Vehicle transverse takeover intention detection method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle transverse takeover intention detection method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the steps that when transverse control of a current vehicle is started, the current vehicle speed, the current hand torque, the current hand torque direction, the current duration time and the preset duration time in the automatic driving process are obtained; calculating a hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed; according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction and the comparison result of the current duration and the preset duration, the current transverse take-over intention of the driver of the current vehicle is determined. The technical scheme of the embodiment of the invention can improve the detection accuracy of the vehicle transverse takeover intention of the driver.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle lateral takeover intention detection method, device, electronic device and storage medium. Background Art

[0002] The driver's lateral takeover intention refers to the situation in which the driver decides to intervene and control the lateral movement of the vehicle during the operation of the autonomous vehicle. The lateral movement mainly refers to the steering operation of the vehicle, that is, controlling the vehicle to move in the left or right direction or change lanes.

[0003] Existing methods usually rely on two schemes, namely, steering wheel torque or steering wheel perception, to determine the driver's intention to take over the vehicle laterally. However, methods that only rely on the magnitude of steering wheel torque or steering wheel perception may have inaccurate detection and may lead to misjudgment of the driver's true intention to take over the vehicle laterally. Summary of the invention

[0004] The present invention provides a vehicle lateral takeover intention detection method, device, electronic equipment and storage medium, which can improve the accuracy of the driver's vehicle lateral takeover intention detection.

[0005] According to one aspect of the present invention, a method for detecting a vehicle lateral takeover intention is provided, the method comprising:

[0006] When the lateral control of the current vehicle is turned on, the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process are obtained;

[0007] Calculating a hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed;

[0008] The current lateral takeover intention of the driver of the current vehicle is determined based on the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

[0009] According to another aspect of the present invention, a vehicle lateral takeover intention detection device is provided, the device comprising:

[0010] A current data acquisition module, used to acquire the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on;

[0011] A hand torque reference value calculation module, used to calculate the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed;

[0012] A lateral takeover intention detection module is used to determine the current lateral takeover intention of the driver of the current vehicle based on the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle lateral takeover intention detection method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle lateral takeover intention detection method described in any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the vehicle lateral takeover intention detection method described in any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention obtains the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on, calculates the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed, determines the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration, introduces the current speed, and realizes the accurate judgment of the current hand torque; introduces the current hand torque direction, and improves the detection accuracy of the current lateral takeover intention; in addition, introduces the comparison of the current duration and the preset duration, avoids the misdetection of the current lateral takeover intention, and further improves the detection accuracy of the current lateral takeover intention of the driver of the current vehicle.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a vehicle lateral takeover intention detection method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of a vehicle lateral takeover intention detection method provided according to Embodiment 2 of the present invention;

[0024] Figure 3 is a flow chart of a vehicle lateral takeover intention detection method provided according to Embodiment 2 of the present invention;

[0025] Figure 4 is a structural schematic diagram of a vehicle lateral takeover intention detection device provided according to Embodiment 3 of the present invention;

[0026] Figure 5 It is a structural schematic diagram of an electronic device for implementing the vehicle lateral takeover intention detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 A flow chart of a vehicle lateral takeover intention detection method provided in Embodiment 1 of the present invention. The embodiment of the present invention can be applied to the case of detecting the vehicle lateral takeover intention of an autonomous driving vehicle. The method can be executed by a vehicle lateral takeover intention detection device. The vehicle lateral takeover intention detection device can be implemented in the form of hardware and / or software. The vehicle lateral takeover intention detection device can be configured in an electronic device that carries the vehicle lateral takeover intention detection function, such as a vehicle-mounted terminal.

[0031] See also Figure 1 The vehicle lateral takeover intention detection method shown includes:

[0032] S110. When the lateral control of the current vehicle is turned on, obtain the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process.

[0033] The lateral control on can be the lateral control function of the automatic driving of the current vehicle. Optionally, the lateral control on flag of the current vehicle can be detected to determine whether the lateral control of the current vehicle is on. The current vehicle speed can be the speed of the current vehicle detected during the automatic driving process. The current hand torque can be the hand torque of the current vehicle detected during the automatic driving process, that is, the torque of the driver on the steering wheel. Optionally, it can be characterized by the torque of the steering wheel of the current vehicle. The current hand torque direction can be the direction of the current hand torque detected during the automatic driving process. The current duration can be the duration of the current hand torque and the current hand torque direction. That is, the duration that the current vehicle is in a certain hand torque state. The preset duration can be a measure of a preset duration. The preset duration can be set and adjusted by a technician based on experience.

[0034] Specifically, when the lateral control on flag of the current vehicle is detected, it can be determined that the lateral control of the current vehicle is on. At this time, the current vehicle speed, current hand torque, current hand torque direction and current duration detected by the vehicle sensor during the automatic driving process can be obtained. The preset duration pre-set by the technician can be obtained.

[0035] In an optional embodiment of the present invention, obtaining the current hand torque during the autonomous driving process includes: obtaining a current hand torque signal during the autonomous driving process; and performing median filtering on the current hand torque signal to obtain the current hand torque.

[0036] The current hand torque signal may be a steering wheel torque signal of the current vehicle. The current hand torque signal has noise, which may affect the determination of the current hand torque and may make it difficult to accurately judge the driver's actual vehicle lateral takeover intention. By performing median filtering on the current hand torque signal, the noise in the current hand torque signal, especially the impulse noise or spike noise, may be removed.

[0037] Specifically, the current hand torque signal during the automatic driving process can be obtained by using the sensor of the current vehicle. The current hand torque signal can be subjected to median filtering by a median filtering method to obtain the current hand torque.

[0038] In an optional embodiment of the present invention, a current hand torque signal is subjected to median filtering to obtain a current hand torque, including: obtaining a preset window value and multiple frames of historical hand torque signals; according to the preset window value, starting from the current hand torque signal, in the current hand torque signal and each historical hand torque signal, sequentially selecting target hand torque signals of the number of frames corresponding to the preset window value; sorting the target hand torque values ​​of each target hand torque signal; and selecting the median of each target hand torque value to obtain the current hand torque.

[0039] The preset window value may be a preset number of frames for selecting the hand torque signal. The preset window value is an odd number, which makes it easy to determine the median. The historical hand torque signal may be a hand torque signal before the current hand torque signal. Optionally, the historical hand torque signal may be a continuous multi-frame hand torque signal adjacent to the acquisition moment of the current hand torque signal. The target hand torque signal may be a hand torque signal selected according to the preset window value. The target hand torque value may be a hand torque value corresponding to the target hand torque signal.

[0040] Specifically, the vehicle sensor of the current vehicle can be used to obtain a preset window value and multiple frames of historical hand torque signals. According to the preset window value pre-set by the technician. Starting from the current hand torque signal, the target hand torque signal of the number of frames corresponding to the preset window value can be selected in sequence from the current hand torque signal and each historical hand torque signal. The target hand torque values ​​of each target hand torque signal can be sorted. The median of each target hand torque value is selected to obtain the current hand torque.

[0041] This scheme obtains a preset window value and multiple frames of historical hand torque signals, and according to the preset window value, starts from the current hand torque signal, selects the target hand torque signals of the number of frames corresponding to the preset window value in the current hand torque signal and each historical hand torque signal in turn, sorts the target hand torque values ​​of each target hand torque signal, selects the median of each target hand torque value, and obtains the current hand torque, thereby realizing median filtering of the current hand torque signal, removing the noise in the current hand torque signal, especially pulse noise or spike noise, and improving the accuracy and acquisition efficiency of the current hand torque.

[0042] S120. Calculate a hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed.

[0043] The hand torque reference value can be used to judge the current lateral takeover intention of the current vehicle. Optionally, the number of hand torque reference values ​​can include at least one. Thereby, hierarchical detection of the lateral takeover intention of the current vehicle can be achieved, and the accuracy of the current lateral takeover intention obtained can be improved. The hand torque reference value is positively correlated with the current vehicle speed. Since the current vehicle speed is introduced to determine the hand torque reference value corresponding to the current vehicle speed, the driving state of the current vehicle itself can be taken into account, and the current lateral takeover intention of the current vehicle under different driving states can be avoided from being generalized. The different vehicle speeds of the current vehicle are taken into account, thereby improving the accuracy of the detected current lateral takeover intention of the current vehicle.

[0044] Specifically, the hand torque reference value calculation formula may be used to calculate the hand torque reference value corresponding to the current vehicle speed.

[0045] Exemplarily, the following formula may be used to represent the hand torque reference value calculation formula:

[0046] Tor=av 2 +bv+c;

[0047] Wherein, Tor is the hand torque reference value corresponding to the current vehicle speed; v is the current vehicle speed; a, b and c are the sign values ​​of the hand torque reference value calculation formula.

[0048] S130. Determine the current lateral takeover intention of the driver of the current vehicle based on the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

[0049] The comparison result of the current hand torque and the hand torque reference value may be the comparison result between the current hand torque and the hand torque reference value. The comparison result of the current hand torque and the hand torque reference value may be used to characterize the degree of change of the current hand torque. Exemplarily, the comparison result of the current hand torque and the hand torque reference value may include that the current hand torque is greater than or equal to the hand torque reference value, and that the current hand torque is less than the hand torque reference value. The change detection result of the current hand torque direction may be used to characterize the change of the current hand torque direction. Exemplarily, the change detection result of the current hand torque direction may include that the current hand torque direction remains unchanged and that the current hand torque direction changes. The comparison result of the current duration and the preset duration may be used to characterize the stability of a certain hand torque state of the current vehicle. Exemplarily, the comparison result of the current duration and the preset duration may include that the current duration is greater than or equal to the preset duration, and that the current duration is less than the preset duration. Among them, if the current duration is greater than or equal to the preset duration, it can be understood that the current vehicle is in a certain hand torque state and the duration is longer; if the current duration is less than the preset duration, it can be understood that the current vehicle is in a certain hand torque state, but the duration is shorter. By comparing the current duration with the preset duration, it is possible to avoid false detection caused by the sudden change of the current vehicle to a certain hand torque state due to the bumpy driving conditions of the current vehicle, thereby improving the accuracy of the detection of the present invention. The current lateral takeover intention may be the lateral takeover intention of the driver of the current vehicle at the current moment.

[0050] Specifically, when the current hand torque is greater than or equal to the hand torque reference value, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to the preset duration, it can be determined that the current lateral takeover intention of the driver of the current vehicle is to have a lateral takeover intention; when the current hand torque is less than the hand torque reference value, the current hand torque direction changes, and / or the current duration is less than the preset duration, it can be determined that the current lateral takeover intention of the driver of the current vehicle is not to have a lateral takeover intention.

[0051] Optionally, when it is determined that the current lateral takeover intention of the driver of the current vehicle is a lateral takeover intention, a lateral control exit flag can be output to indicate that the current vehicle switches from automatic driving lateral control to a driver takeover state.

[0052] The technical solution of the embodiment of the present invention obtains the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on, calculates the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed, determines the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration, introduces the current speed, and realizes the accurate judgment of the current hand torque; introduces the current hand torque direction, and improves the detection accuracy of the current lateral takeover intention; in addition, introduces the comparison of the current duration and the preset duration, avoids the misdetection of the current lateral takeover intention, and further improves the detection accuracy of the current lateral takeover intention of the driver of the current vehicle.

[0053] Embodiment 2

[0054] Figure 2 A flow chart of a vehicle lateral takeover intention detection method provided for the second embodiment of the present invention. Based on the above embodiments, the embodiment of the present invention specifies "determining the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration" as "when the current hand torque is greater than or equal to the first hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the first preset duration, determining the current lateral takeover intention of the driver of the current vehicle as a temporary takeover intention; when the current hand torque is greater than or equal to the second hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the second preset duration, determining the current lateral takeover intention of the driver of the current vehicle as a permanent takeover intention; wherein the first hand torque reference value is less than the second hand torque reference value; the first preset duration is greater than the second preset duration", which can achieve a more accurate classification of the vehicle lateral takeover intention, and can improve the detection speed and efficiency of the vehicle lateral takeover intention. It should be noted that for the parts not described in detail in the embodiment of the present invention, please refer to the description of other embodiments.

[0055] See also Figure 2 The vehicle lateral takeover intention detection method shown includes:

[0056] S210. When the lateral control of the current vehicle is turned on, obtain the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process.

[0057] S220. Calculate a hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed.

[0058] S230: When the current hand torque is greater than or equal to the first hand torque reference value, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to the first preset duration, determine that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention.

[0059] The first hand torque reference value may be used to judge the temporary takeover intention. The first preset duration may be used to judge the temporary takeover intention. The temporary takeover intention may be used to characterize the situation where the driver needs to briefly control the current vehicle. Optionally, the temporary takeover intention may be used to characterize the driver's intention to take over the vehicle lateral direction in a non-emergency situation.

[0060] Specifically, when the current hand torque is greater than or equal to the first hand torque reference value, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to the first preset duration, it can be determined that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention.

[0061] Optionally, while determining that the current lateral takeover intention of the driver of the current south vehicle is a temporary takeover intention, the takeover state of the current vehicle can be adjusted from the automatic driving lateral control to the driver's temporary takeover state.

[0062] In an optional embodiment of the present invention, after determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention, it also includes: real-time detection of the current hand torque; when the current hand torque is less than the first hand torque reference value and the current duration is greater than or equal to a fourth preset duration, restoring the automatic driving lateral control.

[0063] The current hand torque is less than the first hand torque reference value, which can be used to indicate that the current vehicle can exit the driver's temporary takeover state and return to automatic driving lateral control. The fourth preset duration can be used to indicate the preset duration for the current vehicle to exit the driver's temporary takeover state. The fourth preset duration can be preset and adjusted by a technician.

[0064] Specifically, after determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention, the current hand torque can be detected in real time. When the current hand torque is less than the first hand torque reference value and the current duration is greater than or equal to a fourth preset duration, the current vehicle is controlled to exit the driver's temporary takeover state and resume automatic driving lateral control.

[0065] This solution detects the current hand torque in real time after determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention. When the current hand torque is less than the first hand torque reference value and the current duration is greater than or equal to the fourth preset duration, the automatic driving lateral control is restored, thereby realizing automatic switching of the takeover state of the current vehicle, which can improve the smoothness of the vehicle takeover state. In addition, by comparing the current duration and the fourth preset duration, the accuracy of the takeover state switching of the current vehicle can be guaranteed.

[0066] S240: When the current hand torque is greater than or equal to the second hand torque reference value, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to the second preset duration, determine that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention.

[0067] The second hand torque reference value can be used to judge the intention of permanent takeover. The second preset duration can be used to judge the intention of permanent takeover. The intention of permanent takeover can be used to characterize the situation that the driver needs to control the current vehicle for a long time. Optionally, the intention of permanent takeover can be used to characterize the driver's intention to take over the vehicle laterally in an emergency situation. Among them, the first hand torque reference value is less than the second hand torque reference value. In comparison, the hand torque reference value of the current vehicle when the current vehicle encounters a non-emergency situation is less than the hand torque reference value of the current vehicle when the current vehicle encounters an emergency situation. The first preset duration is greater than the second preset duration. It can be understood that when an emergency occurs in the current vehicle, a quick judgment and quick takeover of the intention of lateral takeover of the vehicle can be achieved.

[0068] Specifically, when the current hand torque is greater than or equal to the second hand torque reference value, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to the second preset duration, it can be determined that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention.

[0069] Optionally, while determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention, the takeover state of the current vehicle can be adjusted from the automatic driving lateral control to the driver's permanent takeover state.

[0070] In an optional embodiment of the present invention, the method also includes: when the current hand torque is greater than or equal to a second hand torque reference value, when the current hand torque is monotonically increasing, when the current hand torque direction remains unchanged, and the current duration is greater than or equal to a third preset duration, determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention.

[0071] The second preset duration is greater than the third preset duration. It can be understood that when the current hand torque increases monotonically, by setting the second preset duration to be greater than the third preset duration, a quick confirmation of the permanent takeover intention of the current vehicle can be achieved.

[0072] Specifically, when the current hand torque is greater than or equal to the second hand torque reference value, when the current hand torque increases monotonically, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the third preset duration, it can be determined that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention.

[0073] When judging the intention to permanently take over, this scheme introduces the situation that the current hand torque is monotonically increasing. By judging the current duration through the third preset duration, the intention to permanently take over the current vehicle can be quickly confirmed, further improving the detection efficiency of the intention to permanently take over.

[0074] In an optional embodiment of the present invention, after determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention, it also includes: real-time detection of a permanent takeover exit operation; when a permanent takeover exit operation is detected, restoring automatic driving lateral control.

[0075] The permanent takeover exit operation can be used to indicate that the current vehicle exits the driver's permanent takeover state. Exemplarily, the permanent takeover exit operation can be the driver's operation of a permanent takeover exit control button on the current vehicle.

[0076] Specifically, after determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention, the permanent takeover exit operation triggered by the driver can be detected in real time. When the permanent takeover exit operation is detected, the current vehicle can be controlled to exit the driver's permanent takeover state and resume automatic driving lateral control.

[0077] This solution detects the permanent takeover exit operation in real time after determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention. When the permanent takeover exit operation is detected, the automatic driving lateral control is restored, thereby realizing automatic switching of the takeover state of the current vehicle and improving the smoothness of the vehicle takeover state.

[0078] The technical solution of the embodiment of the present invention, by concretizing the current lateral takeover intention into a temporary takeover intention and a permanent takeover intention, by determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention when the current hand torque is greater than or equal to the first hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the first preset duration, and determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention when the current hand torque is greater than or equal to the second hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the second preset duration, it can achieve a more accurate classification of the vehicle's lateral takeover intention, and can improve the detection speed and efficiency of the vehicle's lateral takeover intention; by setting the first hand torque reference value to be less than the second hand torque reference value, the degree of change of the hand torque in an emergency situation of the current vehicle is taken into account; by setting the first preset duration to be greater than the second preset duration, when an emergency occurs in the current vehicle, a quick judgment of the vehicle's lateral takeover intention can be achieved, further improving the detection efficiency of the vehicle's lateral takeover intention.

[0079] Figure 3 A preferred embodiment of the present invention is provided. Figure 3 The input of the vehicle lateral takeover intention detection method shown includes the lateral control on flag, the current vehicle speed v, the current hand torque torque and the current hand torque direction sign, and the output is the lateral control permanent exit flag (i.e. the driver permanently takes over the state) and the lateral control temporary exit flag (i.e. the driver temporarily takes over the state). It should be noted that the judgment of permanent takeover intention has a higher priority. It can be understood that if it has been determined that the driver has the intention to take over permanently, the device will no longer consider the temporary takeover intention, and the lateral control of the current vehicle will be directly permanently exited (i.e. the driver enters the permanent takeover state).

[0080] Among them, the device can include a hand torque filtering module, a temporary takeover judgment module and a permanent takeover judgment module.

[0081] Among them, the hand torque filtering module can adopt the median filtering method. Among them, median filtering is a nonlinear filtering technology used to remove noise in the signal. The input of the median filter is the current hand torque torque given by the steering wheel power system, and the output is the current hand torque after median filtering. Median filtering is very effective when processing signals containing impulse noise or spike noise. Among them, the basic idea of ​​median filtering is to extract all sample values ​​in a window from the original signal, and then calculate the median of these sample values ​​as the new value of the center position of the window. Each hand torque signal torgue[n] is a one-dimensional signal. Among them, n represents the time series of signal acquisition. The median filter can use a sliding window with a window size of a preset window value w to process the signal. Among them, the window size preset window value w must be an odd number, so that the middle value can be used as the output. The following steps can be used to characterize the specific process of median filtering:

[0082] Step 1: Define the window.

[0083] The window size can be selected as a preset window value w.

[0084] For each sample torgue[n], the window can be defined as

[0085] Step 2: Sort the values ​​in the window.

[0086] Sort the hand torque values ​​of all hand torque signals within the window.

[0087] That is Sort.

[0088] Step 3: Calculate the median.

[0089] The median torque value of each hand in the sorted window can be calculated m .

[0090] Step 4: Update the signal.

[0091] The median torgue m as the current hand torque.

[0092] The following steps can be used to determine the intention of temporary takeover:

[0093] When the current hand torque reaches the first hand torque reference value Tor temavetd , and the current hand torque direction sign remains consistent, and the current duration reaches the first preset duration T temavetd , the current lateral takeover intention of the driver of the current vehicle is considered to be a temporary takeover intention; wherein the first preset duration T temavetd Is the flag value.

[0094] Among them, the following formula can be used to express the calculation formula of the first hand torque reference value:

[0095] Tor temavetd =a1v 2 +b1v+c1;

[0096] In the formula, Tor temavetd is the first hand torque reference value corresponding to the current vehicle speed; v is the current vehicle speed; a1, b1 and c1 are the sign values ​​of the first hand torque reference value calculation formula.

[0097] The following steps can be used to determine the intention of temporary takeover:

[0098] Specifically, there are two ways to trigger the judgment function of permanent takeover intention. When any one of the methods is triggered, the current lateral takeover intention of the driver of the current vehicle will be considered as a permanent takeover intention.

[0099] Method 1: When the current hand torque reaches the second hand torque reference value Tor peravetd , and the current hand torque direction sign remains consistent, and the current duration reaches the second preset duration T peravetd1 , the current lateral takeover intention of the driver of the current vehicle is considered to be a permanent takeover intention; wherein the second preset duration T peravetd1 Is the flag value.

[0100] Method 2: When the current hand torque reaches the second hand torque reference value Tor peravetd At the same time, the current hand torque direction sign remains consistent, and the current duration reaches the third preset duration T peravetd2 And when the current hand torque increases monotonically, it is considered that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention; wherein the third preset duration T peravetd2 Is the flag value.

[0101] The third preset duration T peravetd2 Generally shorter than the second preset duration T peravetd1 It can be understood that method 2 can be considered as a faster calculation of method 1.

[0102] Among them, the following formula can be used to express the calculation formula of the second hand torque reference value:

[0103] Tor peravetd =a2v 2 +b2v+c2;

[0104] In the formula, Tor peravetdis the first hand torque reference value corresponding to the current vehicle speed; v is the current vehicle speed; a2, b2 and c2 are the sign values ​​of the second hand torque reference value calculation formula.

[0105] For current vehicles, there are emergency takeovers and non-emergency takeovers. Among them, in an emergency, the driver may quickly take over the control of the vehicle. At this time, the takeover intention should be correctly identified and given priority. As for the lateral takeover intention of the vehicle, it can be divided into permanent takeover intention and temporary takeover intention. Among them, the temporary takeover intention may be because of a non-emergency situation, the driver may need to control the vehicle briefly (for example, to avoid obstacles). The permanent takeover intention may be because of an emergency situation, the driver may need to take over the vehicle for a long time. The takeover intentions in these two situations need to be accurately distinguished.

[0106] Existing methods usually rely on two methods, namely, hand torque of the steering wheel or perception of the steering wheel, to judge the current lateral takeover intention of the driver of the current vehicle. However, the existing methods have some shortcomings, as follows: First, for the method that only relies on the size of hand torque, the influence of torque noise is ignored. Specifically, this method often does not fully consider the noise and direction in the hand torque signal, which may lead to misjudgment of the driver's true lateral takeover intention; secondly, the difference in hand torque at different vehicle speeds is ignored. Specifically, the hand torque will change significantly at different vehicle speeds, but the existing methods do not fully consider this factor, thereby affecting the accuracy of identifying the current takeover intention of the driver of the current vehicle; moreover, there is also the problem of missing classification of takeover intention. Specifically, the existing methods do not make a detailed classification of the driver's lateral takeover intention, for example, they do not distinguish between different types such as permanent takeover intention and temporary takeover intention; in addition, there is also the problem of high cost and poor robustness of relying on steering wheel perception; this scheme can reduce the current The misjudgment rate of lateral takeover intention can reduce the safety risks caused by misjudgment of the driver's lateral takeover intention, and avoid unnecessary takeover requests or interventions; the driver's true lateral takeover intention can be more accurately identified, especially in emergency situations, and the permanent takeover intention in emergency situations can be accurately identified, reducing the possibility of accidents and enhancing the safety of vehicle driving; the user experience can be improved. Specifically, by reducing unnecessary takeover requests and the occupation of equipment resources, the comfort and trust of the driver of the autonomous driving vehicle can be improved, making the driving process smoother and more natural; the human-computer interaction can also be optimized. Through the improved lateral takeover intention recognition in this solution, the interaction between people and the autonomous driving system can be better coordinated to ensure that both parties take over or maintain automated operations at the appropriate time; the system response efficiency can be improved, and different types of lateral takeover intentions can be accurately distinguished (i.e., distinguishing between permanent takeover intentions and temporary takeover intentions), which can help the system respond faster and improve the response speed and efficiency of the overall system.

[0107] Embodiment 3

[0108] Figure 4 A schematic diagram of the structure of a vehicle lateral takeover intention detection device provided in Embodiment 3 of the present invention. The embodiment of the present invention can be applied to the case of detecting the vehicle lateral takeover intention of an autonomous driving vehicle, the device can execute a vehicle lateral takeover intention detection method, the device can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device that carries the vehicle lateral takeover intention detection function, such as a vehicle-mounted terminal.

[0109] See also Figure 4 The vehicle lateral takeover intention detection device shown includes: a current data acquisition module 410, a hand torque reference value calculation module 420 and a lateral takeover intention detection module 430. Among them, the current data acquisition module 410 is used to obtain the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on; the hand torque reference value calculation module 420 is used to calculate the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed; the lateral takeover intention detection module 430 is used to determine the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

[0110] The technical solution of the embodiment of the present invention obtains the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on, calculates the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed, determines the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration, introduces the current speed, and realizes the accurate judgment of the current hand torque; introduces the current hand torque direction, and improves the detection accuracy of the current lateral takeover intention; in addition, introduces the comparison of the current duration and the preset duration, avoids the misdetection of the current lateral takeover intention, and further improves the detection accuracy of the current lateral takeover intention of the driver of the current vehicle.

[0111] In an optional embodiment of the present invention, the lateral takeover intention detection module 430 includes: a temporary takeover intention detection unit, used to determine that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention when the current hand torque is greater than or equal to a first hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to a first preset duration; a permanent takeover intention detection unit, used to determine that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention when the current hand torque is greater than or equal to a second hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to a second preset duration; wherein the first hand torque reference value is less than the second hand torque reference value; and the first preset duration is greater than the second preset duration.

[0112] In an optional embodiment of the present invention, the device further includes: a permanent takeover intention detection subunit, which is used to determine that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention when the current hand torque is greater than or equal to the second hand torque reference value, the current hand torque is monotonically increasing, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the third preset duration; wherein the second preset duration is greater than the third preset duration.

[0113] In an optional embodiment of the present invention, the lateral takeover intention detection module 430 includes: a current hand torque real-time detection unit, used to detect the current hand torque in real time after determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention; a first automatic driving recovery unit, used to restore automatic driving lateral control when the current hand torque is less than the first hand torque reference value and the current duration is greater than or equal to a fourth preset duration.

[0114] In an optional embodiment of the present invention, the lateral takeover intention detection module 430 includes: a permanent takeover exit operation detection unit, used to detect the permanent takeover intention exit operation in real time after determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention; and a second automatic driving recovery unit, used to restore automatic driving lateral control when the permanent takeover intention exit operation is detected.

[0115] In an optional embodiment of the present invention, the current data acquisition module 410 includes: a current hand torque signal acquisition unit, used to obtain the current hand torque signal during the automatic driving process; a current hand torque acquisition unit, used to perform median filtering on the current hand torque signal to obtain the current hand torque.

[0116] In an optional embodiment of the present invention, the current hand torque acquisition unit includes: a preset window value acquisition subunit, used to obtain a preset window value and multiple frames of historical hand torque signals; the preset window value is an odd number; a target historical hand torque signal screening subunit, used to select, based on the preset window value, from the current hand torque signal, target hand torque signals of the number of frames corresponding to the preset window value in the current hand torque signal and each of the historical hand torque signals in sequence; a target hand torque value sorting subunit, used to sort the target hand torque values ​​of each of the target hand torque signals; and a current hand torque acquisition unit, used to select the median value of each of the target hand torque values ​​to obtain the current hand torque.

[0117] The vehicle lateral takeover intention detection device provided in the embodiment of the present invention can execute the vehicle lateral takeover intention detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0118] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the current vehicle speed, current hand torque, current hand torque direction, current duration, preset duration, current hand torque signal during automatic driving, preset window value and multi-frame historical hand torque signal, etc. during the automatic driving process all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0119] Embodiment 4

[0120] Figure 5 A schematic diagram of the structure of an electronic device 500 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0121] like Figure 5As shown, the electronic device 500 includes at least one processor 501, and a memory connected to the at least one processor 501 in communication, such as a read-only memory (ROM) 502, a random access memory (RAM) 503, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 501 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 502 or the computer program loaded from the storage unit 508 to the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The processor 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0122] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0123] The processor 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 501 executes the various methods and processes described above, such as a vehicle lateral takeover intention detection method.

[0124] In some embodiments, the vehicle lateral takeover intention detection method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the processor 501, one or more steps of the vehicle lateral takeover intention detection method described above can be performed. Alternatively, in other embodiments, the processor 501 can be configured to execute the vehicle lateral takeover intention detection method in any other appropriate manner (for example, by means of firmware).

[0125] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0127] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0129] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0130] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0131] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0132] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting a vehicle lateral takeover intention, characterized in that: The method comprises: When the lateral control of the current vehicle is turned on, the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process are obtained; Calculating a hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed; The current lateral takeover intention of the driver of the current vehicle is determined based on the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

2. The method according to claim 1, characterized in that The determining of the current lateral takeover intention of the driver of the current vehicle according to the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration includes: When the current hand torque is greater than or equal to the first hand torque reference value, the direction of the current hand torque remains unchanged, and the current duration is greater than or equal to the first preset duration, determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention; When the current hand torque is greater than or equal to a second hand torque reference value, the direction of the current hand torque remains unchanged, and the current duration is greater than or equal to a second preset duration, determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention; Among them, the first hand torque reference value is smaller than the second hand torque reference value; and the first preset duration is greater than the second preset duration.

3. The method according to claim 2, characterized in that Also includes: When the current hand torque is greater than or equal to the second hand torque reference value, the current hand torque is monotonically increasing, the current hand torque direction remains unchanged, and the current duration is greater than or equal to the third preset duration, it is determined that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention; wherein the second preset duration is greater than the third preset duration.

4. The method according to claim 2, characterized in that: After determining that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention, the method further includes: detecting the current hand torque in real time; When the current hand torque is less than the first hand torque reference value and the current duration is greater than or equal to a fourth preset duration, the automatic driving lateral control is restored.

5. The method according to claim 2, characterized in that: After determining that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention, the method further includes: Real-time detection of permanent takeover exit operations; When the permanent takeover exit operation is detected, the autonomous driving lateral control is restored.

6. The method according to claim 1, characterized in that Get the current hand torque during autonomous driving, including: Obtain the current hand torque signal during the autonomous driving process; Perform median filtering on the current hand torque signal to obtain the current hand torque.

7. The method according to claim 6, characterized in that The performing median filtering on the current hand torque signal to obtain the current hand torque includes: Acquire a preset window value and multiple frames of historical hand torque signals; the preset window value is an odd number; According to the preset window value, starting from the current hand torque signal, the target hand torque signal of the number of frames corresponding to the preset window value is sequentially selected from the current hand torque signal and each of the historical hand torque signals; sorting the target hand torque values ​​of the target hand torque signals; The median of each target hand torque value is selected to obtain the current hand torque.

8. A vehicle lateral takeover intention detection device, characterized in that: The device comprises: A current data acquisition module, used to acquire the current vehicle speed, current hand torque, current hand torque direction, current duration and preset duration during the automatic driving process when the lateral control of the current vehicle is turned on; A hand torque reference value calculation module, used to calculate the hand torque reference value corresponding to the current vehicle speed according to the current vehicle speed; A lateral takeover intention detection module is used to determine the current lateral takeover intention of the driver of the current vehicle based on the comparison result of the current hand torque and the hand torque reference value, the change detection result of the current hand torque direction, and the comparison result of the current duration and the preset duration.

9. The device according to claim 8, characterized in that The lateral takeover intention detection module includes: a temporary takeover intention detection unit, configured to determine that the current lateral takeover intention of the driver of the current vehicle is a temporary takeover intention when the current hand torque is greater than or equal to a first hand torque reference value, the current hand torque direction remains unchanged, and the current duration is greater than or equal to a first preset duration; a permanent takeover intention detection unit, configured to determine that the current lateral takeover intention of the driver of the current vehicle is a permanent takeover intention when the current hand torque is greater than or equal to a second hand torque reference value, the direction of the current hand torque remains unchanged, and the current duration is greater than or equal to a second preset duration; Among them, the first hand torque reference value is smaller than the second hand torque reference value; and the first preset duration is greater than the second preset duration.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle lateral takeover intention detection method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle lateral takeover intention detection method according to any one of claims 1 to 7 when executed.

12. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the vehicle lateral takeover intention detection method according to any one of claims 1 to 7.

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