Methods, apparatus, equipment, and storage media for determining reaction time

Abstract

This application discloses a method, apparatus, device, and storage medium for determining reaction time. The method includes: acquiring vehicle driving parameters, including driver driving parameters, driving behavior parameters, and driving environment parameters; using the vehicle driving parameters to determine time adjustment values ​​corresponding to different time adjustment levels; and determining the driver's reaction time based on a preset initial reaction time and the time adjustment values ​​corresponding to each time adjustment level. This approach improves the accuracy of reaction time determination.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, device, and storage medium for determining response time. Background Technology

[0002] Currently, many ADAS research and products fall under the category of longitudinal assistance systems, such as forward collision warning systems and automatic emergency braking systems. These systems only consider hazards in the longitudinal direction of the vehicle's movement, and their development must take into account the driver's braking behavior characteristics. Taking FCW as an example, the system must issue a warning to the driver early enough to allow sufficient reaction time to brake and avoid a collision. However, if the system issues a warning too early, it can lead to false alarms, interfere with the driver's normal driving, and reduce user acceptance.

[0003] How to predict user reaction time and issue warnings based on the predicted reaction time is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides at least one method, apparatus, device, and storage medium for determining reaction time.

[0005] This application provides a method for determining reaction time, comprising: acquiring vehicle driving parameters, including driver driving parameters, driving behavior parameters, and driving environment parameters; using the vehicle driving parameters to determine time adjustment values ​​corresponding to different time adjustment levels; and determining the driver's reaction time based on a preset initial reaction time and the time adjustment values ​​corresponding to each time adjustment level.

[0006] In some embodiments, at least some of the driving parameters that need to be referenced in different time adjustment levels are different. Using the vehicle's driving parameters, the time adjustment value corresponding to different time adjustment levels is determined, including: performing the following steps for each time adjustment level: taking several driving parameters that need to be referenced in the time adjustment level as reference driving parameters for the time adjustment level; determining candidate time adjustment values ​​corresponding to each reference driving parameter; and obtaining the time adjustment value corresponding to the time adjustment level based on each candidate time adjustment value.

[0007] In some embodiments, the time adjustment level includes a first level, and the reference driving parameters for the first level include fatigue level and workload among the driving parameters. Based on each candidate time adjustment value, the time adjustment value corresponding to the time adjustment level is obtained, including: weighted fusion of the candidate time adjustment value corresponding to fatigue level and the candidate time adjustment value corresponding to workload to obtain the time adjustment value corresponding to the first level.

[0008] In some embodiments, the time adjustment level includes a second level, and the reference driving parameters for the second level include the individual parameters in the driving parameters and the weather parameters in the driving environment parameters. Based on each candidate time adjustment value, the time adjustment value corresponding to the time adjustment level is obtained, including: weighting and fusing the candidate time adjustment values ​​corresponding to the individual parameters and the candidate time adjustment values ​​corresponding to the weather parameters to obtain the time adjustment value corresponding to the second level.

[0009] In some embodiments, the time adjustment level includes a third level, and the reference driving parameters for the third level include the longitudinal control state and the longitudinal control braking state in the driving behavior parameters. Based on each candidate time adjustment value, the time adjustment value corresponding to the time adjustment level is obtained, including: selecting the smaller value from the candidate time adjustment values ​​corresponding to the longitudinal control state and the candidate time adjustment values ​​corresponding to the longitudinal control braking state as the time adjustment value corresponding to the third level.

[0010] In some embodiments, the time adjustment level includes a fourth level. The reference driving parameters for the fourth level include at least one of the following driving behavior parameters: braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters: road curvature and road planning category. Based on each candidate time adjustment value, the time adjustment value corresponding to the time adjustment level is obtained, including: selecting the minimum value from the candidate time adjustment values ​​corresponding to braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters: road curvature and road planning category, as the time adjustment value corresponding to the fourth level.

[0011] In some embodiments, the time adjustment level includes a fifth level. The reference driving parameters for the fifth level include deceleration characterization value in the driving behavior parameters, overtaking characterization value in the driving environment parameters, and braking characterization value of the target vehicle. The target vehicle is the vehicle in front of the vehicle in the driving direction. Based on each candidate time adjustment value, the time adjustment value corresponding to the time adjustment level is obtained, including: selecting the minimum value from the candidate time adjustment values ​​corresponding to the deceleration characterization value, overtaking characterization value, and braking characterization value as the time adjustment value corresponding to the fifth level.

[0012] In some embodiments, determining the driver's reaction time based on a preset initial reaction time and the time adjustment value corresponding to each time adjustment level includes: grouping the time adjustment levels to obtain several level groups, wherein at least some time adjustment levels are different in different level groups; determining the time adjustment value corresponding to each level group; and determining the driver's reaction time based on the sum of the minimum value and the preset initial reaction value of the time adjustment value of each level group.

[0013] In some embodiments, determining the driver's reaction time based on the summation result between the minimum value of the time adjustment value of each level group and a preset initial reaction value includes: in response to the summation result being less than a first preset value, using the first preset value as the driver's reaction time; or, in response to the summation result being greater than a second preset value, using the second preset value as the driver's reaction time, where the second preset value is greater than the first preset value; or, in response to the summation result being between the first preset value and the second preset value, using the summation result as the driver's reaction time.

[0014] In some embodiments, the method further includes: determining the current state of the vehicle; in response to the current state of the vehicle being a following state or an approaching target driving state, performing a step of determining a time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters; wherein, in the approaching target driving state, there is a target vehicle ahead of the vehicle in the direction of travel, the vehicle's speed is greater than the target vehicle's speed, the vehicle's speed is greater than a preset speed, and the time it takes for the vehicle to catch up with the target vehicle in the longitudinal distance is less than a preset time.

[0015] This application provides a reaction time determination device, including: a driving parameter acquisition module, a time adjustment value determination module, and a reaction time determination module; the driving parameter acquisition module is used to acquire the driving parameters of the vehicle, including the driving parameters of the vehicle driver, driving behavior parameters, and driving environment parameters; the time adjustment value determination module is used to determine the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters; the reaction time determination module is used to determine the driver's reaction time based on a preset initial reaction time and the time adjustment value corresponding to each time adjustment level.

[0016] This application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-described reaction time determination method.

[0017] This application provides a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the above-described response time determination method.

[0018] The above solution obtains various driving parameters and determines the time adjustment value corresponding to different adjustment levels based on each driving parameter. Then, it adjusts the preset initial reaction time using the time adjustment value. In this process, various factors that may affect the driver's reaction time are taken into account, so that the determined reaction time of the vehicle driver is accurate, and the timing of issuing warnings based on the reaction time is more appropriate.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0021] Figure 1 This is a flowchart illustrating an embodiment of the reaction time determination method of this application;

[0022] Figure 2 yes Figure 1 A schematic diagram of the sub-process of step S12;

[0023] Figure 3 This is a schematic diagram illustrating the correspondence between longitudinal control braking state and candidate time adjustment value provided in an embodiment of the reaction time determination method of this application;

[0024] Figure 4 This is a schematic diagram illustrating the correspondence between braking state and candidate time adjustment value provided in an embodiment of the reaction time determination method of this application;

[0025] Figure 5 This is a schematic diagram illustrating the correspondence between speed and candidate time adjustment values ​​provided in an embodiment of the reaction time determination method of this application;

[0026] Figure 6 This is a schematic diagram showing the correspondence between longitudinal acceleration and candidate time adjustment values ​​provided in an embodiment of the reaction time determination method of this application;

[0027] Figure 7 This is a schematic diagram showing the correspondence between lateral acceleration and candidate time adjustment values ​​provided in an embodiment of the reaction time determination method of this application;

[0028] Figure 8 This is a schematic diagram showing the relationship between the deceleration characterization value and the candidate time adjustment value provided in one embodiment of the reaction time determination method of this application;

[0029] Figure 9 yes Figure 1 A schematic diagram of the sub-process of step S13;

[0030] Figure 10 This is another flowchart illustrating an embodiment of the reaction time determination method of this application;

[0031] Figure 11 This is a schematic diagram illustrating the transition relationship between three states of a vehicle provided in an embodiment of the reaction time determination method of this application;

[0032] Figure 12 This is a schematic diagram of the structure of an embodiment of the reaction time determination device of this application;

[0033] Figure 13 This is a schematic diagram of the structure of an embodiment of the electronic device of this application;

[0034] Figure 14 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0035] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0036] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0037] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0038] This application provides several methods and apparatuses for determining response time. The application scenarios for these response time determination methods include, but are not limited to, the driving process of a vehicle. The execution entity of the response time determination method can be a response time determination apparatus. For example, the response time determination apparatus can be located within a vehicle or other servers or other processing devices that establish a communication connection with the vehicle. These other processing devices can be user equipment (UE), mobile devices, user terminals, terminals, cellular phones, cordless phones, personal digital assistants (PDAs), handheld devices, computing devices, in-vehicle devices, etc. In some possible implementations, the response time determination method can be implemented by a processor calling computer-readable instructions stored in memory.

[0039] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the reaction time determination method of this application. Figure 1 Specifically, methods for determining reaction time may include the following steps:

[0040] Step S11: Obtain the vehicle's driving parameters.

[0041] Vehicle driving parameters can be obtained by collecting information such as chassis information, central control information, and fatigue monitoring data. Driving parameters include driver parameters, driving behavior parameters, and driving environment parameters. Driver parameters are related to the driver, driving behavior parameters are related to the vehicle's operation during driving, and driving environment parameters are related to road curvature and / or the vehicle's interaction with other vehicles.

[0042] In some application scenarios, driving parameters may include, but are not limited to, one or more of the following: fatigue level, workload, and personality parameters. Fatigue level reflects different levels of driver fatigue. Workload can include operations performed by the driver while driving, such as making phone calls, smoking, or operating the central control instrument panel. Personality parameters may be related to the user's gender and the driver's total mileage; optionally, the total mileage of the vehicle can be used as the driver's total mileage, or the user can input their own total mileage.

[0043] In some application scenarios, driving behavior parameters may include, but are not limited to, one or more of the following: longitudinal control state, longitudinal control braking state, braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and deceleration characteristic value. The longitudinal control state can indicate that longitudinal control is active or inactive. For example, if the longitudinal control state indicates that ACC is active, it means the driver is using the ACC function; if the longitudinal control state indicates that ACC is inactive, it means the driver is not currently using the ACC function. If the longitudinal control braking state is active, it indicates that the driver is using the ACC function and braking towards the target ahead. Braking state can include whether the driver is pressing the brake or not. Accelerator pedal change state can include adjusting the accelerator pedal from a depressed state to a released state, or vice versa. Accelerator pedal position change rate can include the rate of change of the accelerator pedal position during depressing, or during releasing. Acceleration can include the vehicle's longitudinal acceleration, or it can include the vehicle's lateral acceleration. Steering wheel rotation speed can be understood as the speed at which the vehicle's steering wheel turns. Vehicle speed can include the vehicle's longitudinal speed, or it can also include the vehicle's lateral speed. Deceleration indicators can indicate whether the vehicle is in deceleration mode.

[0044] In some application scenarios, driving environment parameters may include, but are not limited to, one or more of the following: road curvature, road planning category, overtaking characteristic value, and braking characteristic value of the target vehicle. The target vehicle is the vehicle located ahead of the vehicle in the direction of travel.

[0045] Road curvature characterizes whether a road is curved, or its curvature. Road planning categories may include, but are not limited to, urban roads, highways, expressways, and / or rural roads. Overtaking characterization values ​​characterize whether a vehicle is currently in overtaking mode. Target vehicle braking characterization values ​​characterize whether the vehicle is braking.

[0046] Step S12: Using the vehicle's driving parameters, determine the time adjustment value corresponding to different time adjustment levels.

[0047] The number of time adjustment levels can be one or more. The vehicle driving parameters required to determine the time adjustment values ​​corresponding to different time adjustment levels can be partially the same or completely different. For example, a certain driving parameter may be involved in determining the time adjustment value corresponding to both time adjustment level A and time adjustment level B, or the time adjustment value for each time adjustment level may be determined by different driving parameters. In some application scenarios, the driving parameters can be grouped into several groups, each group containing at least one driving parameter, and each group corresponding to a time adjustment level. The time adjustment value for each time adjustment level is determined based on the driving parameters within the group. The time adjustment value for each time adjustment level can be determined by a pre-set adjustment equation, such as substituting the acquired vehicle driving parameters into a pre-set adjustment equation to obtain the corresponding time adjustment value, or by using a time prediction network model for each time adjustment level, inputting the driving parameters corresponding to each time adjustment level into the time prediction network model to obtain the time adjustment value for each time adjustment level.

[0048] The time adjustment level can be understood as the level of adjustment to the preset initial reaction time. Different adjustment levels may have different time adjustment values ​​for the preset initial reaction time.

[0049] Step S13: Determine the driver's reaction time based on the preset initial reaction time and the time adjustment value corresponding to each time adjustment level.

[0050] One approach is to select one or more time adjustment values ​​from each time adjustment level to adjust the preset initial reaction time, thus obtaining the driver's reaction time. Alternatively, the time adjustment values ​​can be weighted and fused to obtain the final time adjustment value, which is then used to adjust the preset initial reaction time to obtain the driver's reaction time.

[0051] The above solution obtains various driving parameters and determines the time adjustment value corresponding to different adjustment levels based on each driving parameter. Then, it adjusts the preset initial reaction time using the time adjustment value. In this process, various factors that may affect the driver's reaction time are taken into account, so that the determined reaction time of the vehicle driver is accurate, and the timing of issuing warnings based on the reaction time is more appropriate.

[0052] In some embodiments, at least some of the driving parameters that need to be referenced are different in different time adjustment levels. Please refer to [link / reference]. Figure 2 Step S12 above may include the following steps: Perform the following steps for each time adjustment level:

[0053] Step S121: Select several driving parameters that need to be referenced for the time adjustment level as reference driving parameters for the time adjustment level.

[0054] In some application scenarios, the time adjustment level includes a first level, and the reference driving parameters for the first level include fatigue level and workload. Fatigue level can be represented by a fatigue level. Optionally, the driver fatigue level is output by the DMS (Driver Monitoring System) module, reflecting different levels of driver fatigue.

[0055] In some application scenarios, the time adjustment level includes a second level, and the reference driving parameters for the second level include the personalized parameters in the driving parameters and the weather parameters in the driving environment parameters.

[0056] In some application scenarios, the time adjustment level includes the third level, and the reference driving parameters for the third level include the longitudinal control state and the longitudinal control braking state in the driving behavior parameters.

[0057] In some application scenarios, the time adjustment level includes a fourth level. The reference driving parameters for the fourth level include braking status, accelerator pedal change status, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and at least one of the following driving environment parameters: road curvature and road planning category.

[0058] In some application scenarios, the time adjustment level includes a fifth level. The reference driving parameters for the fifth level include the deceleration characterization value in the driving behavior parameters, the overtaking characterization value in the driving environment parameters, and the braking characterization value of the target vehicle, which is the vehicle in front of the vehicle in the direction of travel.

[0059] Step S122: Determine the candidate time adjustment value corresponding to each reference driving parameter.

[0060] The method for determining the candidate time adjustment values ​​for fatigue level and workload in the driving parameters of the first level can be: setting different adjustment values ​​according to different fatigue levels. For example, the different adjustment values ​​set for different fatigue levels can be referred to Table 1.

[0061] Table 1: Correspondence between Fatigue Level and Candidate Time Adjustment Value

[0062] Fatigue level Candidate time adjustment value 0-Ukwn 0.01s 1-DrvrLvl1 0.2s 2-DrvrLvl2 0.3s 3-DrvrLvl3 0.4s 4-DrvrLvl4 0.6s 5-DrvrLvl5 0.8s

[0063] As shown in Table 1, there is a positive correlation between fatigue level and candidate time adjustment value; the higher the fatigue level, the larger the candidate time adjustment value. For example, the fatigue level can include 6 levels, and different levels can correspond to different candidate time adjustment values. When the fatigue level is unknown, the fatigue level is set to level 0, and the candidate time adjustment value can be set to 0.01s.

[0064] The workload parameter in driving parameters can be a workload level, and different workload levels can correspond to different candidate time adjustment values. Different workload levels include different driver behaviors, such as making phone calls, smoking, and operating the central control instrument panel. For example, the relationship between different workload levels and candidate time adjustment values ​​can be seen in Table 2.

[0065] Table 2: Correspondence between workload levels and candidate time adjustment values

[0066]

[0067]

[0068] As shown in Table 2, if the driver is simultaneously making a phone call, smoking, and operating the central control system, the driver's workload is determined to be high, and the corresponding candidate time adjustment value is 0.6s.

[0069] In some application scenarios, the driving parameters include individual personality parameters, which can be personality levels. These personality levels can be determined based on the driver's gender and total mileage, and can be used to determine candidate time adjustment values. Specifically, the personality level can be determined by interpolating the driver's gender and total mileage using a two-dimensional lookup table. The higher the total mileage, the higher the personality level. Table 3 shows the personality levels in the order of 3>2>1>0. The relationship between different personality levels and candidate time adjustment values ​​can be found in Table 3.

[0070] Table 3: Correspondence between Personality Level and Candidate Time Adjustment Value

[0071] Personality Level Candidate time adjustment value 0 0.001s 1 0.02s 2 0.04s 3 0.06s

[0072] As shown in Table 3, if the personality level is 3, the candidate time adjustment value is 0.06s.

[0073] In some application scenarios, the weather parameter in the driving environment parameters, if the weather parameter is rainy or foggy, then the candidate adjustment value is determined to be the preset adjustment value, for example, the preset adjustment value can be -0.7s.

[0074] In some application scenarios, the longitudinal control status indicates that the longitudinal control is in an active state, so the candidate adjustment can be set to the corresponding preset value, such as the candidate time adjustment value of -0.38s.

[0075] In some application scenarios, if the longitudinal control braking state is active, the correspondence between the candidate time adjustment value and the longitudinal control braking state can be referenced. Figure 3 .like Figure 3 As shown, the vehicle reaches its maximum longitudinal deceleration of -1 m / s². 2 Under the given circumstances, the scenario is determined to occur when the vehicle reaches the minimum trigger longitudinal deceleration of -2 m / s². 2 In this case, the scene is confirmed to have disappeared. After the scene disappears, a waiting period can be set. During the waiting period, the candidate time adjustment value is the same, for example, -0.48. Figure 3 The appearance of a scene indicates that the longitudinal control braking state is active; the disappearance of the scene can be considered as the longitudinal control braking state changing from active to inactive. The candidate time adjustment value is -0.38s, and the minimum reaction time adjustment is -0.48s. The candidate time adjustment value can be determined based on the longitudinal deceleration (or longitudinal acceleration) during braking. The principle is that within the vehicle's longitudinal acceleration range, the candidate time adjustment value changes with the vehicle's longitudinal deceleration. The minimum longitudinal deceleration that can be triggered by acceleration algt is -2m / s². 2 Maximum longitudinal deceleration = -1 m / s 2 The candidate time adjustment value falls within the range of -0.48s to -0.38s.

[0076] In some application scenarios, the braking state in driving behavior parameters can be set as either "applying the brakes" or "applying the brakes and then releasing them," followed by a waiting period and a subsequent time interval. Candidate time adjustment values ​​can be set for these states. If the driver is not in either of these states, the candidate time adjustment value corresponding to the braking state can be set to 0 seconds. For example, the correspondence between braking states and candidate time adjustment values ​​can be found by referring to... Figure 4The appearance of a scene signifies that the driver has applied the brakes, and the disappearance of the scene signifies that the driver has released the brakes. The candidate time adjustment value is 0 before the scene appears, can be -0.68s during the period from scene appearance to scene closure, and can exhibit a linear change during the period between scene closure and the event closure.

[0077] In some application scenarios, the changing states of the accelerator pedal can include the pedal transitioning from depressed to released, and the pedal being fully released. The candidate time adjustment values ​​corresponding to these accelerator pedal changes can be looked up in a table based on speed V. The specific correspondence between speed V and the candidate time adjustment values ​​can be found in [reference needed]. Figure 5 As shown. Scene appearance refers to the accelerator pedal being released, scene disappearance can be caused by the accelerator pedal being completely released. Or... Figure 5 In some scenarios, the accelerator pedal is fully released when the scene appears. The time interval between the scene's appearance and disappearance can be a preset waiting period, and the time after the scene disappears can be another waiting period. The correspondence between different waiting periods and candidate time adjustment values ​​can vary. In other application scenarios, fixed candidate time adjustment values ​​can be set for different change states. For example, changing from an unpressed state to a pressed state can be set with one candidate time adjustment value, while changing from a pressed state to an unpressed state can be set with another candidate time adjustment value. Figure 5 The candidate time adjustment value between the scene's appearance and disappearance can be queried based on the speed V. Specifically, the speed can be between 0 and 50 m / s, and the candidate time adjustment value can be between -0.61 s and -0.48 s. Figure 5 The intervals from -0.61s to -0.48s can be the two endpoints of the candidate time adjustment value.

[0078] In some applications, the relationship between the rate of change of the accelerator pedal position and the candidate time adjustment value can serve as a reference. Figure 5 The relationship between the position change rate and the candidate time adjustment value can be set in one way, and the candidate time adjustment value corresponding to different position change rates can be determined by looking up a table. Alternatively, a fixed candidate time adjustment value can be set when a change in the accelerator pedal position change rate is detected, for example, a fixed value of -0.76s. Or, when the accelerator pedal position change rate reaches a certain preset value, the candidate time adjustment value corresponding to the position change rate can be determined to be a fixed value, for example, -0.76s.

[0079] In some application scenarios, the candidate time adjustment value corresponding to acceleration can be determined by looking up a table based on the correspondence between the longitudinal acceleration (algt) and the candidate time adjustment value. See the following for details. Figure 6 ,like Figure 6As shown, the vehicle's minimum trigger longitudinal acceleration is 0.5 m / s². 2 The scene is confirmed to have occurred, and the maximum longitudinal acceleration reaches 1 m / s². 2 Once the scene disappears, the minimum candidate time adjustment value is -0.48s. Within the longitudinal acceleration range, the candidate time adjustment value varies with the vehicle's longitudinal acceleration. Candidate time adjustment values ​​exist for each acceleration between scene appearance and disappearance; for other accelerations, no candidate time adjustment values ​​need to be set.

[0080] In some application scenarios, the candidate time adjustment value corresponding to the steering wheel speed can be determined by setting a preset value when the steering wheel speed is greater than or equal to a speed threshold. For example, the preset value could be -0.58s. That is, when the steering wheel speed is high, the candidate time adjustment value is determined to be -0.58s.

[0081] In some application scenarios, when the vehicle speed is less than or equal to the preset speed, the candidate time adjustment value corresponding to the vehicle speed can be determined by looking up a table.

[0082] In some application scenarios, the road curvature parameters in the driving environment, during cornering, can be used to determine the corresponding candidate time adjustment value based on the relationship between the lateral acceleration (algt) and the candidate time adjustment value. The specific relationship between lateral acceleration (algt) and the candidate time adjustment value can be referenced... Figure 7 If a vehicle triggers the minimum lateral acceleration (e.g., 0.7 m / s²) while driving through a curve... 2 The maximum lateral acceleration is 1 m / s². 2 That is, the minimum lateral acceleration (e.g., 0.7 m / s²). 2 The scene is confirmed to have occurred, with the maximum lateral acceleration reaching 1 m / s². 2 If the scene disappears, the minimum candidate time adjustment value can be -0.38s. Within the longitudinal acceleration range, the adjustment amount varies with the lateral acceleration of the vehicle, thus determining that the candidate time adjustment value can be the corresponding preset value.

[0083] In some application scenarios, the way to determine the road planning category and the corresponding candidate time adjustment value can be to determine the candidate time adjustment value as -0.7s if a vehicle is detected to be on an urban road.

[0084] In some application scenarios, the candidate time adjustment value corresponding to the deceleration characterization value in driving behavior parameters can be determined based on whether a deceleration operation occurs. For example, the deceleration characterization value can be a deceleration operation. When deceleration occurs, the candidate time adjustment value corresponding to the deceleration characterization value can be a pre-set value, such as -0.78s. The system remains active for a certain period of 2 seconds after the scenario disappears. Figure 8 The waiting period in the middle), the time taken to jump from the adjustment value to 0 is 2 seconds. Figure 8 The appearance of a scene (within a given time period) can be considered as deceleration, and the disappearance of a scene can be considered as the cessation of deceleration. For the specific relationship between deceleration characteristics and candidate time adjustment values, please refer to [reference needed]. Figure 8 .

[0085] In some application scenarios, when determining the candidate time adjustment value corresponding to the overtaking characteristic value in the driving environment parameters, the overtaking characteristic value is determined to be that the vehicle is overtaking and the target vehicle has not braked suddenly. The candidate time adjustment value corresponding to the overtaking characteristic value can be a preset value, such as -0.68s. "No sudden braking" can be defined as the longitudinal acceleration of the target vehicle being no less than -3.5m / s². 2 The target vehicle can be a vehicle located in front of this vehicle in its direction of travel.

[0086] In some application scenarios, when determining the candidate time adjustment values ​​corresponding to the braking characteristic values ​​of a target vehicle, the target vehicle is a vehicle located ahead of it in the direction of travel. The driver activates the target braking scenario, and the target vehicle is on its trajectory (this condition includes a waiting period of 1 second), and the target vehicle does not brake suddenly (target longitudinal acceleration is not less than -3.5 m / s²). 2 The candidate time adjustment value was determined to be -0.98s.

[0087] Step S123: Based on each candidate time adjustment value, obtain the time adjustment value corresponding to the time adjustment level.

[0088] In some embodiments, the time adjustment level includes a first level, and the reference driving parameters for the first level include fatigue level and workload among the driving parameters. Step S123 may include the following steps: weighted fusion of the candidate time adjustment values ​​corresponding to fatigue level and the candidate time adjustment values ​​corresponding to workload to obtain the time adjustment value corresponding to the first level.

[0089] Specifically, the time adjustment value corresponding to the first level can be referenced by the following formula:

[0090] level1=weight_a*A+weight_c*C;

[0091] Where level1 represents the time adjustment value corresponding to the first level, weight_a represents the weight and its value is between 0 and 1, A represents the candidate time adjustment value corresponding to the fatigue level, weight_c represents another weight and its value is between 0 and 1, and C represents the candidate time adjustment value corresponding to the workload.

[0092] In some embodiments, the time adjustment level includes a second level, and the reference driving parameters for the second level include the individual parameters in the driving parameters and the weather parameters in the driving environment parameters. Step S123 may include the following steps: weighted fusion of the candidate time adjustment values ​​corresponding to the individual parameters and the candidate time adjustment values ​​corresponding to the weather parameters to obtain the time adjustment value corresponding to the second level.

[0093] Specifically, the time adjustment value corresponding to the second level can be referenced using the following formula:

[0094] level2=weight_b*B+weight_d*D12;

[0095] Where level2 represents the time adjustment value corresponding to the second level, weight_b and weight_d represent the corresponding weights, and their values ​​are between 0 and 1. B represents the candidate time adjustment value corresponding to the individual parameter, and D12 represents the candidate time adjustment value corresponding to the weather parameter.

[0096] In some embodiments, the time adjustment level includes a third level, and the reference driving parameters for the third level include the longitudinal control state and the longitudinal control braking state in the driving behavior parameters. The above step S123 may include the following steps: selecting the smaller value from the candidate time adjustment values ​​corresponding to the longitudinal control state and the candidate time adjustment values ​​corresponding to the longitudinal control braking state as the time adjustment value corresponding to the third level.

[0097] The time adjustment value for the third level can be referenced using the following formula:

[0098] level3 = min(D7, D8);

[0099] Wherein, level3 represents the time adjustment value corresponding to the third level, D7 represents the candidate time adjustment value corresponding to the longitudinal control state, and D8 represents the candidate time adjustment value corresponding to the longitudinal control braking state.

[0100] In some embodiments, the time adjustment level includes a fourth level, and the reference driving parameters for the fourth level include at least one of the driving behavior parameters such as braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters such as road curvature and road planning category. Step S123 may include the following steps: selecting the minimum value from the candidate time adjustment values ​​corresponding to the braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters such as road curvature and road planning category as the time adjustment value corresponding to the fourth level.

[0101] The following formula can be used to determine the time adjustment value corresponding to the fourth level:

[0102] level4=min(D1,D3,D4,D5,D6,D9,D10,D11);

[0103] Wherein, level4 represents the time adjustment value corresponding to the fourth level, D1 represents the candidate time adjustment value corresponding to the braking state, D3 represents the candidate time adjustment value corresponding to the change state of the accelerator pedal, D4 represents the candidate time adjustment value corresponding to the rate of change of the accelerator pedal position, D5 represents the candidate time adjustment value corresponding to the acceleration, D6 represents the candidate time adjustment value corresponding to the steering wheel speed, D9 represents the candidate time adjustment value corresponding to the vehicle speed, D10 represents the candidate time adjustment value corresponding to the road curvature in the driving environment parameters, and D11 represents the candidate time adjustment value corresponding to the road planning category.

[0104] In some embodiments, the time adjustment level includes a fifth level. The reference driving parameters for the fifth level include the deceleration characterization value in the driving behavior parameters, the overtaking characterization value in the driving environment parameters, and the braking characterization value of the target vehicle. The target vehicle is the vehicle in front of the vehicle in the driving direction. The above step S123 may include the following steps: selecting the minimum value from the candidate time adjustment values ​​corresponding to the deceleration characterization value, the overtaking characterization value, and the braking characterization value as the time adjustment value corresponding to the fifth level.

[0105] The time adjustment value corresponding to level 5 can be determined using the following formula:

[0106] level5 = min(D2, D13, D14);

[0107] Wherein, level5 represents the time adjustment value corresponding to the fifth level, D2 represents the candidate time adjustment value corresponding to the deceleration characterization value, D13 represents the time adjustment value corresponding to the overtaking characterization value, and D14 represents the candidate time adjustment value corresponding to the braking characterization value.

[0108] Please see Figure 9 In some embodiments, step S13 may include the following steps:

[0109] Step S131: Group the time adjustment levels to obtain several level groups.

[0110] Different level groups contain at least some different time adjustment levels.

[0111] Optionally, the grouping can be done by dividing the third, fourth, and fifth levels into three separate groups, and then selectively adding the first and second levels to at least one of these three groups, resulting in several level groups. For example, the fifth level can be grouped separately, the first, second, and third levels can be grouped together, and the first, second, and fourth levels can be grouped together, resulting in a total of three level groups. This grouping method is merely an example; in other embodiments, the levels can be randomly divided or divided as needed.

[0112] Step S132: Determine the time adjustment value corresponding to each level group.

[0113] Following the previous example, we can group the fifth level as the first group, the first, second, and third levels as the second group, and the first, second, and fourth levels as the third group, resulting in a total of three level groups. The method for determining the time adjustment value for each level group can include, but is not limited to, weighted merging of the time adjustment values ​​corresponding to each time adjustment level within each level group, or selecting one as the time adjustment value for the level group.

[0114] In some application scenarios, for the first group, the time adjustment value corresponding to level 5 can be directly used as the time adjustment value for the first group. For the second group, the larger value can be selected from the time adjustment values ​​corresponding to levels 1 and 2, and added to the time adjustment value corresponding to level 4 to obtain the time adjustment value for the second group. Similarly, for the third group, the larger value can be selected from the time adjustment values ​​corresponding to levels 1 and 2, and added to the time adjustment value corresponding to level 3 to obtain the time adjustment value for the third group. In other words, the time adjustment value for the first group can be equal to level 5, the time adjustment value for the second group can be equal to level 4 + max(level 1, level 2), and the time adjustment value for the third group can be equal to level 3 + max(level 1, level 2).

[0115] Step S133: Based on the sum of the minimum time adjustment value of each level group and the preset initial reaction value, determine the driver's reaction time.

[0116] The specific method for calculating the summation result can be found in the following formula:

[0117] ReactionTime=initialvalue+min(level5,level4+max(level1,level2),level3+max(level1,level2));

[0118] Where ReactionTime represents the summation result, initialvalue represents the preset initial reaction value, and min(level5,level4+max(level1,level2),level3+max(level1,level2)) represents the minimum value selected from the time adjustment values ​​of each level group.

[0119] In some embodiments, step S133 above may include the following steps:

[0120] If the summation result is less than a first preset value, the first preset value is used as the driver's reaction time; or, if the summation result is greater than a second preset value, the second preset value is used as the driver's reaction time, where the second preset value is greater than the first preset value; or, if the summation result is between the first and second preset values, the summation result is used as the driver's reaction time.

[0121] Specifically, the driver's reaction time (Reaction Time) can be determined using the following formula:

[0122] ReactionTime=min(4,max(ReactionTime,0.18));

[0123] Where ReactionTime represents the driver's reaction time, and ReactionTime represents the summation result. 4 represents the second preset value, and 0.18 represents the first preset value, which means that the determined reaction time must not exceed the upper limit of 4 seconds, nor be less than 0.18 seconds.

[0124] In some embodiments, the preset initial reaction value can be determined based on sensitivity. That is, the driver's reaction time will have an initial value, which is related to the sensitivity selected by the driver in the instrument panel. For example, for the forward collision warning function, in addition to the function switch, there is also a sensitivity setting, such as low sensitivity / medium sensitivity / high sensitivity. Low sensitivity indicates a late alarm, medium sensitivity indicates a moderate alarm timing, and high sensitivity indicates an early alarm timing. Different sensitivity settings correspond to different initial reaction time values ​​(low sensitivity = 1s; medium sensitivity = 1.18s; high sensitivity = 1.4s). The estimated driver reaction time online is limited by a threshold value, with a maximum of 4s and a minimum of 0.18s.

[0125] In some embodiments, the parameters, including the weights used in the calculation of the time adjustment values ​​of the first and second levels, can be adjusted to obtain the final parameter values ​​in the following way: Based on the EDR data returned by the customer vehicle stored on the cloud platform, which contains trigger data packets for forward collision warning and automatic emergency braking functions, the data packets are manually analyzed and filtered to be defined as positive trigger data and false trigger data. The data packets are then fed back into the corresponding formulas to perform parameter adaptation, ensuring that the function is positively triggered and optimizing the function to be falsely triggered. The formulas can be driver reaction time estimation models.

[0126] Please see Figure 10 In some embodiments, the reaction time determination method may further include the following steps:

[0127] Step S21: Determine the current status of the vehicle.

[0128] The vehicle's current state can be free driving, following, or approaching a target. These three states each have different sub-states. Free driving is defined as driving without a target ahead; following is driving when a target is ahead; and approaching a target is driving as the vehicle continuously approaches the target vehicle. These three driving states can transition between each other. For example, the transition relationships between the three states can be found in [reference needed]. Figure 11 In a free driving state, if condition X1 is met, it can transition to a following state; if condition X2 is met, it can transition to a near-target driving state. In a following state, if condition F1 is met, it can transition to a near-target driving state; if condition F2 is met, it can transition to a free driving state. In a near-target driving state, if condition E1 is met, it can transition to a following state; if condition E2 is met, it can transition to a free driving state. The priority of state transitions can be: X1 > X2, E1 > E2, F1 > F2.

[0129] Wherein, X1, X2, E1, E2, F1, and F2 are respectively:

[0130] X1: Satisfies the Follow condition;

[0131] X2: Satisfies the ClosingIn condition;

[0132] E1: The Follow condition is met;

[0133] E2: ClosingIn condition not met;

[0134] F1: The Follow condition is not met, but the ClosingIn condition is met;

[0135] F2: The Follow condition is not met, and the ClosingIn condition is not met.

[0136] Follow conditions (all of the following conditions must be met):

[0137] ① There is a target following this vehicle ahead;

[0138] ②The time required for this vehicle to reach the target ahead longitudinally is less than 3.8 seconds;

[0139] ③ The vehicle's speed is greater than 2.5 m / s;

[0140] ④ The relative speed (target longitudinal speed - vehicle longitudinal speed) is less than 2 m / s;

[0141] ⑤ The longitudinal acceleration of this vehicle is less than 0.7 m / s². 2 ;

[0142] ⑥ The longitudinal acceleration of this vehicle (the longitudinal acceleration of this vehicle obtained from the chassis) is greater than -0.7 m / s². 2 ;

[0143] ClosingIn conditions (all of the following conditions must be met):

[0144] ① There is a target following this vehicle ahead;

[0145] ②The time it takes for this vehicle to reach the target ahead in terms of longitudinal distance is less than 2.5 seconds;

[0146] ③ The vehicle's speed is greater than 12 m / s;

[0147] ④ Target speed - vehicle speed is less than -1m / s.

[0148] For example, in conditions X1 and X2, the transition starts from a free driving state. Starting with no target ahead, the vehicle first goes through a following state before transitioning to a driving state closer to the target. For instance, if the vehicle is at 100 kph and the target is at 20 kph ahead, with a longitudinal distance of 200 m, the state changes from free driving state to following state to approaching target driving state as the vehicle approaches the target.

[0149] The following and approach-target driving states include sub-states such as overtaking, braking and acceleration, and no change. Specifically, if the target vehicle is determined to be overtaking, the vehicle's state is determined to be overtaking. If the vehicle is not in an overtaking state but meets the braking condition, the vehicle's state is determined to be braking. If the vehicle is neither in an overtaking nor braking state, and meets the acceleration condition, the vehicle is determined to be accelerating; otherwise, the vehicle is determined to be in a no-change state. These sub-states are used to determine whether the overtaking and braking characteristic values ​​meet the scenario occurrence conditions. If the overtaking characteristic value meets the scenario occurrence conditions, the braking characteristic value does not meet the scenario occurrence conditions. If the braking characteristic value does not meet the scenario occurrence conditions, the candidate time adjustment value corresponding to the braking characteristic value can be set to 0.

[0150] Step S22: In response to the vehicle's current state being either following or approaching the target driving state, execute the step of determining the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters.

[0151] Among them, in the approaching target driving state, there is a target vehicle in front of the vehicle in the direction of travel, the vehicle's speed is greater than the target vehicle's speed, the vehicle's speed is greater than the preset speed, and the time it takes for the vehicle to catch up with the target vehicle in the longitudinal distance is less than the preset time.

[0152] In other words, when the vehicle is in a free-driving state, the preset initial reaction time is directly used as the driver's reaction time without adjustment. Adjustments are only made to the preset initial reaction time when the vehicle is in a following or approaching target driving state. Of course, in some other embodiments, even when the vehicle is in a free-driving state, the preset initial reaction time can still be adjusted to obtain the driver's reaction time.

[0153] In some scenarios, the driving parameters in step S11 above can be used by the driving activation detection module, fatigue level estimation module, and workload estimation module to activate the scenario flag (referencing the driving parameters). The fatigue level estimation module can be used to determine the driver's fatigue level, the workload estimation module can be used to detect the driver's workload, or a personalized parameter determination module can be set to determine the driver's personalized parameters.

[0154] The driving activation detection module consists of four main modules: driver driving behavior activation, assisted driving behavior activation, environmental interaction activation, and target interaction activation. Each module includes different application activation scenarios.

[0155] 1. Driver behavior activation primarily relies on chassis signals to identify driver actions, including braking, deceleration, accelerator pedal release, rapid accelerator pedal changes, acceleration, and high-speed steering wheel rotation. Detecting these actions indicates the presence of a corresponding scenario; their disappearance signifies the scenario's disappearance. These driving behaviors reflect, to varying degrees, the driver's current and future takeover capabilities. Specifically, it detects braking status, accelerator pedal position changes, accelerator pedal rate of change, acceleration, steering wheel speed, vehicle speed, and deceleration values.

[0156] 2. Assisted driving behavior activation primarily detects the use of other assisted driving functions. If a state is detected, the corresponding scenario is determined to have occurred; if these states disappear, the scenario is considered to have disappeared. This mainly involves longitudinal control activation and longitudinal braking states. For example, longitudinal control activation, such as the activation of ACC (Adaptive Cruise Control), indicates that the driver is using the ACC function. Longitudinal braking states, such as the driver using ACC and braking towards a target ahead, can be specifically detected.

[0157] 3. Environmental interaction activation includes situations where the vehicle is on a curve with high curvature, driving at low speeds, in urban road environments, and in low visibility conditions. Specifically, it can detect the degree of road curvature and the road planning category.

[0158] 4. Target interaction activation includes the vehicle's overtaking behavior and the target's braking behavior. Both behaviors have obvious takeover intentions, and the overtaking characteristic value and the target vehicle's braking characteristic value can be detected.

[0159] The above solution sets the default value for driver reaction time based on driver sensitivity settings, taking into account driver personality, workload, and fatigue level as basic adjustment values. It also incorporates activation adjustment mechanisms based on driver behavior and environmental interactions, ensuring the real-time, comprehensive, and accurate nature of online estimation. Furthermore, parameters can be adjusted according to customer data feedback methods, resulting in a high degree of consistency with real-world vehicle performance.

[0160] Please see Figure 12The reaction time determination device 70 includes a driving parameter acquisition module 71, a time adjustment value determination module 72, and a reaction time determination module 73. The driving parameter acquisition module 71 is used to acquire the driving parameters of the vehicle, including the driver's driving parameters, driving behavior parameters, and driving environment parameters. The time adjustment value determination module 72 is used to determine the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters. The reaction time determination module 73 is used to determine the driver's reaction time based on a preset initial reaction time and the time adjustment value corresponding to each time adjustment level.

[0161] The above solution obtains various driving parameters and determines the time adjustment value corresponding to different adjustment levels based on each driving parameter. Then, it adjusts the preset initial reaction time using the time adjustment value. In this process, various factors that may affect the driver's reaction time are taken into account, so that the determined reaction time of the vehicle driver is accurate, and the timing of issuing warnings based on the reaction time is more appropriate.

[0162] Please refer to the above implementation example of the reaction time determination method for the functions performed by each module; they will not be repeated here.

[0163] Please see Figure 13 The electronic device 80 includes a memory 81 and a processor 82. The processor 82 is used to execute program instructions stored in the memory 81 to implement the steps in the above-described response time determination method embodiment. In a specific implementation scenario, the electronic device 80 may include, but is not limited to, vehicles, microcomputers, and servers. In addition, the electronic device 80 may also include mobile devices such as laptops and tablets, which are not limited here.

[0164] Specifically, processor 82 controls itself and memory 81 to implement the steps in the above-described response time determination method embodiment. Processor 82 can also be referred to as a CPU (Central Processing Unit). Processor 82 may be an integrated circuit chip with signal processing capabilities. Processor 82 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 82 can be implemented using integrated circuit chips.

[0165] The above solution obtains various driving parameters and determines the time adjustment value corresponding to different adjustment levels based on each driving parameter. Then, it adjusts the preset initial reaction time using the time adjustment value. In this process, various factors that may affect the driver's reaction time are taken into account, so that the determined reaction time of the vehicle driver is accurate, and the timing of issuing warnings based on the reaction time is more appropriate.

[0166] Please see Figure 14 A computer-readable storage medium 90 stores program instructions 901 thereon, which, when executed by a processor, implement the steps in any of the above-described embodiments of the reaction time determination method.

[0167] The above solution obtains various driving parameters and determines the time adjustment value corresponding to different adjustment levels based on each driving parameter. Then, it adjusts the preset initial reaction time using the time adjustment value. In this process, various factors that may affect the driver's reaction time are taken into account, so that the determined reaction time of the vehicle driver is accurate, and the timing of issuing warnings based on the reaction time is more appropriate.

[0168] In some embodiments, the system provided in this disclosure may have functions or include modules that can be used to execute the methods described in the above method embodiments. The specific implementation of these methods can be referred to the description in the above method embodiments, and for the sake of brevity, they will not be repeated here.

[0169] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0170] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0171] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0172] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for determining reaction time, characterized in that, The method includes: The vehicle's driving parameters are obtained, including the driver's driving parameters, driving behavior parameters, and driving environment parameters. Using the vehicle's driving parameters, determine the time adjustment values ​​corresponding to different time adjustment levels; The driver's reaction time of the vehicle is determined based on the preset initial reaction time and the time adjustment value corresponding to each of the time adjustment levels. Different time adjustment levels require reference to at least some driving parameters. The process of determining the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters includes: Perform the following steps for each of the aforementioned time adjustment levels: Several driving parameters that need to be referenced for the time adjustment level are used as reference driving parameters for the time adjustment level. Determine the candidate time adjustment value corresponding to each of the aforementioned reference driving parameters; Based on each of the candidate time adjustment values, the time adjustment value corresponding to the time adjustment level is obtained; The time adjustment level includes a first level, and the reference driving parameters for the first level include fatigue level and workload among the driving parameters. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: weighted fusion of the candidate time adjustment value corresponding to the fatigue level and the candidate time adjustment value corresponding to the workload to obtain the time adjustment value corresponding to the first level; and / or, The time adjustment level includes a second level, and the reference driving parameters for the second level include the individual parameters among the driving parameters and the weather parameters among the driving environment parameters. The step of obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: weighted fusion of the candidate time adjustment values ​​corresponding to the individual parameters and the candidate time adjustment values ​​corresponding to the weather parameters to obtain the time adjustment value corresponding to the second level; and / or, The time adjustment level includes a third level, and the reference driving parameters for the third level include the longitudinal control state and the longitudinal control braking state among the driving behavior parameters. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the smaller value from the candidate time adjustment values ​​corresponding to the longitudinal control state and the candidate time adjustment values ​​corresponding to the longitudinal control braking state as the time adjustment value corresponding to the third level; and / or, The time adjustment level includes a fourth level. The reference driving parameters for the fourth level include at least one of the following driving behavior parameters: braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters: road curvature and road planning category. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the minimum value from the candidate time adjustment values ​​corresponding to the braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters such as road curvature and road planning category as the time adjustment value corresponding to the fourth level; and / or, The time adjustment level includes a fifth level. The reference driving parameters for the fifth level include the deceleration characterization value in the driving behavior parameters, the overtaking characterization value in the driving environment parameters, and the braking characterization value of the target vehicle. The target vehicle is the vehicle in front of the vehicle in the driving direction. The step of obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the minimum value from the candidate time adjustment values ​​corresponding to the deceleration characterization value, the overtaking characterization value, and the braking characterization value as the time adjustment value corresponding to the fifth level.

2. The method according to claim 1, characterized in that, The determination of the driver's reaction time based on a preset initial reaction time and the time adjustment value corresponding to each of the time adjustment levels includes: The time adjustment levels are grouped to obtain several level groups, and at least some of the time adjustment levels are different in different level groups; Determine the time adjustment value corresponding to each of the aforementioned grade groups; The driver's reaction time of the vehicle is determined by summing the minimum time adjustment value of each grade group with the preset initial reaction value.

3. The method according to claim 2, characterized in that, The method of determining the driver's reaction time based on the sum of the minimum time adjustment value selected from each of the aforementioned level groups and the preset initial reaction value includes: If the summation result is less than a first preset value, then the first preset value is taken as the driver's reaction time of the vehicle. Alternatively, in response to the summation result being greater than a second preset value, the second preset value is taken as the driver's reaction time of the vehicle, where the second preset value is greater than the first preset value; Alternatively, in response to the summation result being between the first preset value and the second preset value, the summation result is used as the driver's reaction time of the vehicle.

4. The method according to claim 1, characterized in that, The method further includes: Determine the current state of the vehicle; In response to the vehicle's current state being either following or approaching a target driving state, the step of determining the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters is executed. In the approach-to-target driving state, there is a target vehicle ahead of the vehicle in the direction of travel, the speed of the vehicle is greater than the speed of the target vehicle, the speed of the vehicle is greater than a preset speed, and the time it takes for the vehicle to catch up with the target vehicle in the longitudinal distance is less than a preset time.

5. A reaction time determining device, characterized in that, include: The driving parameter acquisition module is used to acquire the driving parameters of the vehicle, including the driver's driving parameters, driving behavior parameters, and driving environment parameters. The time adjustment value determination module is used to determine the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters; The reaction time determination module is used to determine the driver's reaction time of the vehicle based on a preset initial reaction time and the time adjustment value corresponding to each of the time adjustment levels. The different time adjustment levels require reference to at least some driving parameters. The time adjustment value determination module is used to determine the time adjustment value corresponding to different time adjustment levels using the vehicle's driving parameters, including: Perform the following steps for each of the aforementioned time adjustment levels: Several driving parameters that need to be referenced for the time adjustment level are used as reference driving parameters for the time adjustment level. Determine the candidate time adjustment value corresponding to each of the aforementioned reference driving parameters; Based on each of the candidate time adjustment values, the time adjustment value corresponding to the time adjustment level is obtained; The time adjustment level includes a first level, and the reference driving parameters for the first level include fatigue level and workload among the driving parameters. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: weighted fusion of the candidate time adjustment value corresponding to the fatigue level and the candidate time adjustment value corresponding to the workload to obtain the time adjustment value corresponding to the first level; and / or, The time adjustment level includes a second level, and the reference driving parameters for the second level include the individual parameters among the driving parameters and the weather parameters among the driving environment parameters. The step of obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: weighted fusion of the candidate time adjustment values ​​corresponding to the individual parameters and the candidate time adjustment values ​​corresponding to the weather parameters to obtain the time adjustment value corresponding to the second level; and / or, The time adjustment level includes a third level, and the reference driving parameters for the third level include the longitudinal control state and the longitudinal control braking state among the driving behavior parameters. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the smaller value from the candidate time adjustment values ​​corresponding to the longitudinal control state and the candidate time adjustment values ​​corresponding to the longitudinal control braking state as the time adjustment value corresponding to the third level; and / or, The time adjustment level includes a fourth level. The reference driving parameters for the fourth level include at least one of the following driving behavior parameters: braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters: road curvature and road planning category. Obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the minimum value from the candidate time adjustment values ​​corresponding to the braking state, accelerator pedal change state, accelerator pedal position change rate, acceleration, steering wheel speed, vehicle speed, and driving environment parameters such as road curvature and road planning category as the time adjustment value corresponding to the fourth level; and / or, The time adjustment level includes a fifth level. The reference driving parameters for the fifth level include the deceleration characterization value in the driving behavior parameters, the overtaking characterization value in the driving environment parameters, and the braking characterization value of the target vehicle. The target vehicle is the vehicle in front of the vehicle in the driving direction. The step of obtaining the time adjustment value corresponding to the time adjustment level based on each of the candidate time adjustment values ​​includes: selecting the minimum value from the candidate time adjustment values ​​corresponding to the deceleration characterization value, the overtaking characterization value, and the braking characterization value as the time adjustment value corresponding to the fifth level.

6. An electronic device, characterized in that, include: A memory and a processor, wherein the memory stores program instructions, and the processor executes the program instructions stored in the memory to implement the method as described in any one of claims 1-4.

7. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they are used to implement the method as described in any one of claims 1-4.

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