Driving behavior monitoring method, monitoring device and vehicle

Abstract

The invention provides a driving behavior monitoring method, a monitoring device and a vehicle, which can be used in the field of intelligent driving. According to the driving behavior monitoring method and device, whether the driving behavior of the vehicle is the dangerous driving behavior or not can be monitored based on the reference value of the specified driving parameter corresponding to each feasible driving behavior in M feasible driving behaviors of the vehicle in the current driving environment and the actual value of the specified driving parameter of the vehicle, and M is larger than or equal to 1. According to the method provided by the invention, the driving behavior of the vehicle is monitored based on the reference value and the actual value of the specified driving parameter of the vehicle, so that the occurrence rate of the dangerous driving behavior of the vehicle is reduced, and the accuracy is relatively high.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to a driving behavior monitoring method, a monitoring device and a vehicle. Background Art

[0002] With the widespread use of vehicles, the frequency of dangerous driving behaviors on the road has increased, resulting in a gradual increase in the incidence of traffic accidents. Therefore, how to reduce the incidence of dangerous driving behaviors of vehicles to improve traffic road safety has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application provides a driving behavior monitoring method, a monitoring device and a vehicle, which are used to monitor the driving behavior of the vehicle to reduce the incidence of dangerous driving behavior of the vehicle.

[0004] In a first aspect, the present application provides a driving behavior monitoring method, comprising: determining M feasible driving behaviors of a vehicle in a current driving environment and a reference value of a designated driving parameter corresponding to each of the M feasible driving behaviors, M being greater than or equal to 1; obtaining an actual value of the designated driving parameter of the vehicle; and monitoring whether the driving behavior of the vehicle is a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter.

[0005] Optionally, the method may be executed by a control device of the vehicle, or by a monitoring device for monitoring the driving behavior of the vehicle, and the monitoring device may also be located in the control device.

[0006] It should be noted that the names of the control device and the monitoring device are merely examples, and any device having the same function as the control device or monitoring device here can be included in the scope of the control device or monitoring device in this application.

[0007] As an example, a feasible driving behavior can be understood as a driving behavior that complies with traffic regulations (such as the Road Traffic Safety Law) when the vehicle is driving in the current driving environment.

[0008] As an example, the reference value of the specified driving parameter of the feasible driving behavior may be a safety value. When the vehicle drives based on the safety value, the feasible driving behavior is a safe driving behavior.

[0009] As an example, the reference value of the specified driving parameter of the feasible driving behavior may be a safety threshold range. When the vehicle drives based on a safety value within the safety threshold range, the feasible driving behavior is a safe driving behavior.

[0010] As an example, the actual value of the specified driving parameter of the vehicle is the actual value of the specified driving parameter in the current driving behavior of the vehicle.

[0011] The technical solution provides a method for monitoring whether a vehicle's driving behavior is dangerous driving behavior based on the reference value of a designated driving parameter of each feasible driving behavior and the actual value of the designated driving parameter, thereby reducing the probability of dangerous driving behavior of the vehicle, thereby improving road traffic safety. The technical solution monitors the driving behavior of the vehicle based on the reference value of the designated driving parameter of the vehicle, and has higher accuracy than the method of monitoring whether the driving behavior of the vehicle is safe based on the driving state of the driver.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the specified driving parameters include at least one of the following parameters: speed, steering wheel angle, and braking intensity.

[0013] In this implementation, the steering wheel angle is the steering wheel angle of the vehicle, and the braking intensity is the ratio of the vehicle deceleration to the acceleration due to gravity.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the monitoring of whether the driving behavior of the vehicle is a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter includes: determining a driving state reference value corresponding to each of the M feasible driving behaviors based on the reference value of the designated driving parameter corresponding to each of the M feasible driving behaviors, the driving state reference value being used to characterize the reference driving state of the vehicle when performing each of the feasible driving behaviors in the current driving environment; determining an actual driving state value of the vehicle based on the actual value of the designated driving parameter of the vehicle, the actual driving state value being used to characterize the actual driving state of the vehicle in the current driving environment; if the actual driving state value falls outside the range of the driving state reference value corresponding to any of the M feasible driving behaviors, determining the driving behavior of the vehicle as a dangerous driving behavior.

[0015] As an example, based on each feasible driving behavior, if the reference value of the specified driving parameter corresponding to the feasible driving behavior is a safety critical value, then the driving state reference value corresponding to the feasible driving behavior is also a safety reference value, and the safety reference value can be used as the left endpoint of the driving state reference value range corresponding to the feasible driving behavior. The left endpoint is the minimum value of the driving state reference value range corresponding to the feasible driving behavior.

[0016] In this example, when the number of feasible driving behaviors is equal to 1, if the actual driving state value is greater than or equal to the safety reference value corresponding to the feasible driving behavior, it means that the actual driving state value falls within the driving state reference value range corresponding to the feasible driving behavior, and thus the vehicle's current driving behavior can be considered to be a safe driving behavior. If the actual driving state value is less than the safety reference value corresponding to the feasible driving behavior, it means that the actual driving state value falls outside the driving state reference value range corresponding to the feasible driving behavior, and thus the vehicle's current driving behavior can be considered to be a dangerous driving behavior.

[0017] In this example, when the number of feasible driving behaviors is greater than 1, if the actual value of the driving state is greater than or equal to the safety reference value corresponding to all feasible driving behaviors, that is, when the actual value of the driving state is greater than or equal to the maximum value of all safety reference values, it means that the actual value of the driving state falls within the driving state reference value range corresponding to any driving behavior in M ​​(M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a safe driving behavior. If the actual value of the driving state is less than the minimum value of all safety reference values, it means that the actual value of the driving state falls outside the driving state reference value range corresponding to any driving behavior in M ​​(M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a dangerous driving behavior. Among them, if the actual value of the driving state is less than the maximum value of all safety reference values ​​and greater than or equal to the minimum value of all safety reference values, the driving behavior of the vehicle can be considered as a risky driving behavior. It should be noted that risky driving behaviors are also dangerous driving behaviors, but the degree of danger is lower.

[0018] As another example, based on each feasible driving behavior, if the reference value of at least one specified driving parameter corresponding to the feasible driving behavior is a safety threshold range, then the driving state reference value corresponding to the feasible driving behavior is also a safety threshold range, and the safety threshold range is the driving state reference value range corresponding to the feasible driving behavior.

[0019] In this example, when the number of feasible driving behaviors is equal to 1, if the actual driving state value falls within the driving state reference value range corresponding to the feasible driving behavior, the vehicle's current driving behavior is considered to be a safe driving behavior; if the actual driving state value falls outside the driving state reference value range corresponding to the feasible driving behavior, the vehicle's current driving behavior is considered to be a dangerous driving behavior.

[0020] In this example, when the number of feasible driving behaviors is greater than 1, if the actual driving state value falls within the driving state reference value range corresponding to all feasible driving behaviors, it means that the actual driving state value falls within the driving state reference value range corresponding to any driving behavior among M (M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as safe driving behavior; if the actual driving state value falls outside the driving state reference value range corresponding to all feasible driving behaviors, it means that the actual driving state value falls outside the driving state reference value range corresponding to any driving behavior among M (M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as dangerous driving behavior. Among them, if the actual driving state value only falls within the driving state reference value range corresponding to a part of the feasible driving behaviors, the driving behavior of the vehicle can be considered as a risky driving behavior.

[0021] This implementation method monitors whether the vehicle's driving behavior is dangerous driving behavior based on the vehicle's actual driving state value and the driving state reference value corresponding to each feasible driving behavior, so as to reduce the occurrence rate of dangerous driving behavior and improve road traffic safety.

[0022] In combination with the first aspect, in some implementations of the first aspect, determining the driving state reference value corresponding to each of the M feasible driving behaviors based on the reference value of the designated driving parameter corresponding to each of the M feasible driving behaviors includes:

[0023] Based on the reference value of the designated driving parameter corresponding to each feasible driving behavior and the related parameters, determining the driving state reference value corresponding to each feasible driving behavior, the related parameters including at least one of the following parameters: the vehicle's mileage, driving time, maximum steering wheel angle, maximum brake, maximum throttle, maximum braking intensity and driving mode; determining the actual value of the vehicle's driving state based on the actual value of the designated driving parameter of the vehicle, including: determining the actual value of the vehicle's driving state based on the actual value of the designated driving parameter of the vehicle and the related parameters.

[0024] As an example, the vehicle's mileage can be the vehicle's total mileage, the driving time can be the driving time of the vehicle's current driving behavior, the maximum steering wheel angle can be understood as the maximum steering wheel angle calibrated at the factory, the maximum braking value can be understood as the maximum brake pedal opening signal calibrated at the factory, the maximum throttle value can be understood as the maximum throttle pedal opening signal calibrated at the factory, the maximum braking intensity can be understood as the maximum braking intensity calibrated at the factory, and the driving modes include driving modes commonly used by vehicles, such as sports mode, standard mode, and comfort mode.

[0025] In this implementation, by determining the driving state reference value of each feasible driving behavior based on the reference value of the specified driving parameter and related parameters, and determining the actual value of the vehicle's driving state based on the actual value of the specified driving parameter and related parameters, it is possible to monitor whether the vehicle's driving behavior is a dangerous driving behavior. This implementation takes the performance of the vehicle into consideration and improves the accuracy of monitoring.

[0026] In combination with the first aspect, in certain implementations of the first aspect, when the designated driving parameters include speed, steering wheel angle, and braking intensity, and the related parameters include the vehicle's mileage, driving time, maximum steering wheel angle, maximum brake value, maximum throttle value, maximum braking intensity, and driving mode, for each driving behavior, the driving state reference value corresponding to the driving behavior, the reference value of the designated driving parameter corresponding to the driving behavior, and the related parameters satisfy the following relationship:

[0027] S=W m o de ×(W vel ×v+W steer ×d+W z ×z)

[0028]

[0029]

[0030]

[0031] Wherein, S represents the driving state reference value corresponding to the driving behavior, W mode represents the driving mode, v represents the reference value of the speed corresponding to the driving behavior, d represents the reference value of the steering wheel angle corresponding to the driving behavior, z represents the reference value of the braking intensity corresponding to the driving behavior, a max Indicates the maximum throttle value of the vehicle, b max represents the maximum braking value of the vehicle, d max represents the maximum steering wheel angle of the vehicle, z max Indicates the maximum braking intensity of the vehicle, k 1 , k 2 , k 3 and k 4 It is inversely proportional to the product of the driving mileage and the driving time.

[0032] This implementation provides a method for directly calculating a driving state reference value corresponding to a driving behavior when all specified driving parameters and all related parameters are included, thereby being able to more intuitively monitor whether the vehicle's driving behavior is a dangerous driving behavior.

[0033] In combination with the first aspect, in certain implementations of the first aspect, determining M feasible driving behaviors of the vehicle in the current driving environment and the reference values ​​of the designated driving parameters corresponding to each of the M feasible driving behaviors includes: obtaining environmental information of the current driving environment, the environmental information including at least one of the following information: road speed limit, lane width, and speed of the vehicle in front; determining M feasible driving behaviors of the vehicle in the current driving environment and the reference values ​​of the designated driving parameters corresponding to each of the M feasible driving behaviors based on the environmental information.

[0034] In this implementation, feasible driving behaviors and reference values ​​of designated driving parameters corresponding to each feasible driving behavior can be determined based on environmental information in the current driving environment of the vehicle. Environmental information includes information on traffic signals and traffic participants. Traffic signals include signals such as traffic lights, traffic signs, traffic markings, and traffic police commands. Information on traffic participants includes information on vehicles and pedestrians on the road, such as the position, speed, and driving direction of vehicles on the road, and the position and driving direction of pedestrians.

[0035] As an example, if the traffic light in the current driving environment is red, then the feasible driving behaviors at this time include braking and decelerating; if the vehicle in the current driving environment is in a mixed lane of straight and left turns, then the feasible driving behaviors at this time include turning left, going straight, decelerating, etc.

[0036] As an example, the speed reference value corresponding to each feasible driving behavior can be determined according to environmental information such as the road speed limit sign, the speed of the preceding vehicle, etc. For example, the speed reference value can be the minimum value of the speed in the road speed limit sign and the speed of the preceding vehicle.

[0037] As an example, the reference value of the steering wheel angle corresponding to each feasible driving behavior can be determined based on environmental information such as lane width, lane curvature, and lane marking lines. For example, when the vehicle turns, the angle between the center line of the steering wheel and the lane marking line that meets the preset threshold is determined as the reference value of the steering wheel angle. For another example, when the vehicle changes lanes, the reference value of the steering wheel angle can be set in advance in the vehicle according to the safety requirements of the vehicle driving, and this application does not make specific restrictions here.

[0038] As an example, the reference value of the braking intensity of each feasible driving behavior can be set in advance in the vehicle for easy reference to improve efficiency. For example, the reference value of the braking intensity can be determined by referring to the test values ​​for different scenarios in the Technical Requirements and Test Methods for Passenger Vehicle Braking Systems (GB 21670-2008).

[0039] Optionally, specific implementation rules for feasible driving behaviors and reference values ​​of designated driving parameters corresponding to each feasible driving behavior are determined based on environmental information in the vehicle's current driving environment and can be configured in the vehicle in advance to improve efficiency.

[0040] In combination with the first aspect, in certain implementations of the first aspect, when the driving behavior of the vehicle is monitored as a dangerous driving behavior based on the actual value of the specified driving parameter and the reference value of the specified driving parameter, the method also includes: outputting a first prompt information, wherein the first prompt information is used to prompt the dangerous driving behavior.

[0041] In this implementation, when the driving behavior of the vehicle is monitored as dangerous driving behavior, a prompt message can be output to the driver through the vehicle system to indicate the dangerous driving behavior, thereby reminding the driver to reduce the occurrence rate of dangerous driving behavior.

[0042] In combination with the first aspect, in certain implementations of the first aspect, the first prompt information is also used to prompt at least one of the following information: the reference value of the specified driving parameter corresponding to each feasible driving behavior, the actual value of the specified driving parameter, the environmental information of the current driving environment, the actual value of the driving state of the vehicle, and the driving state reference value corresponding to each feasible driving behavior.

[0043] In this implementation, the first prompt information may also include information such as the reference value of the specified driving parameter corresponding to each feasible driving behavior, the actual value of the specified driving parameter, environmental information of the current driving environment, the actual value of the vehicle's driving state, the driving state reference value corresponding to each feasible driving behavior, etc., so that the driver can know the relevant information of the current driving behavior and the relevant information of possible dangerous driving behavior, so that the driving behavior can be adjusted more accurately, further reducing the incidence of dangerous driving behavior.

[0044] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: predicting possible driving behaviors of the vehicle in the current driving environment; and determining driving behaviors among the possible driving behaviors that do not belong to the M feasible driving behaviors as dangerous driving behaviors.

[0045] As an example, the possible driving behavior of the vehicle in the current driving environment can be predicted based on the actual value of the specified driving parameter obtained. The possible behaviors of the vehicle include driving behaviors such as changing lanes left, changing lanes right, turning left, turning right, accelerating, decelerating, etc. This application does not limit the specific prediction method.

[0046] As an example, the possible driving behavior of the vehicle can be predicted based on the change law of the actual value of the specified driving parameter of the vehicle. For example, the change law of speed can be determined according to the actual value of speed in multiple consecutive frames, or according to the actual value of acceleration at the current moment, or according to the actual value of braking intensity at the current moment. Among them, if the actual value of speed gradually decreases, or the actual value of acceleration at the current moment is negative acceleration, or the vehicle is currently in a braking state, the possible driving behavior of the vehicle includes braking deceleration. For another example, the change law of the steering wheel angle of the vehicle can be determined according to the actual value of the angle of the steering wheel in multiple consecutive frames, or according to the steering wheel angle at the current moment. Among them, if the steering wheel angle gradually increases to the left, the possible driving behavior of the vehicle includes changing lanes left or turning; if the steering wheel angle gradually increases to the left and meets the lane change angle threshold, the possible driving behavior of the vehicle includes changing lanes left.

[0047] As an example, the feasible driving behavior of the vehicle in the current driving environment can be determined from the possible driving behaviors according to the environmental information and the preset model. As an example, the possible driving behaviors of the vehicle can be coarsely classified into two categories using a preset binary classification model to determine whether the possible driving behavior of the vehicle is a dangerous driving behavior. For example, the environmental information and the possible driving behavior can be input into the binary classification model, and the binary classification model can determine the feasible driving behavior in the current driving environment based on the environmental information, and determine the driving behavior that does not belong to the M feasible driving behaviors in the possible driving behaviors as a dangerous driving behavior.

[0048] Optionally, the driving behaviors that are feasible driving behaviors among the possible driving behaviors may be determined as M feasible driving behaviors.

[0049] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: outputting a second prompt information, wherein the second prompt information is used to prompt that a driving behavior among the possible driving behaviors that does not belong to the M feasible driving behaviors is a dangerous driving behavior.

[0050] In this implementation, the possible driving behavior of the vehicle is predicted, and dangerous driving behaviors that do not meet the driving environment requirements are output, so that the driving behavior can be monitored and warned in advance, reducing the incidence of dangerous driving behaviors.

[0051] In a second aspect, the present application provides a driving behavior monitoring device, which includes various modules for implementing the method in the first aspect or any one of the implementations thereof, and each module can be implemented in the form of hardware and / or software.

[0052] For example, the device may include: a processing module and an acquisition module. The processing module is used to determine M feasible driving behaviors of the vehicle in the current driving environment and the reference value of the designated driving parameter corresponding to each of the M feasible driving behaviors, where M is greater than or equal to 1; the acquisition module is used to obtain the actual value of the designated driving parameter of the vehicle; the processing module is also used to monitor whether the driving behavior of the vehicle is a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter.

[0053] In combination with the second aspect, in certain implementations of the second aspect, the specified driving parameters include at least one of the following parameters: speed, steering wheel angle, and braking intensity.

[0054] In combination with the second aspect, in certain implementations of the second aspect, the processing module is also used to determine a driving state reference value corresponding to each of the M feasible driving behaviors based on the reference values ​​of the designated driving parameters corresponding to each of the M feasible driving behaviors, and the driving state reference value is used to characterize the reference driving state of the vehicle when performing each feasible driving behavior in the current driving environment; the processing module is also used to determine an actual driving state value of the vehicle based on the actual values ​​of the designated driving parameters of the vehicle, and the actual driving state value is used to characterize the actual driving state of the vehicle in the current driving environment; the processing module is also used to determine that the driving behavior of the vehicle is a dangerous driving behavior when the actual driving state value falls outside the range of the driving state reference value corresponding to any driving behavior among the M feasible driving behaviors.

[0055] In combination with the second aspect, in certain implementations of the second aspect, the processing module is also used to determine the driving state reference value corresponding to each feasible driving behavior based on the reference value of the designated driving parameter corresponding to each feasible driving behavior and related parameters, and the related parameters include at least one of the following parameters: the vehicle's mileage, driving time, maximum steering wheel angle, maximum brake value, maximum throttle value, maximum braking intensity and driving mode; the processing module is also used to determine the actual driving state value of the vehicle based on the actual value of the designated driving parameter of the vehicle and the related parameters.

[0056] In combination with the second aspect, in certain implementations of the second aspect, when the designated driving parameters include speed, steering wheel angle, and braking intensity, and the related parameters include the vehicle's mileage, driving time, maximum steering wheel angle, maximum braking value, maximum throttle value, maximum braking intensity, and driving mode, for each driving behavior, the driving state reference value corresponding to the driving behavior, the reference value of the designated driving parameter corresponding to the driving behavior, and the related parameters satisfy the following relationship:

[0057] S=W m o de ×(W vel ×v+W steer ×d+W z ×z)

[0058]

[0059]

[0060]

[0061] Wherein, S represents the driving state reference value corresponding to the driving behavior, W mode represents the driving mode, v represents the reference value of the speed corresponding to the driving behavior, d represents the reference value of the steering wheel angle corresponding to the driving behavior, z represents the reference value of the braking intensity corresponding to the driving behavior, a max Indicates the maximum throttle value of the vehicle, b max represents the maximum braking value of the vehicle, d max represents the maximum steering wheel angle of the vehicle, z max Indicates the maximum braking intensity of the vehicle, k 1 , k 2 , k 3 and k 4 It is inversely proportional to the product of the driving mileage and the driving time.

[0062] In combination with the second aspect, in certain implementations of the second aspect, the acquisition module is also used to obtain environmental information of the current driving environment, and the environmental information includes at least one of the following information: road speed limit, lane width and speed of the vehicle in front; the processing module is also used to determine M feasible driving behaviors of the vehicle in the current driving environment and reference values ​​of specified driving parameters corresponding to each of the M feasible driving behaviors based on the environmental information.

[0063] In conjunction with the second aspect, in some implementations of the second aspect, the device may further include an output module. The output module is used to output first prompt information when the driving behavior of the vehicle is monitored as a dangerous driving behavior based on the actual value of the specified driving parameter and the reference value of the specified driving parameter, wherein the first prompt information is used to prompt the dangerous driving behavior.

[0064] In combination with the second aspect, in certain implementations of the second aspect, the first prompt information is also used to prompt at least one of the following information: the reference value of the specified driving parameter corresponding to each feasible driving behavior, the actual value of the specified driving parameter, the environmental information of the current driving environment, the actual value of the driving state of the vehicle, and the driving state reference value corresponding to each feasible driving behavior.

[0065] In combination with the second aspect, in certain implementations of the second aspect, the processing module is also used to predict the possible driving behavior of the vehicle in the current driving environment; and determine the driving behavior among the possible driving behaviors that does not belong to the M feasible driving behaviors as a dangerous driving behavior.

[0066] In combination with the second aspect, in certain implementations of the second aspect, the output module is further used to output second prompt information, and the second prompt information is used to prompt that the driving behavior among the possible driving behaviors that does not belong to the M feasible driving behaviors is a dangerous driving behavior.

[0067] In a third aspect, the present application provides a driving behavior monitoring device, including a processor, which can be coupled to a memory and is used to call a program code in the memory to execute the method as described in the first aspect or any possible implementation thereof. Optionally, the device also includes a memory. Optionally, the device also includes a communication interface, and the processor is coupled to the communication interface.

[0068] In a fourth aspect, the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method as described in the first aspect or any possible implementation thereof.

[0069] In a fifth aspect, the present application provides a computer-readable medium storing a program code for execution by a device, wherein the program code includes a method for executing the method described in the first aspect or any possible implementation thereof.

[0070] In a sixth aspect, the present application provides a vehicle, comprising a driving behavior monitoring device as described in the second aspect or the third aspect and at least one sensor, wherein the at least one sensor is used to obtain environmental information of a current driving environment of the vehicle and provide the environmental information of the current driving environment to the driving behavior monitoring device.

[0071] In the seventh aspect, the present application provides a driving behavior monitoring system, including a vehicle and a driving behavior monitoring device as described in the second aspect or the third aspect, the vehicle includes at least one sensor, and the at least one sensor is used to obtain environmental information of the current driving environment of the vehicle and provide the environmental information to the driving behavior monitoring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 A schematic diagram of a system architecture of an intelligent vehicle provided in one embodiment of the present application;

[0073] Figure 2 A schematic flow chart of a driving behavior monitoring method provided in one embodiment of the present application;

[0074] Figure 3 A schematic flow chart of a driving behavior monitoring method provided in another embodiment of the present application;

[0075] Figure 4 A schematic diagram showing a driving behavior evaluation result provided in one embodiment of the present application;

[0076] Figure 5 A schematic flow chart of a driving behavior monitoring method provided in yet another embodiment of the present application;

[0077] Figure 6 A schematic diagram of the structure of a driving behavior monitoring device provided in one embodiment of the present application;

[0078] Figure 7 A schematic structural diagram of a driving behavior monitoring device provided in yet another embodiment of the present application.

[0079] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0080] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0081] The embodiments of the present application provide a driving behavior monitoring method, monitoring device and vehicle. The method determines the compliant driving behavior of the vehicle based on environmental factors, determines the relevant parameters of the vehicle based on the vehicle performance, calculates the driving state reference value corresponding to each compliant driving behavior and the actual driving state value of the vehicle based on the driving parameters and the relevant parameters, and determines whether the driving behavior of the vehicle is dangerous by judging the relationship between the actual driving state value and each driving state reference value, so that the driving behavior of the vehicle can be monitored to reduce the incidence of dangerous driving behavior of the vehicle and improve road traffic safety. Among them, the method can also display the above-mentioned parameter values ​​and driving state values ​​through a visual interface in the vehicle system, and if there is a tendency of dangerous driving behavior, it is sent to the driver to prompt the driver of the driving state of the vehicle, thereby reducing the incidence of dangerous driving behavior of the vehicle. Among them, compliant driving behavior can also be called feasible driving behavior.

[0082] It should be noted that the monitoring method and monitoring device provided in the present application are based on the same technical concept. Since the method and the device solve the problem in a similar manner, the implementation of the method and the device can refer to each other, and the repeated parts will not be repeated.

[0083] The technical solution provided in this application can be applied to smart vehicles. For example, Figure 1 A schematic diagram of a system architecture of an intelligent vehicle provided by an embodiment of the present application. Figure 1 As shown, the vehicle 100 includes a control device 110 , a vehicle system 120 , and a sensor 130 .

[0084] The vehicle 100 can be driven manually by a driver, or can be driven intelligently under the control of a control device 110 .

[0085] The vehicle system 120 is an abbreviation for the vehicle infotainment product installed in the vehicle 100. The vehicle system 120 is used to realize information communication between people and vehicles, and between vehicles and the outside world (such as vehicles and vehicles, and vehicles and roadside equipment). The vehicle system 120 includes a visual interface (such as a display screen), audio equipment, etc.

[0086] The sensor 130 includes a control-by-wire sensor 131 and an external sensor 132. The control-by-wire sensor 131 is used to collect driving parameters of the vehicle 100, such as speed, acceleration, steering wheel angle, braking intensity, deceleration and other parameters. The control-by-wire sensor 131 may include a pedal travel sensor, a wheel speed sensor, a steering wheel angle sensor, a speed sensor, an acceleration sensor and the like. The external sensor 132 is used to collect environmental information around the vehicle 100, such as information about pedestrians, vehicles, road traffic signs and the like around the vehicle 100. The external sensor 132 includes a vehicle-mounted camera, an ultrasonic radar, a millimeter-wave radar, a laser radar and an infrared radar and the like.

[0087] The control device 110 may be a vehicle-mounted computer system. The control device 110 is used to receive information collected by the sensor 130, process the received sensor information, and output it through the vehicle system 120. For example, the control device 110 may output environmental information around the vehicle 100 through the vehicle system 120; the control device 110 is also used to intelligently drive the vehicle 100 based on the received sensor information.

[0088] The technical solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0089] Figure 2 The following is a schematic flow chart of a driving behavior monitoring method provided by one embodiment of the present application. Figure 2 As shown, the method may include S210 to S230.

[0090] Optionally, the method may be executed by a control device of the vehicle, or by a monitoring device for monitoring the driving behavior of the vehicle, and the monitoring device may be located in the control device, or in a server independent of the vehicle.

[0091] It should be noted that the names of the control device and the monitoring device are merely examples, and any device having the same function as the control device or monitoring device here can be included in the scope of the control device or monitoring device in the embodiments of the present application.

[0092] S210, determining M feasible driving behaviors of the vehicle in the current driving environment and reference values ​​of designated driving parameters corresponding to each of the M feasible driving behaviors, where M is greater than or equal to 1.

[0093] In this embodiment, feasible driving behavior can be understood as driving behavior that complies with traffic regulations (such as the Road Traffic Safety Law) when the vehicle is driving in the current driving environment. The specified driving parameters may include at least one of the vehicle's speed, steering wheel angle, and braking intensity. Braking intensity refers to the ratio of the vehicle's deceleration to the acceleration due to gravity.

[0094] Optionally, the M feasible driving behaviors in the current driving environment and the reference value of the designated driving parameter corresponding to each of the M feasible driving behaviors can be determined based on the environmental information in the current driving environment of the vehicle. The environmental information includes information on traffic signals and traffic participants, the traffic signals include signals such as traffic lights, traffic signs, traffic markings, and traffic police commands, and the information on traffic participants includes information on vehicles and pedestrians on the road, such as the position, speed, and driving direction of vehicles on the road, and the position and driving direction of pedestrians.

[0095] As an example, if the traffic light in the current driving environment is red, then the feasible driving behaviors at this time include braking and decelerating; if the vehicle in the current driving environment is in a mixed lane of straight and left turns, then the feasible driving behaviors at this time include turning left, going straight, decelerating, etc.

[0096] As an example, the speed reference value corresponding to each feasible driving behavior can be determined according to environmental information such as the road speed limit sign, the speed of the preceding vehicle, etc. For example, the speed reference value can be the minimum value of the speed in the road speed limit sign and the speed of the preceding vehicle.

[0097] As an example, the reference value of the steering wheel angle corresponding to each feasible driving behavior can be determined based on environmental information such as lane width, lane curvature, and lane markings. For example, when the vehicle turns, the angle between the center line of the steering wheel and the lane marking that meets the preset threshold is determined as the reference value of the steering wheel angle. For another example, when the vehicle changes lanes, the reference value of the steering wheel angle can be set in advance in the vehicle according to the safety requirements of the vehicle driving, and this application does not make specific restrictions here.

[0098] As an example, the reference value of the braking intensity of each feasible driving behavior can be set in advance in the vehicle for easy reference to improve efficiency. For example, the reference value of the braking intensity can be determined by referring to the test values ​​for different scenarios in the Technical Requirements and Test Methods for Passenger Vehicle Braking Systems (GB 21670-2008).

[0099] S220, obtaining actual values ​​of designated driving parameters of the vehicle.

[0100] As an example, the actual value of the specified driving parameter of the vehicle can be obtained from each wire control sensor of the vehicle.

[0101] The actual value of the specified driving parameter of the vehicle is the actual value of the specified driving parameter of the current driving behavior when the vehicle is driving in the current driving environment.

[0102] S230: Monitoring whether the driving behavior of the vehicle is a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter.

[0103] In this embodiment, whether the driving behavior of the vehicle is a dangerous driving behavior can be monitored by determining the relationship between the actual value and the reference value of the specified driving parameter.

[0104] As an example, if the vehicle has only one feasible driving behavior in the current driving environment, and the specified driving parameters only include any one of speed, steering wheel angle and braking intensity, when the corresponding speed condition, angle condition or braking condition is met, the vehicle's driving behavior can be considered as a safe driving behavior, otherwise, the vehicle's driving behavior is considered as a dangerous driving behavior.

[0105] Optionally, the speed condition includes that the speed difference between the actual value of the speed and the speed reference value satisfies the speed threshold; the angle condition includes that the angle difference between the actual value of the steering wheel angle and the steering wheel angle reference value satisfies the angle threshold; the braking condition includes that the braking intensity difference between the actual value of the braking intensity and the reference value of the braking intensity satisfies the braking threshold.

[0106] As an example, if the vehicle has only one feasible driving behavior in the current driving environment, and the specified driving parameters include at least two of the speed, steering wheel angle, and braking strength, then when the corresponding speed conditions, angle conditions, or braking conditions are met at the same time, the vehicle's driving behavior can be considered safe driving behavior, otherwise, the vehicle's driving behavior is considered dangerous driving behavior. For example, when the specified driving parameters include speed and steering wheel angle, when the speed condition and the angle condition are met at the same time, the vehicle's driving behavior is considered safe driving behavior; if only the speed condition or the angle condition is met, the vehicle's driving behavior is considered risky driving behavior; if both the speed condition and the angle condition are not met at the same time, the vehicle's driving behavior is considered dangerous driving behavior. It should be noted that risky driving behavior also belongs to dangerous driving behavior, but the degree of danger is lower.

[0107] As an example, if the vehicle's feasible driving behaviors in the current driving environment include at least two, and the designated driving parameters include at least one of speed, steering wheel angle and braking intensity, then when each designated driving parameter in each feasible driving behavior simultaneously satisfies the corresponding speed condition, angle condition or braking condition, the vehicle's driving behavior can be considered as a safe driving behavior; otherwise, the vehicle's driving behavior is considered as a dangerous driving behavior. For example, when the specified driving parameters in the first feasible driving behavior are set to include a first speed and a first steering wheel angle, and the specified driving parameters in the second feasible driving behavior include a second speed and a second braking strength, the driving behavior of the vehicle is considered to be a safe driving behavior only when the first speed and the second speed satisfy the speed condition, the first steering wheel angle satisfies the angle condition, and the second braking strength satisfies the braking strength; the driving behavior of the vehicle is considered to be a risky driving behavior when at least one of the first speed does not satisfy the speed condition, the first steering wheel angle does not satisfy the angle condition, the second speed does not satisfy the speed condition, and the second braking strength does not satisfy the braking strength; the driving behavior of the vehicle is considered to be a dangerous driving behavior when the first speed and the second speed do not satisfy the speed condition, the first steering wheel angle does not satisfy the angle condition, and the second braking strength does not satisfy the braking strength.

[0108] Since the actual manifestation of whether the vehicle's driving behavior is dangerous is the vehicle's driving state, the method of monitoring whether the vehicle's driving behavior is dangerous by judging the actual value of the vehicle's designated driving parameters and the reference value of each designated driving parameter in each feasible driving behavior in the embodiment of the present application does not rely on the reading of the driver's condition by sensors such as in-vehicle cameras, compared to the method of judging whether the vehicle's driving behavior is dangerous based on the driver's driving state, thereby strengthening the protection of user personal information and being more accurate.

[0109] Optionally, after executing S210 and S220, the method shown in S230 may be used to monitor the driving behavior of the vehicle, and the actual value of the driving state of the vehicle may be determined by the actual value of the designated driving parameter of the vehicle, and the driving state reference value corresponding to each feasible driving behavior of the vehicle may be determined by the reference value of the designated driving parameter corresponding to each feasible driving behavior of the vehicle, and based on the actual value of the driving state and the driving state reference value corresponding to each feasible driving behavior, it is monitored whether the driving behavior of the vehicle is a dangerous driving behavior, such as Figure 3 The method shown.

[0110] For example, Figure 3 A schematic flowchart of a driving behavior monitoring method provided for another embodiment of the present application. Figure 3 The method shown includes S210 and S220, and also includes S301, S302, S303 and S304.

[0111] Optionally, the method may be executed by a control device of the vehicle, or by a monitoring device for monitoring the driving behavior of the vehicle. The monitoring device may be located in the control device, or in a server independent of the vehicle.

[0112] It should be noted that the names of the control device and the monitoring device are merely examples, and any device having the same function as the control device or monitoring device here can be included in the scope of the control device or monitoring device in the embodiments of the present application.

[0113] S210, determining M feasible driving behaviors of the vehicle in the current driving environment and reference values ​​of designated driving parameters corresponding to each of the M feasible driving behaviors, where M is greater than or equal to 1.

[0114] S220, obtaining actual values ​​of designated driving parameters of the vehicle.

[0115] The specific implementation of S210 and S220 can be found in Figure 2 The specific description of the illustrated embodiments will not be repeated here.

[0116] S301, based on the reference values ​​of the designated driving parameters corresponding to each feasible driving behavior, determine the driving state reference value corresponding to each feasible driving behavior, the driving state reference value is used to characterize the reference driving state of the vehicle when performing each feasible driving behavior in the current driving environment.

[0117] As an example, the driving state reference value corresponding to each feasible driving behavior can be determined based on the reference value of the specified driving parameter corresponding to each feasible driving behavior and the related parameters, wherein the related parameters include at least one of the following parameters: vehicle mileage, driving time, maximum steering wheel angle, maximum brake, maximum throttle, maximum braking intensity, and driving mode.

[0118] It should be noted that the vehicle's mileage may be the vehicle's total mileage, the driving time may be the driving time of the vehicle's current driving behavior, the maximum steering wheel angle may be understood as the maximum steering wheel angle calibrated by the factory wire control, the maximum braking value may be understood as the maximum brake pedal opening signal calibrated by the factory wire control, the maximum throttle value may be understood as the maximum throttle pedal opening signal calibrated by the factory wire control, the maximum braking intensity may be understood as the maximum braking intensity calibrated by the factory wire control, and the driving modes include currently commonly used driving modes for vehicles, such as sports mode, standard mode and comfort mode.

[0119] Optionally, the evaluation parameters of the vehicle may be determined by related parameters, such as driving mode parameters and vehicle performance parameters.

[0120] As an example, the driving mode parameter may be determined by the driving mode of the vehicle's current driving behavior, such as:

[0121] W mode =w, w∈{W sport , W standard , W comfort}

[0122] Among them, W mode Represents driving mode parameters, W sport represents the motion mode parameter, W standard Indicates standard mode parameters, W comfort represents the comfort mode parameter. Among them, W sport , W standard and W comfort The parameter size can be defined by the vehicle manufacturer when the vehicle leaves the factory, or it can be used as a variable parameter and adjusted by the driver. This application does not make any specific limitations here.

[0123] As an example, vehicle performance parameters may be determined by factory drive-by-wire chassis calibration and vehicle configuration, the vehicle performance parameters including at least one of a speed parameter, a steering parameter, and a braking parameter.

[0124] In this example, the speed parameter can be related to the maximum braking value and the maximum throttle value of the vehicle, for example:

[0125]

[0126] Among them, W vel represents the speed parameter, k 1 Indicates the throttle calculation coefficient, k 2 Indicates the brake calculation coefficient, a max Indicates the factory-calibrated maximum throttle value, b max Indicates the maximum braking force calibrated at the factory.

[0127] In this example, the steering parameter may be related to the maximum value of the steering wheel angle of the vehicle, for example:

[0128]

[0129] Among them, W steer represents the steering parameter, k 3 Indicates the steering wheel angle calculation coefficient, d max Indicates the maximum steering wheel angle calibrated at the factory.

[0130] In this example, the braking parameter may be related to the maximum value of the braking intensity of the vehicle, for example:

[0131]

[0132] Among them, W z represents the braking parameter, k 4 Indicates the calculation coefficient of braking strength, z max Indicates the maximum braking strength calibrated at the factory.

[0133] Optionally, since the performance of the vehicle will decay as the mileage and driving time of the vehicle accumulate, each parameter in the evaluation parameter needs to be adjusted as the mileage and driving time increase.

[0134] For example, the calculation coefficient k (including k 1 , k 2 , k 3 , k 4 ), can be inversely proportional to the product of mileage and driving time, thereby updating the calculation coefficient k. For example,

[0135]

[0136] Among them, s represents the mileage and t represents the driving time.

[0137] In a possible implementation, when the specified driving parameters include speed, steering wheel angle and braking intensity, and the related parameters include vehicle mileage, driving time, maximum steering wheel angle, maximum braking value, maximum throttle value, maximum braking intensity and driving mode, for each driving behavior, the driving state reference value corresponding to each driving behavior and the reference value of the specified driving parameter corresponding to the driving behavior and the related parameters satisfy the following relationship:

[0138] S 1 =W m o de ×(W vel ×v+W steer ×d+W z ×z)

[0139] Among them, S 1 represents the driving state reference value corresponding to the driving behavior, W mode Represents driving mode parameters, W vel Represents the speed parameter, W steer represents the steering parameter, W z represents the braking parameter, v represents the reference value of the speed corresponding to the driving behavior, d represents the reference value of the steering wheel angle corresponding to the driving behavior, and z represents the reference value of the braking intensity corresponding to the driving behavior.

[0140] At this point, the driving state reference value corresponding to each feasible driving behavior can be determined.

[0141] S302, determining an actual driving state value of the vehicle based on an actual value of a designated driving parameter, where the actual driving state value is used to characterize an actual driving state of the vehicle in a current driving environment.

[0142] As an example, the actual value of the driving state of the vehicle may be determined based on the actual value of the specified driving parameter of the vehicle and related parameters. For example:

[0143] S self =W m o de ×(W vel ×v i +W steer ×d i +W z × i )

[0144]

[0145] Among them, S self Represents the actual value of the vehicle’s driving state, W mode The driving mode that represents the current driving behavior of the vehicle, W vel Represents the speed parameter, W steerrepresents the steering parameter, W z Indicates the braking parameter, v i Indicates the actual speed value corresponding to the current driving behavior, d i Indicates the actual value of the steering wheel angle corresponding to the current driving behavior, z i Indicates the actual value of the braking intensity corresponding to the current driving behavior, z i It is the ratio of the actual value J of the vehicle's deceleration corresponding to the current driving behavior to the gravitational acceleration g.

[0146] At this point, the actual value of the vehicle's driving state can be determined.

[0147] In this embodiment, the specific implementation method of determining the actual value of the vehicle's driving state is similar to the specific implementation method of determining the driving state reference value of each feasible driving behavior. Please refer to the relevant description in S301 for details, which will not be repeated here.

[0148] S303: If the actual driving state value falls outside the driving state reference value range corresponding to any driving behavior among the M feasible driving behaviors, the driving behavior of the vehicle is determined to be a dangerous driving behavior.

[0149] In one achievable manner, based on each feasible driving behavior, if the reference value of the specified driving parameter corresponding to the feasible driving behavior is a safety critical value, then the driving state reference value corresponding to the feasible driving behavior is also a safety reference value, and the safety reference value can be used as the left endpoint of the driving state reference value range corresponding to the feasible driving behavior. The left endpoint is the minimum value of the driving state reference value range corresponding to the feasible driving behavior.

[0150] In this implementation, when the number of feasible driving behaviors is equal to 1, if the actual driving state value is greater than or equal to the safety reference value corresponding to the feasible driving behavior, it means that the actual driving state value falls within the driving state reference value range corresponding to the feasible driving behavior, and thus the vehicle's current driving behavior can be considered to be a safe driving behavior. If the actual driving state value is less than the safety reference value corresponding to the feasible driving behavior, it means that the actual driving state value falls outside the driving state reference value range corresponding to the feasible driving behavior, and thus the vehicle's current driving behavior can be considered to be a dangerous driving behavior.

[0151] In this implementation, when the number of feasible driving behaviors is greater than 1, if the actual value of the driving state is greater than or equal to the safety reference value corresponding to all feasible driving behaviors, that is, when the actual value of the driving state is greater than or equal to the maximum value of all safety reference values, it means that the actual value of the driving state falls within the driving state reference value range corresponding to any driving behavior in M ​​(M is greater than 1) kinds of feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a safe driving behavior. If the actual value of the driving state is less than the minimum value of all safety reference values, it means that the actual value of the driving state falls outside the driving state reference value range corresponding to any driving behavior in M ​​(M is greater than 1) kinds of feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a dangerous driving behavior. Among them, if the actual value of the driving state is less than the maximum value of all safety reference values ​​and greater than or equal to the minimum value of all safety reference values, the driving behavior of the vehicle can be considered as a risky driving behavior. It should be noted that risky driving behaviors also belong to dangerous driving behaviors, but the degree of danger is lower.

[0152] For example, Figure 4 A schematic diagram showing the driving behavior evaluation result is provided in one embodiment of the present application. Figure 4 As shown, the evaluation results of driving behavior can be displayed in the vehicle system through a visual interface (such as a display screen), so that the driver can pay attention to his or her driving behavior in real time to avoid the occurrence of dangerous driving behavior.

[0153] See also Figure 4 , S 1 is the minimum value among all safety reference values, S 2 is the maximum value among all safety reference values, S self is the actual value of the driving status.

[0154] Among them, when S self ≥S 2 When S 1 ≤S self <S 2 When S self <S 1 , it indicates that the vehicle's driving behavior is dangerous driving behavior.

[0155] See also Figure 4 In the visual interface, the intervals can also be distinguished by different colors, so that the driver can accurately and quickly know whether continuing to drive the vehicle based on the current driving behavior will cause dangerous driving behavior, thereby avoiding the occurrence of dangerous driving behavior.

[0156] In another achievable method, based on each feasible driving behavior, if the reference value of at least one specified driving parameter corresponding to the feasible driving behavior is a safety threshold range, then the driving state reference value corresponding to the feasible driving behavior is also a safety threshold range, and the safety threshold range is the driving state reference value range corresponding to the feasible driving behavior.

[0157] In this implementation, when the number of feasible driving behaviors is equal to 1, if the actual value of the driving state falls within the driving state reference value range corresponding to the feasible driving behavior, the vehicle's current driving behavior is considered to be a safe driving behavior; if the actual value of the driving state falls outside the driving state reference value range corresponding to the feasible driving behavior, the vehicle's current driving behavior is considered to be a dangerous driving behavior.

[0158] In this implementation, when the number of feasible driving behaviors is greater than 1, when the actual driving state value falls within the driving state reference value range corresponding to all feasible driving behaviors, it means that the actual driving state value falls within the driving state reference value range corresponding to any driving behavior among M (M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a safe driving behavior. If the actual driving state value falls outside the driving state reference value range corresponding to all feasible driving behaviors, it means that the actual driving state value falls outside the driving state reference value range corresponding to any driving behavior among M (M is greater than 1) feasible driving behaviors, so that the driving behavior of the vehicle can be considered as a dangerous driving behavior. Among them, if the actual driving state value only falls within the driving state reference value range corresponding to a part of the feasible driving behaviors, the driving behavior of the vehicle can be considered as a risky driving behavior.

[0159] S304: Output first prompt information, where the first prompt information is used to prompt dangerous driving behavior.

[0160] In this embodiment, after the dangerous driving behavior of the vehicle is determined, the first prompt information can be output through the vehicle computer system to prompt the dangerous driving behavior. The dangerous driving behavior includes driving behavior that involves risks.

[0161] Optionally, the first prompt information is further used to prompt at least one of the following information: a reference value of a specified driving parameter corresponding to each feasible driving behavior, an actual value of the specified driving parameter, environmental information of the current driving environment, an actual value of the driving state of the vehicle, and a reference value of the driving state corresponding to each feasible driving behavior. The first prompt information may also prompt environmental information around the vehicle.

[0162] Optionally, the first prompt information can be output through an audio device or a visual interface. When the first prompt information is output through a visual interface, the above information can be displayed on one interface or on different interfaces, and this application does not make specific restrictions on this. In addition, this application does not make specific restrictions on the specific display style of the first prompt information on the visual interface.

[0163] Optionally, different prompt information may be output based on the evaluation result of the vehicle driving behavior. For example, if the vehicle driving behavior is a safe driving behavior, the first prompt information may include the aforementioned prompt information, and the first prompt information may be output through a visual interface; if the vehicle driving behavior is a dangerous driving behavior, the first prompt information may include the aforementioned prompt information and may also include warning information, and the first prompt information may be output through a visual interface and / or an audio device.

[0164] Optionally, different warning information is output according to the degree of danger of the driving behavior of the vehicle. For example, if the driving behavior of the vehicle is a risky driving behavior, the risky driving behavior can be output through an audio device, and / or the relevant information of the risky driving behavior can be marked in orange in the visual interface, such as the driving state reference value of the risky driving behavior, the reference value of the specified driving parameter of the risky driving behavior, etc. For another example, if the driving behavior of the vehicle is a dangerous driving behavior, the dangerous driving behavior can be output through an audio device, and / or the relevant information of the dangerous driving behavior can be marked in red in the visual interface, such as the driving state reference value of the dangerous driving behavior, the reference value of the specified driving parameter of the dangerous driving behavior, etc.

[0165] Optionally, when the vehicle's driving behavior is dangerous but the driver does not make corresponding adjustments, the vehicle's control device can switch the vehicle's driving mode to an intelligent driving mode, thereby taking over the vehicle.

[0166] The method shown in this embodiment monitors whether the vehicle's driving behavior is a dangerous driving behavior by determining the relationship between the actual value of the vehicle's driving state and the driving state reference values ​​of each feasible driving behavior. In the monitoring process, the vehicle's factory performance is taken into account, thereby improving the accuracy of monitoring.

[0167] Combine the following Figure 5 , a method for implementing the determination of M feasible driving behaviors of the vehicle in the current driving environment in S210 is described in detail.

[0168] For example, Figure 5 A schematic flowchart of a driving behavior monitoring method provided for yet another embodiment of the present application. Figure 5The method shown includes S510, S520, S530, S540 and S550.

[0169] Optionally, the method may be executed by a control device of the vehicle, or by a monitoring device for monitoring the driving behavior of the vehicle, and the monitoring device may be located in the control device, or in a server independent of the vehicle.

[0170] It should be noted that the names of the control device and the monitoring device are merely examples, and any device having the same function as the control device or monitoring device here can be included in the scope of the control device or monitoring device in the embodiments of the present application.

[0171] S510, obtaining an actual value of a specified driving parameter of the vehicle.

[0172] Optionally, the actual value of the specified driving parameter for a continuous period of time when the vehicle is driving in the current driving environment can be obtained, or the actual value of the specified driving parameter at the current moment can be obtained. The duration of the continuous period of time can be in frames, and the specific duration can be set according to actual needs, and this application does not make specific restrictions on this.

[0173] The specific implementation of S510 can refer to the specific description in S220, which will not be repeated here.

[0174] S520, predicting possible driving behavior of the vehicle in the current driving environment.

[0175] In this embodiment, the possible driving behavior of the vehicle in the current driving environment can be predicted based on the actual value of the specified driving parameter obtained. The possible behaviors of the vehicle include driving behaviors such as changing lanes left, changing lanes right, turning left, turning right, accelerating, decelerating, etc. This application does not limit the specific prediction method.

[0176] As an example, the possible driving behavior of the vehicle can be predicted based on the change law of the actual value of the specified driving parameter of the vehicle. For example, the change law of speed can be determined according to the actual value of speed in multiple consecutive frames, or according to the actual value of acceleration at the current moment, or according to the actual value of braking intensity at the current moment. Among them, if the actual value of speed gradually decreases, or the actual value of acceleration at the current moment is negative acceleration, or the vehicle is currently in a braking state, the possible driving behavior of the vehicle includes braking deceleration. For another example, the change law of the steering wheel angle of the vehicle can be determined according to the actual value of the angle of the steering wheel in multiple consecutive frames, or according to the steering wheel angle at the current moment. Among them, if the steering wheel angle gradually increases to the left, the possible driving behavior of the vehicle includes changing lanes left or turning; if the steering wheel angle gradually increases to the left and meets the lane change angle threshold, the possible driving behavior of the vehicle includes changing lanes left.

[0177] S530, acquiring visual image data from an external sensor.

[0178] In this embodiment, visual image data can be obtained from external sensors of the vehicle, which include on-board cameras, ultrasonic radars, millimeter-wave radars, laser radars, infrared radars, and the like.

[0179] S540, extracting environmental information from the visual image data.

[0180] In this embodiment, after the visual image data is acquired, environmental features of the current driving environment in the image data are extracted, such as lane line information, traffic participant information, road traffic signs and other information.

[0181] As an example, lane line information includes information such as lines, arrows, text, raised road signs, lane width, etc. on the road surface around the vehicle; traffic participant information includes information such as the driving direction, driving speed, driving trajectory and distance between other vehicles around the vehicle, as well as the forward direction and distance between pedestrians around the vehicle; road traffic signs include information such as warning signs, prohibition signs, designated signs, and guide signs around the vehicle.

[0182] S550: Determine M feasible driving behaviors of the vehicle in the current driving environment according to the environmental information and the preset model.

[0183] In this embodiment, the possible driving behaviors of the vehicle in the current driving environment are predicted by the actual values ​​of the designated driving parameters of the vehicle, and some of the possible driving behaviors may not be allowed in the current driving environment. For example, the possible driving behaviors of the vehicle include changing lanes left, but the vehicle is in a straight road and there is a solid line on the left side of the vehicle, indicating that the driving behavior of changing lanes left is a driving behavior that is not allowed in the current driving environment, that is, a dangerous driving behavior.

[0184] Therefore, the feasible driving behavior of the vehicle in the current driving environment can be determined from the possible driving behaviors according to the environmental information and the preset model. As an example, a preset binary classification model can be used to perform coarse-grained binary classification on the possible driving behaviors of the vehicle to determine whether the possible driving behavior of the vehicle is a feasible driving behavior. For example, the environmental information and the possible driving behavior can be input into the binary classification model, and the binary classification model can determine the driving behaviors allowed by the current driving environment based on the environmental information, and determine the driving behaviors allowed by the current driving environment in the possible driving behaviors as feasible driving behaviors, and determine the driving behaviors not allowed by the current driving environment in the possible driving behaviors as dangerous driving behaviors. It should be understood that the feasible driving behaviors in the possible driving behaviors are M kinds of feasible driving behaviors of the vehicle in the current driving environment.

[0185] It should be noted that the driving behavior allowed by the current driving environment can be understood as the driving behavior that complies with traffic rules when the vehicle is driving in the current driving environment. For example, if the speed limit sign in the current driving environment is 60 kilometers per hour, if the vehicle is driving at a speed of 70 kilometers per hour, it means that the driving behavior is not allowed by the current driving environment, that is, dangerous driving behavior.

[0186] Among them, the binary classification model can be a behavior classification learning model obtained by pre-training based on a large amount of data, or it can be a state machine model based on traffic regulations. This application does not make specific limitations on this.

[0187] In this embodiment, the method of predicting the possible driving behavior of the vehicle in the current driving environment by specifying the actual value of the driving parameter, and determining M feasible driving behaviors of the vehicle in the current driving environment based on a preset model is more accurate than the method of directly determining the M feasible driving behaviors of the vehicle through environmental information.

[0188] Optionally, after determining M feasible driving behaviors for the vehicle in the current driving environment, the M feasible driving behaviors can be output to the driver through the vehicle system, thereby reducing the probability of dangerous driving behaviors occurring.

[0189] Optionally, when outputting M possible driving behaviors to the driver through the vehicle system, a second prompt information can also be output to prompt dangerous driving behaviors among possible driving behaviors that are not allowed by the current driving environment, thereby avoiding the occurrence of dangerous driving behaviors.

[0190] Optionally, the second prompt information may be output via an audio device and / or a visual interface.

[0191] In this embodiment, by predicting the possible driving behavior of the vehicle, determining the dangerous driving behavior among the possible driving behaviors based on environmental information and preset models, and prompting the driver, the driving behavior can be monitored and warned in advance, thereby reducing the probability of dangerous driving behavior.

[0192] Optionally, in the technical solution provided by the present application, the first prompt information and the second prompt information can be output through the vehicle computer system during driving, or can be output after the current driving behavior is completed, so as to prompt the driver to avoid related dangerous driving behaviors in the current driving process in future driving processes.

[0193] Figure 6 This is a schematic diagram of the structure of a driving behavior monitoring device provided by one embodiment of the present application. Figure 6 As shown, the device 600 of this embodiment may include: a processing module 610 , an acquisition module 620 , and an output module 630 .

[0194] The device 600 is used to implement Figure 2 In the method shown, the processing module 610 can be used to implement S210 and S230, and the acquisition module 620 can be used to implement S220.

[0195] The device 600 is used to implement Figure 3 In the method shown, the processing module 610 can be used to implement S210, S301, S302 and S303, the acquisition module 620 can be used to implement S220, and the output module 630 can be used to implement S304.

[0196] The device 600 is used to implement Figure 5 In the method shown, the processing module 610 can be used to implement S520, S540 and S550, and the acquisition module 620 can be used to implement S510 and S530.

[0197] Figure 7 A schematic diagram of the structure of a driving behavior monitoring device provided in another embodiment of the present application. Figure 7 As shown, the device 700 is used to implement the method shown in any one of the aforementioned embodiments.

[0198] like Figure 7 As shown, the device 700 of this embodiment includes: a memory 710, a processor 720, a communication interface 730 and a bus 740. The memory 710, the processor 720 and the communication interface 730 are connected to each other through the bus 740.

[0199] The memory 710 may be a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 710 may store a program. When the program stored in the memory 710 is executed by the processor 720, the processor 720 is used to execute the steps shown in any of the foregoing embodiments.

[0200] The processor 720 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits to execute related programs.

[0201] The processor 720 may also be an integrated circuit chip with signal processing capability. In the implementation process, each relevant step in the embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 720 or by instructions in the form of software.

[0202] The processor 720 may also be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0203] The steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 710, and the processor 720 reads the information in the memory 710, and completes the functions required to be performed by the units included in the device of the present application in combination with its hardware.

[0204] The communication interface 730 may use, but is not limited to, a transceiver or other transceiver device to implement communication between the apparatus 700 and other devices or apparatuses.

[0205] The bus 740 may include a path for transmitting information between the various components of the device 700 (eg, the memory 710 , the processor 720 , and the communication interface 730 ).

[0206] In some embodiments of the present application, a computer program product is also provided, which can implement the method shown in any of the above embodiments when the computer program product is run on a processor. In some embodiments of the present application, a computer-readable storage medium is also provided, which contains computer instructions, which can implement the method shown in any of the above embodiments when the computer instructions are run on a processor.

[0207] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, software module or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0208] The term "plurality" in this article refers to two or more than two. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. In addition, it should be understood that in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0209] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0210] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A driving behavior monitoring method, characterized in that: include: Determine M possible driving behaviors of the vehicle in a current driving environment and reference values ​​of designated driving parameters corresponding to each of the M possible driving behaviors, where M is greater than or equal to 1; obtaining an actual value of the specified driving parameter of the vehicle; Whether the driving behavior of the vehicle is a dangerous driving behavior is monitored based on the actual value of the designated driving parameter and the reference value of the designated driving parameter.

2. The method according to claim 1, characterized in that The specified driving parameters include at least one of the following parameters: speed, steering wheel angle and braking intensity.

3. The method according to claim 1 or 2, characterized in that: The monitoring of whether the driving behavior of the vehicle is a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter includes: Determine, based on reference values ​​of designated driving parameters corresponding to each of the M possible driving behaviors, a driving state reference value corresponding to each of the M possible driving behaviors, the driving state reference value being used to characterize a reference driving state of the vehicle when performing each of the possible driving behaviors in the current driving environment; determining an actual driving state value of the vehicle based on an actual value of the designated driving parameter of the vehicle, wherein the actual driving state value is used to characterize an actual driving state of the vehicle in the current driving environment; If the actual driving state value falls outside the driving state reference value range corresponding to any driving behavior among the M feasible driving behaviors, the driving behavior of the vehicle is determined to be a dangerous driving behavior.

4. The method according to claim 3, characterized in that The determining, based on the reference value of the designated driving parameter corresponding to each of the M feasible driving behaviors, a driving state reference value corresponding to each of the M feasible driving behaviors, comprises: Determine a driving state reference value corresponding to each feasible driving behavior based on the reference value of the designated driving parameter corresponding to each feasible driving behavior and related parameters, wherein the related parameters include at least one of the following parameters: mileage, driving time, maximum steering wheel angle, maximum brake value, maximum throttle value, maximum braking intensity, and driving mode of the vehicle; Determining an actual value of a driving state of the vehicle based on an actual value of the designated driving parameter of the vehicle comprises: Based on the actual value of the specified driving parameter of the vehicle and the related parameters, an actual value of the driving state of the vehicle is determined.

5. The method according to claim 4, characterized in that When the designated driving parameters include speed, steering wheel angle and braking intensity, and the related parameters include the mileage, driving time, maximum steering wheel angle, maximum braking value, maximum throttle value, maximum braking intensity and driving mode of the vehicle, for each driving behavior, the driving state reference value corresponding to the driving behavior and the reference value of the designated driving parameter corresponding to the driving behavior and the related parameters satisfy the following relationship: S=W mode ×(W vel ×v+W steer ×d+W z ×z) Wherein, S represents the driving state reference value corresponding to the driving behavior, W mode represents the driving mode, v represents the reference value of the speed corresponding to the driving behavior, d represents the reference value of the steering wheel angle corresponding to the driving behavior, z represents the reference value of the braking intensity corresponding to the driving behavior, a max Indicates the maximum throttle value of the vehicle, b max represents the maximum braking value of the vehicle, d max represents the maximum steering wheel angle of the vehicle, z max Indicates the maximum braking intensity of the vehicle, k1, k2, k3 and k4 are inversely proportional to the product of the mileage and the driving time.

6. The method according to any one of claims 1 to 5, characterized in that The determining of M possible driving behaviors of the vehicle in the current driving environment and the reference value of the specified driving parameter corresponding to each of the M possible driving behaviors respectively comprises: Acquire environmental information of the current driving environment, the environmental information including at least one of the following information: road speed limit, lane width, and front vehicle speed; M possible driving behaviors of the vehicle in the current driving environment and reference values ​​of designated driving parameters corresponding to each of the M possible driving behaviors are determined according to the environmental information.

7. The method according to any one of claims 1 to 6, characterized in that When the driving behavior of the vehicle is monitored as a dangerous driving behavior based on the actual value of the designated driving parameter and the reference value of the designated driving parameter, the method further includes: Outputting first prompt information, where the first prompt information is used to prompt the dangerous driving behavior.

8. The method according to claim 7, characterized in that The first prompt information is also used to prompt at least one of the following information: the reference value of the specified driving parameter corresponding to each feasible driving behavior, the actual value of the specified driving parameter, the environmental information of the current driving environment, the actual value of the driving state of the vehicle, and the driving state reference value corresponding to each feasible driving behavior.

9. The method according to any one of claims 1 to 7, characterized in that The method further comprises: Predicting possible driving behavior of the vehicle in the current driving environment; A driving behavior among the possible driving behaviors that does not belong to the M feasible driving behaviors is determined as a dangerous driving behavior.

10. The method according to claim 9, characterized in that The method further comprises: Outputting second prompt information, where the second prompt information is used to prompt that a driving behavior among the possible driving behaviors that does not belong to the M feasible driving behaviors is a dangerous driving behavior.

11. A driving behavior monitoring device, characterized in that: The method comprises various functional modules for implementing the method according to any one of claims 1 to 10.

12. A driving behavior monitoring device, characterized in that: include: A processor, wherein the processor is coupled to a memory, wherein the memory is used to store a computer program, and when the processor calls the computer program, the device is caused to execute the method according to any one of claims 1 to 10.

13. A computer readable medium, characterized in that The computer-readable medium stores a program code for computer execution, the program code including instructions for executing the method according to any one of claims 1 to 10.

14. A vehicle, characterized in that: It comprises a driving behavior monitoring device as described in claim 11 or 12 and at least one sensor, wherein the at least one sensor is used to obtain environmental information of the current driving environment of the vehicle and provide the environmental information of the current driving environment to the driving behavior monitoring device.

15. A driving behavior monitoring system, characterized in that: It comprises a vehicle and a driving behavior monitoring device as described in claim 11 or 12, wherein the vehicle comprises at least one sensor, and the at least one sensor is used to obtain environmental information of the current driving environment of the vehicle and provide the environmental information to the driving behavior monitoring device.

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