on the road section of the expressway or the freeway that meets the conditions. Compared with the traditional L2 intelligent cruise, the hands of the driver are further liberated, and the fatigue of the driver during long-distance driving is greatly relieved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A single-lane assisted driving hands-off cruising system structure diagram is provided for the embodiment of the present application.

[0021] Figure 2 A single-lane assisted driving hands-off cruising method flow chart is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0022] The specific embodiments of the present application will be further described in detail below with reference to the drawings, and the purpose is to help the skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present application, and to facilitate its implementation. In order to make the technical solution of the present application more clear, the present application is explained and described by the following embodiments.

[0023] The present embodiment provides a single-lane assisted driving hands-off cruising system, as shown in Figure 1 The system includes a sensor module, an assisted driving domain controller, an intelligent cockpit domain module, and an actuator.

[0024] The sensor module is used to collect the road and obstacle information in front and feed back to the assisted driving domain controller.

[0025] The intelligent cockpit domain module is used to obtain the road information, environmental information, etc. of the expressway, urban / intercity expressway covered by the vehicle-mounted ADAS map navigation and feed back to the assisted driving domain controller.

[0026] The actuator is used to drive, steer, brake, etc. the vehicle according to the control signal of the assisted driving domain controller to realize hands-off cruising.

[0027] The auxiliary driving domain controller is connected with the sensor module, the intelligent cabin domain module and the actuator respectively, is used for judging whether the vehicle can be hands-off cruise according to the road and environment information uploaded by the sensor module and the intelligent cabin domain module, reminding the user of hands-off cruise or taking over through the intelligent cabin domain module according to the judgment result, and sending a control signal to the actuator to drive the vehicle when the hands-off cruise is available. In the embodiment, the sensor module includes a driver monitoring camera DMS, the DMS is connected with the auxiliary driving domain controller through an LVDS bus, and is used for monitoring whether the driver's line of sight is away from the forward direction and feeding back to the auxiliary driving domain controller for the judgment of whether the hands-off cruise is available. In order to ensure the safety of long-time hands-off cruise, the driver's line of sight is required to be in the forward direction during the hands-off cruise.

[0028] The conditions for the auxiliary driving domain controller to judge whether the vehicle can be hands-off cruise include that the current road is a highway or an expressway, the curvature radius of the road within a preset distance (2km in the embodiment) in front of the current position is greater than a preset curvature radius threshold, the slope of the road within the preset distance in front of the current position is less than a preset slope threshold, there is no traffic accident on the road within the preset distance in front of the current position, there is no lane division or combination on the road within the preset distance in front of the current position, the weather in the area where the vehicle is located is sunny, and the driver's line of sight is in the forward direction. Only when all the above conditions are met, the auxiliary driving domain controller judges that the vehicle can be hands-off cruise. If any of the above conditions is not met, the auxiliary driving domain controller judges that the vehicle cannot be hands-off cruise.

[0029] The curvature radius threshold and the slope threshold can be calibrated through experiments and actual needs during system development, so that the road curvature threshold and the slope threshold that can be hands-off cruise are set according to the over-bending performance and the uphill and downhill ability of the vehicle itself. In the embodiment, the curvature radius threshold is 250m and the slope threshold is 30%.

[0030] Therefore, the application allows the driver to long-time single-lane hands-off cruise when the road condition of the highway or expressway is good, the curvature and slope of the road are not large, and the weather is sunny, that is, safety is ensured and the fatigue of the driver during long-distance driving is greatly relieved.

[0031] Specifically, the sensor module of the embodiment includes one front monocular camera module and one front millimeter wave radar, and the front monocular camera module and the front millimeter wave radar are connected with the auxiliary driving domain controller through CANFD buses respectively. The front monocular camera module and the front millimeter wave radar are used for monitoring the road and obstacle conditions in front of the vehicle and sending to the auxiliary driving domain controller.

[0032] Meanwhile, to further ensure the safety of hands-off cruise, the sensor module of the embodiment further comprises four corner millimeter wave radars and four panoramic image digital high-definition cameras, the corner millimeter wave radars are connected with the auxiliary driving domain controller through a CANFD bus, and the panoramic image digital high-definition cameras are connected with the auxiliary driving domain controller through an LVDS bus. The panoramic image digital high-definition cameras provide all-around images around the vehicle, and cooperate with the corner millimeter wave radars to perceive the conditions around the vehicle, so as to complement the left, right and rear blind areas of the front monocular camera module and the front millimeter wave radar, so as to better control the acceleration and deceleration of the vehicle and ensure the stability during hands-off cruise.

[0033] In the embodiment, the intelligent cockpit domain module comprises an intelligent cockpit domain controller, a human-machine interaction system and an ADAS (Advanced Driving Assistance System) map navigation system, wherein the intelligent cockpit domain controller is connected with the auxiliary driving domain controller through a CANFD bus, and the intelligent cockpit domain controller is further connected with the human-machine interaction system and the ADAS map navigation system respectively. The judgment result of whether the auxiliary driving domain controller can perform hands-off cruise is forwarded to the human-machine interaction system through the intelligent cockpit domain controller, and the human-machine interaction system is used to remind the user that the hands-off cruise is available or needs to be taken over according to the judgment result; the ADAS map navigation system is used to provide map information (including whether the current or front road is a highway, an urban / intercity expressway, whether there is a traffic accident, etc.) and upload the map information to the auxiliary driving domain controller through the intelligent cockpit domain controller for the judgment of whether the hands-off cruise is available.

[0034] Among them, the human-machine interaction system of the embodiment comprises a vehicle instrument screen and a voice system, and the vehicle instrument screen and the voice system are connected with the intelligent cockpit domain controller respectively. The vehicle instrument screen is used to remind the user that the hands-off cruise is available or needs to be taken over through different display pictures, for example, when the hands-off cruise condition is met, the instrument screen needs to have obvious changes: a full-screen single-color screen can be used in combination with a large steering wheel icon for indication; when the hands-off cruise condition is not met, the instrument screen returns to the ordinary interface. The voice system is used to remind the user through voice when the vehicle cannot perform hands-off cruise and needs to be taken over.

[0035] The intelligent cockpit domain module of the embodiment further comprises a wireless communication module T-box, and the intelligent cockpit domain controller is connected with a cloud big data platform through the wireless communication module T-box, so as to obtain weather conditions and traffic accident conditions from the cloud and send them to the auxiliary driving domain controller for the judgment of whether the hands-off cruise is available. Communication is established between the intelligent cockpit domain controller and the wireless communication module T-box through an Ethernet ETH.

[0036] When the hands-free cruise control conditions are not met and the driver needs to take over, it is necessary to identify whether the driver has taken over. Generally, it is considered that the driver has taken over when the driver holds the steering wheel again. Therefore, the smart cockpit domain module of this embodiment also includes a torque sensor provided on the steering wheel. The torque sensor is connected to the smart cockpit domain controller and is used to monitor whether the driver's hands are on the steering wheel and feedback to the auxiliary driving domain controller through the smart cockpit domain controller. Based on the information from the torque sensor, the smart cockpit domain controller can identify the situation where the hands-free cruise control conditions are not met and the driver has not taken over the vehicle for a long time (the time can be determined by setting a time threshold) and send it to the auxiliary driving domain controller. At this time, the auxiliary driving domain controller sends a control signal to the actuator to remind the driver by braking until the driver takes over or brakes to stop and lights the emergency lights.

[0037] The intelligent cockpit domain module of this embodiment can remind the driver through vision, hearing, and touch (brake tap) that hands-free cruising is allowed or hands-on control is required, which is convenient for users and ensures safety.

[0038] The actuator of this embodiment includes a braking system, a steering system, and a drive system, wherein the braking system, the steering system, and the drive system are respectively connected to the assisted driving domain controller via a CANFD bus. When the hands-free cruising condition is met, the assisted driving domain controller sends a control signal to the braking system, the steering system, and the drive system after combining the radar, the camera, the ADAS map navigation, and the current state parameters of the vehicle to achieve hands-free cruising. Wherein, the braking system is used to provide a braking reminder based on the signal sent by the assisted driving controller when the hands-free cruising condition is not met and the driver does not take over the vehicle for a long time, until the driver takes over or brakes to stop and turns on the emergency lights. The steering system is used to control the vehicle to always drive in a single lane according to the control signal of the assisted driving controller during the hands-free cruising process; the drive system is used to drive the vehicle during the hands-free cruising process.

[0039] At the same time, the present application also proposes a single-lane assisted driving hands-free cruise method, which is applied to the above-mentioned single-lane assisted driving hands-free cruise system, such as Figure 2 As shown, the method includes the following steps:

[0040] Step S1, obtaining road information of the vehicle's current road and the road within a preset distance ahead, weather information of the vehicle's area, and driver's sight line information;

[0041] Step S2, judging whether the vehicle can be hand-off cruise; the judging conditions include: the current road is a highway or an expressway; the curvature radius of the road within the preset distance in front of the current road is greater than the preset curvature radius threshold; the slope of the road within the preset distance in front of the current road is less than the preset slope threshold; there is no traffic accident on the road within the preset distance in front of the current road; there is no lane split or merge on the road within the preset distance in front of the current road; the weather in the area where the vehicle is located is sunny; the driver's line of sight is in the forward direction; only when all the above conditions are met, it is judged that the vehicle can be hand-off cruise; if any of the above conditions is not met, it is judged that the vehicle cannot be hand-off cruise;

[0042] Step S3, when it is judged that the vehicle can be hand-off cruise, the auxiliary driving domain controller sends a control signal to the actuator to realize hand-off cruise in combination with the radar, camera, ADAS map navigation and the current state parameters of the vehicle; when it is judged that the vehicle cannot be hand-off cruise, the intelligent cockpit domain module informs the driver to take over in time.

[0043] The application allows the driver to perform long-time single-lane hand-off cruise on the road section of the highway or expressway that meets the conditions under the premise of ensuring safe driving and the driver's whole-process monitoring. Compared with the traditional L2 intelligent cruise, the application further liberates the driver's hands and greatly relieves the driver's fatigue during long-distance driving.

[0044] The application is described above in conjunction with the drawings. Obviously, the specific implementation of the application is not limited by the above method. As long as various non-essential improvements are made by using the method concept and technical solution of the application, or the above concept and technical solution of the application is directly applied to other occasions without improvement, they are all within the protection scope of the application.

Claims

1. A single-lane hands-off cruise system for assisted driving, characterized by: The system comprises a sensor module, an auxiliary driving domain controller, an intelligent cabin domain module, and an actuator, wherein the auxiliary driving domain controller is connected with the sensor module, the intelligent cabin domain module, and the actuator respectively, and is used for judging whether the vehicle can be hands-off cruising according to the road and environment information uploaded by the sensor module and the intelligent cabin domain module, reminding the user of hands-off cruising or takeover through the intelligent cabin domain module according to the judgment result, and sending a control signal to the actuator to drive the vehicle when the vehicle can be hands-off cruising; the sensor module comprises a driver monitoring camera (DMS) for monitoring whether the driver's line of sight is away from the forward direction and feeding back to the auxiliary driving domain controller for the judgment of whether the vehicle can be hands-off cruising. The intelligent cabin domain module comprises an intelligent cabin domain controller, a human-machine interaction system, and an ADAS map navigation system, wherein the intelligent cabin domain controller is connected with the auxiliary driving domain controller, the human-machine interaction system, and the ADAS map navigation system respectively, wherein the human-machine interaction system is used for reminding the user of hands-off cruising or the need for takeover; and the ADAS map navigation system is used for providing map information and uploading to the auxiliary driving domain controller through the intelligent cabin domain controller for the judgment of whether the vehicle can be hands-off cruising. The conditions for the auxiliary driving domain controller to judge whether the vehicle can be hands-off cruising include that the current road is a highway or an expressway, the curvature radius of the road within a preset distance in front of the current position is greater than a preset curvature radius threshold, the slope of the road within the preset distance in front of the current position is less than a preset slope threshold, there is no traffic accident on the road within the preset distance in front of the current position, there is no lane split or merge on the road within the preset distance in front of the current position, the weather in the area where the vehicle is located is sunny, the driver's line of sight is in the forward direction, and only when all the above conditions are met, the auxiliary driving domain controller judges that the vehicle can be hands-off cruising; and when any of the above conditions is not met, the auxiliary driving domain controller judges that the vehicle cannot be hands-off cruising.

2. The hands-off cruise system for single-lane assisted driving according to claim 1, characterized in that: The sensor module comprises a front monocular camera module and a front millimeter wave radar, and the front monocular camera module and the front millimeter wave radar are connected with the auxiliary driving domain controller respectively, and are used for monitoring the road and obstacle conditions in front of the vehicle and sending to the auxiliary driving domain controller.

3. The hands-off cruise system for single-lane assisted driving according to claim 2, characterized in that: The sensor module further comprises an angular millimeter wave radar and a panoramic image digital high-definition camera, and the angular millimeter wave radar and the panoramic image digital high-definition camera are connected with the auxiliary driving domain controller respectively, and the panoramic image digital high-definition camera cooperates with the angular millimeter wave radar to complete the left, right, and rear blind areas of the front monocular camera module and the front millimeter wave radar.

4. The hands-off cruise system for single-lane assisted driving according to claim 1, characterized in that: The human-machine interaction system comprises a vehicle instrument screen and a voice system, and the vehicle instrument screen and the voice system are connected with the intelligent cabin domain controller respectively, and the vehicle instrument screen is used for reminding the user of hands-off cruising or the need for takeover through different display pictures; wherein the voice system is used for reminding the user through voice when the vehicle cannot be hands-off cruising and needs to be taken over.

5. The hands-off cruise system for single lane assisted driving according to claim 1, wherein: The intelligent cockpit domain module further comprises a wireless communication module T-box, and the intelligent cockpit domain controller is connected with a cloud big data platform through the wireless communication module T-box to obtain weather conditions and traffic accident conditions from the cloud and send them to the auxiliary driving domain controller to determine whether the hands-off cruise can be implemented.

6. The hands-off cruise system for single-lane assisted driving according to claim 1, wherein: The intelligent cockpit domain module further comprises a torque sensor arranged on the steering wheel, which is connected with the intelligent cockpit domain controller to monitor whether the driver's hand is on the steering wheel and feed back to the auxiliary driving domain controller through the intelligent cockpit domain controller.

7. The hands-off cruise system for single-lane assisted driving according to claim 1, wherein: The actuators comprise a braking system, a steering system and a driving system, wherein the braking system, the steering system and the driving system are connected with the auxiliary driving domain controller respectively, the braking system is used to remind the driver to brake when the hands-off cruise condition is not met and the driver does not take over the vehicle for a long time, until the driver takes over or brakes to a stop and turns on the emergency light according to the signal sent by the auxiliary driving controller; the steering system is used to control the vehicle to always travel in a single lane under the control of the auxiliary driving controller during the hands-off cruise; and the driving system is used to drive the vehicle to travel during the hands-off cruise.

8. A single-lane hands-off cruise method for assisted driving, characterized by: The method is applied to the single-lane auxiliary driving hands-off cruise system according to any one of claims 1-7, and the method comprises the following steps: Step S1, obtaining road information of a road where the vehicle is currently located and a road within a preset distance in front of the vehicle, weather information of an area where the vehicle is located, and driver's vision information; Step S2, determining whether the hands-off cruise can be implemented; the determination conditions comprise that the current road is a highway or an expressway; the curvature radius of the current road and the road within the preset distance in front of the vehicle is greater than a preset curvature radius threshold; the slope of the current road and the road within the preset distance in front of the vehicle is less than a preset slope threshold; there is no traffic accident on the current road and the road within the preset distance in front of the vehicle; there is no lane division or combination on the current road and the road within the preset distance in front of the vehicle; the weather of the area where the vehicle is located is sunny; the driver's vision is in the forward direction; only when all the above conditions are met, it is determined that the vehicle can implement the hands-off cruise; if any of the above conditions is not met, it is determined that the vehicle cannot implement the hands-off cruise; Step S3, when it is determined that the vehicle can implement the hands-off cruise, the auxiliary driving domain controller sends a control signal to the actuators to realize the hands-off cruise in combination with a radar, a camera, an ADAS map navigation and current state parameters of the vehicle; when it is determined that the vehicle cannot implement the hands-off cruise, the intelligent cockpit domain module informs the driver to take over in time.

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