Lane departure early warning control method and system

Abstract

The invention discloses a lane departure early warning control method and system.The method comprises the steps that a vibration unit is arranged in a vehicle steering wheel in advance, after lane departure is detected, lane departure early warning is provided by driving the vibration unit to work, and a plurality of reminding modes are set in advance; corresponding vibration parameters are pre-configured for each reminding mode, and the corresponding vibration parameters are acquired and executed based on the current reminding mode. The method has the advantages that different steering wheel vibrations can be performed according to actual driving habits of a driver, so that better lane departure early warning experience is realized.

Description

Technical Field

[0001] The present invention relates to the field of high-level assisted driving functions of automobiles, and in particular to a lane departure warning control method and system. Background Art

[0002] With the rapid development of the automobile industry and the improvement of people's living standards, cars have become a common means of transportation and are indispensable for travel. With the advent of big data networking, users have higher and higher requirements for cars, which also gives cars more functional attributes, such as driving comfort, adjustable suspension, intelligent interconnection, automatic driving, etc.

[0003] The automotive industry has now entered a new era of change. With the advent of big data, autonomous driving assistance technology has entered a stage of rapid development. Driven by new car-making forces, major traditional automakers have begun to rapidly transform and are fully adjusting resources to develop L3 and L4 intelligent driving.

[0004] The high degree of integration of autonomous driving technology will make users' experience better and better, and increase their trust and reliance on intelligent driving. Existing lane departure warning (LDW) systems usually remind drivers to stay in the lane through visual or sound signals, but these systems are often unable to adapt according to the driver's driving habits and road conditions, and cannot provide better lane departure warnings. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a lane departure warning control method and system to optimize the steering wheel vibration alarm when the LDW function is turned on, in order to provide the driver with a better driving experience.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a lane departure warning control method, in which a vibration unit is pre-arranged in the steering wheel of a vehicle, and after detecting lane departure, a lane departure warning is provided by driving the vibration unit, wherein a plurality of reminder modes are pre-arranged, each reminder mode is pre-configured with corresponding vibration parameters, and the corresponding vibration parameters are obtained and executed based on the current reminder mode.

[0007] The driver's hand force on the steering wheel is detected by a sensor built into the steering wheel. When the hand force is detected to be less than the set threshold and a lane departure signal is detected, the preset high vibration parameters are used to control the operation of the vibration unit.

[0008] Switch reminder modes via the vehicle control panel and / or voice control.

[0009] The reminder mode is switched by the driver actively or automatically. When the driver actively switches, the reminder mode is switched according to the driver's on-board control panel and / or voice control command; when the driver chooses automatic system switching, the reminder mode is adjusted and switched according to the vehicle's driving status.

[0010] When the system automatically switches, the vehicle speed data is monitored in real time and the reminder mode is switched based on the speed.

[0011] The reminder mode includes at least a comfort mode and a sports mode, wherein the vibration parameter corresponding to the sports mode is greater than the vibration parameter in the comfort mode, wherein the vibration parameter includes a vibration frequency and a vibration amplitude.

[0012] When the vibration unit is working, the steering wheel angle is collected in real time and the angle error caused by the vibration unit is filtered out based on the collected angle to obtain the final steering wheel angle, and the direction of the vehicle is controlled based on the final steering wheel angle.

[0013] After the vibration reminder is issued, the lane departure state is monitored in real time. If the lane deviation continues, the vibration parameters in the current reminder mode are increased and the increased vibration reminder is issued. A lane departure warning control system includes a lane departure controller and a vibration unit. The output end of the lane departure controller is connected to the vibration unit. The vibration unit is arranged in the steering wheel. After the lane departure is detected, the lane departure controller provides a lane departure warning by driving the vibration unit. A plurality of reminder modes are pre-set, each reminder mode is pre-configured with a corresponding vibration parameter, and the corresponding vibration parameter is obtained and executed based on the current reminder mode.

[0014] The lane departure controller is connected to a vehicle control panel or a vehicle voice system.

[0015] The advantages of the present invention are: different steering wheel vibrations can be performed according to the driver's actual driving habits, so as to achieve a better lane departure warning experience; the vibration intensity and frequency can be automatically adjusted according to the vehicle driving environment to improve the driving experience and intelligence level; the steering wheel deviation caused by the steering wheel vibration can be identified, and automatic filtering and identification can be performed to reduce the impact of the steering wheel vibration on the vehicle driving system and improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0017] Figure 1 This is a control principle diagram of the lane departure warning of the present invention. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0019] Traditional lane departure warnings are given by voice or alarm, but this reminder method cannot be adjusted adaptively for different situations, and the sound reminder has certain defects. The vibration method can be used to more effectively warn of lane departure, but the existing technology does not provide a targeted design and cannot meet the reminder needs of users under different needs. Therefore, the lane departure system of the existing technology still needs to be improved, and the user experience still needs to be further improved. Based on this, this solution provides a personalized lane departure warning system and method with a high user experience. The specific solution is as follows:

[0020] like Figure 1 As shown, a lane departure warning control method is provided, wherein the lane departure warning uses vibration to issue a warning, wherein a vibration unit is set in the steering wheel, and the user uses the steering wheel to vibrate to issue a lane departure warning, and a vibration unit is pre-set in the vehicle steering wheel and is implemented by a vibration motor, and the vibration of the vibration motor is used to achieve the vibration inside the steering wheel, thereby giving a vibration reminder. After the lane departure is detected, the lane departure warning is provided by driving the vibration unit, wherein multiple reminder modes are pre-set, and each reminder mode is pre-configured with a corresponding vibration parameter, and the corresponding vibration parameter is obtained and executed based on the current reminder mode.

[0021] The reminder mode includes at least a comfort mode and a sports mode, wherein the vibration parameter corresponding to the sports mode is greater than the vibration parameter in the comfort mode, wherein the vibration parameter includes the vibration frequency and the vibration amplitude. When the driver user selects the comfort mode, the vibration parameter in the comfort mode is used to drive the vibration unit to send a vibration signal, thereby giving a lane departure warning. When the sports mode is selected, the vibration parameter in the sports mode is used to control the vibration unit to send a vibration signal, thereby meeting the different vibration requirements of different drivers or users for lane departure warnings, and adapting to different requirements.

[0022] The user can switch the reminder mode through the vehicle control panel and / or voice control. The vehicle control panel is generally a touch panel. The user selects or switches the desired reminder mode by selecting or switching buttons, knobs, etc. on the touch panel. The user's selection or switching command is sent to the IHU host, which forwards the corresponding command to the lane departure controller. The lane departure controller then vibrates to warn of lane departure according to the currently required reminder mode, thereby issuing a reminder. If the vehicle has an in-vehicle voice system, the in-vehicle voice system collects the user's voice commands, converts the voice commands into control commands and sends them to the lane departure warning controller. The lane departure warning controller switches the reminder mode and issues a corresponding reminder alarm signal based on the reminder mode.

[0023] In a preferred solution of the present embodiment, the reminder mode supports manual switching and automatic switching, that is, the reminder mode is switched by the driver actively switching or the system automatically switching. When the driver actively switches, the reminder mode is switched according to the driver's vehicle control panel and / or voice control command; when the driver chooses the system to automatically switch, the reminder mode is adjusted according to the driving status of the vehicle. When the system automatically switches, the vehicle speed data is monitored in real time, and the reminder mode is switched based on the vehicle speed. In the central control host, a mode switch is developed or a corresponding switch button is selected. When the driver actively switches, the driver switches the current reminder mode to a comfort mode or a sports mode through the soft switch in the vehicle control panel. After receiving the corresponding reminder mode instruction, the lane departure warning controller controls the operation of the vibration unit according to the vibration parameters corresponding to the currently selected mode. When the driver selects the automatic switching mode, when the lane departure warning function is turned on, the current vehicle speed is monitored in real time, and the current road is judged to be a highway or an urban road based on the vehicle speed. When it is judged that the vehicle is traveling on a highway, the lane departure warning controller automatically switches the mode to the sports mode. At this time, the lane departure warning uses the vibration parameters in the sports mode to perform lane departure warning. When lane departure is detected, the lane departure warning controller drives the vibration unit to vibrate using the corresponding vibration parameters in the sports mode, thereby giving a stronger vibration effect, thereby giving a vibration warning. When it is judged that the vehicle is traveling on an urban road, the lane departure warning controller automatically switches the mode to the comfort mode. At this time, the lane departure warning controller uses the vibration parameters in the comfort mode to drive the vibration unit to work, thereby giving a lighter vibration effect, thereby giving a slight vibration reminder warning effect. In this way, different vibration modes are switched and corresponding vibration effects are given.

[0024] In another preferred embodiment of the present embodiment, the driver's hand force on the steering wheel is detected by a sensor built into the steering wheel. When the hand force is detected to be less than a set threshold and a lane departure signal is detected, a preset high vibration parameter is used to control the vibration unit to work. The preset high vibration parameter refers to a vibration frequency and amplitude that is greater than the vibration frequency and amplitude corresponding to the motion mode. The higher vibration parameter is used to control the vibration unit to vibrate to achieve lane departure reminders. It is mainly realized that when the lane deviates, if the driver's hand force intervention is less than the set threshold, it means that the driver's intervention is insufficient at this time. If a higher vibration frequency and amplitude are not used to issue a reminder at this time, a safety accident is likely to occur. Therefore, a higher frequency and amplitude are set to control the vibration unit, and a reminder is issued in time to improve driving safety.

[0025] In another preferred solution of the present embodiment, when the vibration unit is working, the angle of the steering wheel is collected in real time and the angle error caused by the vibration unit is filtered out based on the collected angle to obtain the final steering wheel angle, and the direction of the vehicle is controlled based on the final steering wheel angle. Because the vibration unit adopts a vibration motor, under normal circumstances, the vibration direction of the vibration motor is different from the rotation direction of the steering wheel, so no interference will be generated. However, in some extreme cases, when the vibration unit has been working for a long time or under the influence of other conditions, the vibration of the steering wheel will also affect the rotation direction of the steering wheel, thereby causing interference with the steering wheel angle. If it is not filtered out, it will cause frequent fluctuations in the angle, and then cause the vehicle to frequently fluctuate left and right in the reverse direction, affecting driving safety. Therefore, after the steering wheel angle collects the angle signal through the angle sensor, the angle is filtered to filter out the fluctuation caused by the vibration, thereby avoiding the direction from swinging back and forth due to the vibration when the direction is controlled. The filtering method includes the following steps:

[0026] S1. When the vibration unit is working, the angle data of the steering wheel is collected through the angle sensor, which is called the collection angle;

[0027] S2. Analyze and judge the collected angle to determine whether the angle fluctuates within a small time range. If not, it is determined that the vibration of the vibration unit does not interfere with the steering wheel angle at this time. At this time, the collected angle is used as the final angle to control the vehicle steering system, so as to meet the control of the vehicle steering system based on the rotation of the steering wheel; if yes, it means that the vibration of the vibration unit affects the collected steering wheel angle, and the collected steering wheel angle needs to be processed. The judgment method is as follows: when the collected steering wheel angle repeatedly changes within a range within a small time range (such as 0.1s), it means that the vibration unit has an impact on it. This is because the vibration motor used in the vibration unit generally has a vibration frequency of about 20HZ, that is, in 0.1 seconds, the impact of the vibration motor will cause the collected angle to fluctuate at least twice, and the steering wheel of a real driver cannot fluctuate left and right at such a high frequency. Therefore, it is determined whether the vibration motor has an impact on the steering wheel angle by whether the collected angle within a small time range fluctuates within a range. The small time range can be set according to the frequency of the vibration unit, so that within this small time range, if it has an impact on the angle, the angle collects multiple angle signals that fluctuate repeatedly within this time. At this time, since the collected angle signal is a fluctuating angle signal, the actual steering wheel rotation angle is not the collected angle. Therefore, in order to improve the accuracy of the steering wheel angle's control over the steering system, the collected angle is processed at this time: the multiple repeatedly fluctuating angles collected within a small time range are arranged in order of size, and the largest and smallest collected angles are obtained. The largest and smallest collected angles are averaged, that is, they are added and then divided by two to obtain the average collected angle as the final angle. The final angle is used as the angle that represents the steering wheel to control the vehicle's steering system. This method can greatly reduce the impact of the use of the vibration unit on the steering wheel angle, avoid the steering wheel vibration interfering with the steering wheel rotation angle, and thus cause safety hazards and driving abnormalities caused by repeated and tiny steering swings.

[0028] In another preferred embodiment of the present application, after the vibration reminder is issued, that is, after the vibration unit is driven to work, the lane deviation status is monitored in real time. If the lane deviation continues to reach a set time threshold, the vibration parameters in the current reminder mode are increased and the increased vibration reminder is issued. The purpose of this is that if the lane deviation continues for a certain period of time, it means that the driver may not have noticed it. Therefore, the vibration parameters are directly increased on the basis of the existing vibration parameters, that is, the existing vibration frequency and amplitude are increased by a constant value and the vibration unit is vibrated and controlled, thereby achieving an increased reminder of the steering wheel vibration and achieving a more effective reminder effect and purpose of lane departure.

[0029] In a preferred embodiment of the present application, the present solution also provides a lane departure warning control system, the system includes a lane departure controller and a vibration unit, the output end of the lane departure controller is connected to the vibration unit, the vibration unit is arranged in the steering wheel, and after detecting the lane departure, the lane departure controller provides a lane departure warning by driving the vibration unit, wherein a plurality of reminder modes are pre-set, each reminder mode is pre-configured with corresponding vibration parameters, and the corresponding vibration parameters are obtained and executed based on the current reminder mode.

[0030] The lane departure controller is connected to the vehicle control panel or the vehicle voice system. The vehicle control panel is generally a touch panel. The user selects or switches the desired reminder mode by selecting or switching buttons, knobs, etc. on the touch panel. The user's selection or switching command is sent to the IHU host, and the IHU host forwards the corresponding command to the lane departure controller. The lane departure controller then vibrates to warn of lane departure according to the currently required reminder mode, thereby issuing a reminder. If the vehicle has an in-vehicle voice system, the user's voice commands are collected based on the in-vehicle voice system, and the voice commands are converted into control commands and sent to the lane departure warning controller. The lane departure warning controller switches the reminder mode and issues a corresponding reminder alarm signal based on the reminder mode.

[0031] The lane departure controller is connected to the central control host of the vehicle. A switch button is developed in the central control host through software. The switch button is displayed and operated through the touch screen. Two switch buttons for manual switching and automatic switching of reminder modes are developed and set in the host interface of the vehicle. The switch button is used to select manual switching or system automatic switching reminder mode. The switch is realized through the switch button. When it is used to select the driver's active switching, the reminder mode is switched according to the driver's vehicle control panel and or voice control command; when the driver selects the system to switch automatically, the reminder mode is adjusted according to the driving state of the vehicle. When the system automatically switches, the vehicle speed data is monitored in real time, and the reminder mode is switched based on the vehicle speed. A mode switch or corresponding switch button is developed in the central control host. When the driver's active switching is selected, the driver switches the current reminder mode to comfort mode or sports mode through the soft switch in the vehicle control panel. After receiving the corresponding reminder mode instruction, the lane departure warning controller controls the work of the vibration unit according to the vibration parameters corresponding to the currently selected mode. When the driver selects the automatic switching mode, the lane departure warning controller is connected to the vehicle speed sensor to obtain the vehicle's real-time speed. When the lane departure warning function is turned on, the current vehicle speed is monitored in real time, and the current road is determined based on the speed whether it is a highway or a city road. When it is determined that the vehicle is traveling on a highway, the lane departure warning controller automatically switches the mode to the sports mode. At this time, the lane departure warning uses the vibration parameters in the sports mode to perform lane departure warning. When lane departure is detected, the lane departure warning controller drives the vibration unit to vibrate using the corresponding vibration parameters in the sports mode.

[0032] A hand force sensor is built into the steering wheel, which is connected to the lane departure warning controller. The sensor built into the steering wheel detects the driver's hand force on the steering wheel. When the hand force is detected to be less than the set threshold and a lane departure signal is detected, the preset high vibration parameter is used to control the vibration unit to work. The preset high vibration parameter refers to a vibration frequency and amplitude that is greater than the vibration frequency and amplitude corresponding to the sports mode. This higher vibration parameter is used to control the vibration unit to vibrate to achieve lane departure warning.

[0033] A filtering unit is built into the lane departure warning controller. When the vibration unit is working, the filtering unit is used to collect the steering wheel angle in real time and filter out the angle error caused by the vibration unit based on the collected angle to obtain the final steering wheel angle, and control the direction of the vehicle based on the final steering wheel angle.

[0034] The present invention provides an improved lane departure warning (LDW) system, which can switch between "comfort mode" and "sport mode" according to the driver's choice to improve the driving experience, while monitoring the size of the hand force. If lane line deviation occurs under a small hand force, a vibration warning with a larger frequency and amplitude is provided.

[0035] The LDW system of the present invention can operate in two different modes: comfort mode and sports mode. In comfort mode, the system's vibration feedback is relatively gentle to reduce interference to the driver and make the driving experience smoother. In sports mode, the system provides more obvious vibration feedback to help the driver maintain lane position under more intense driving conditions. The switching of this mode can be selected through the on-board control panel or voice command to meet the different needs and driving habits of the driver. The system's built-in sensors can monitor the driver's hand force on the steering wheel in real time. If the hand force is found to be continuously lower than 0.5Nm during monitoring and the vehicle deviates, it is considered that the vehicle deviation does not meet the driver's expected goals, and a stronger vibration amplitude frequency is provided.

[0036] 1. Mode selection and control

[0037] 1.1 User mode selection

[0038] Control panel: The vehicle control panel provides a mode selection function. The driver can select "comfort mode" or "sport mode" through the touch screen, knob or button. The selection operation can be completed through physical control devices (such as knobs, buttons) or touch interfaces. All operation interfaces should clearly display the current mode and its characteristics.

[0039] Voice command: The vehicle can also support voice command function. The driver can select the mode through voice command (such as "switch to sports mode"). The system should have voice recognition function to accurately interpret and execute the driver's instructions.

[0040] 1.2 Mode Switching

[0041] Real-time switching: The system should support real-time mode switching during driving, and the driver can adjust the mode at any time according to changes in the driving environment or personal preferences.

[0042] Automatic switching: The system can automatically select a mode based on the vehicle's status. For example, when the vehicle is driving on a highway and the driver frequently changes lanes, the system can automatically switch to sport mode to provide stronger vibration feedback. On the contrary, when the vehicle is driving at a low speed on a city road, the system remains in comfort mode.

[0043] 2. Vibration feedback in mode

[0044] 2.1 Comfort Mode

[0045] In comfort mode, the vibration feedback should be designed to be gentler. The frequency and intensity of the vibration should be lower to avoid disturbing the driver. In this mode, the vibration frequency of LDW is 16Hz and the amplitude is 0.3.

[0046] 2.2 Sports Mode

[0047] In sport mode, the vibration feedback should be more obvious and stronger. The system can increase the frequency and intensity of the vibration to provide a strong reminder. This feedback can effectively remind the driver to pay attention to the lane position, especially when driving at high speeds. In this mode, the vibration frequency of LDW is 20Hz and the amplitude is 0.36.

[0048] 2.3 Small hand intervention

[0049] Regardless of comfort or sport mode, there is a common logic. When the vehicle deviates from the lane line, if the driver's hand force intervention is less than 0.5Nm, a common vibration frequency and amplitude are used to prompt the driver, considering that the vehicle deviates from the lane line in this case and does not meet the driver's expectations, to improve driving safety. In this case, the vibration frequency of LDW is 25Hz and the amplitude is 0.38.

[0050] Through the above scheme, the advanced car steering function of the present invention can effectively distinguish between "comfort mode" and "sports mode", and provide vibration feedback of different intensities according to the mode. At the same time, through hand force monitoring and control, driving safety and comfort are improved. This system not only meets the needs of different driving styles, but also improves driving safety through intelligent design.

[0051] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A lane departure warning control method, characterized in that: A vibration unit is pre-installed in the vehicle steering wheel. After lane departure is detected, a lane departure warning is provided by driving the vibration unit. Multiple reminder modes are pre-set, and each reminder mode is pre-configured with corresponding vibration parameters. The corresponding vibration parameters are obtained and executed based on the current reminder mode.

2. The lane departure warning control method according to claim 1, characterized in that: The driver's hand force on the steering wheel is detected by a sensor built into the steering wheel. When the hand force is detected to be less than the set threshold and a lane departure signal is detected, the preset high vibration parameters are used to control the operation of the vibration unit.

3. A lane departure warning control method as claimed in claim 1 or 2, characterized in that: Switch reminder modes via the vehicle control panel and / or voice control.

4. A lane departure warning control method as claimed in claim 1 or 2, characterized in that: The reminder mode is switched by the driver actively or automatically. When the driver actively switches, the reminder mode is switched according to the driver's on-board control panel and / or voice control command; when the driver chooses automatic system switching, the reminder mode is adjusted and switched according to the vehicle's driving status.

5. The lane departure warning control method according to claim 4, characterized in that: When the system automatically switches, the vehicle speed data is monitored in real time and the reminder mode is switched based on the speed.

6. A lane departure warning control method according to any one of claims 1 to 5, characterized in that: The reminder mode includes at least a comfort mode and a sports mode, wherein the vibration parameter corresponding to the sports mode is greater than the vibration parameter in the comfort mode, wherein the vibration parameter includes a vibration frequency and a vibration amplitude.

7. A lane departure warning control method according to any one of claims 1 to 5, characterized in that: When the vibration unit is working, the steering wheel angle is collected in real time and the angle error caused by the vibration unit is filtered out based on the collected angle to obtain the final steering wheel angle, and the direction of the vehicle is controlled based on the final steering wheel angle.

8. A lane departure warning control method according to any one of claims 1 to 5, characterized in that: After the vibration reminder is issued, the lane departure status is monitored in real time. If the lane deviation continues, the vibration parameters in the current reminder mode are increased and the increased vibration reminder is issued.

9. A lane departure warning control system, characterized in that: The system includes a lane departure controller and a vibration unit, wherein the output end of the lane departure controller is connected to the vibration unit, and the vibration unit is arranged in a steering wheel. After detecting lane departure, the lane departure controller provides a lane departure warning by driving the vibration unit, wherein a plurality of reminder modes are pre-set, each reminder mode is pre-configured with a corresponding vibration parameter, and the corresponding vibration parameter is obtained and executed based on the current reminder mode.

10. The lane departure warning control system according to claim 9, characterized in that: The lane departure controller is connected to a vehicle control panel or a vehicle voice system.

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