Lane changing assisting method and system based on driver state and electronic equipment

Abstract

The invention provides a lane changing assisting method and system based on a driver state and electronic equipment, and the method comprises the following steps: monitoring the sight line of a driver during cruise driving in a current lane; if it is monitored that the sight of the driver meets the lane changing triggering condition, turning on a steering lamp; and detecting whether the environment meets the lane changing conditions, if all the lane changing conditions are met, changing the lane from the vehicle to the target lane, and if the lane changing conditions are not met, waiting by the vehicle until the lane changing conditions are met, and changing the lane from the vehicle to the target lane. The lane changing intention of the driver is judged by judging whether the duration that the sight of the driver watches the rearview mirror is larger than the duration threshold value or not, different lane changing schemes are provided in cooperation with the lane changing conditions, rapid lane changing is achieved, and the lane changing time is shortened.

Description

Technical Field

[0001] The present invention belongs to the technical field of assisted driving, and in particular relates to a lane change assistance method, system and electronic equipment based on driver status. Background Art

[0002] As autonomous driving technology matures, more and more vehicles are equipped with this advanced technology. In some high-end models, the automatic lane change function has become a reality. This function is triggered by two main ways: system active triggering and driver command triggering. Once the automatic lane change function is activated, the vehicle will automatically change lanes.

[0003] In related technologies, the driver's command trigger requires the driver to observe the environment and then issue a lane change command to the system to complete the lane change, which takes a long time. The system's active triggering method requires the perception performance to be sufficiently accurate. First, it detects whether the lane change conditions are met. If so, it turns on the turn signal and plans the lane change trajectory to implement the lane change. The lane change time is also long. Summary of the invention

[0004] The purpose of the present invention is to provide a lane change assistance method, system and electronic equipment based on driver status, which solves the problem of long lane change time in related technologies.

[0005] To this end, in a first aspect, the present invention provides a lane change assistance method based on a driver state, comprising the following steps:

[0006] Monitor the driver's line of sight when cruising in the current lane;

[0007] If the driver's line of sight is detected to meet the lane change triggering conditions, the turn signal is turned on;

[0008] Check whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle changes lanes to the target lane. If not, the vehicle waits until the lane change conditions are met and then changes lanes to the target lane.

[0009] Preferably, the lane changing conditions include: no steering wheel intervention, no obstacle-free vehicles in the target lane or the obstacle-free vehicles are outside the safety range, the target lane meets the width requirements, and the current lane and the target lane are separated by a dotted line or become a dotted line after a preset distance.

[0010] Preferably, when there is an obstacle vehicle in the target lane and the other lane change conditions are met, it is determined whether there is a collision risk between the vehicle and the obstacle vehicle in the target lane. If there is no collision risk, the lane change is accelerated; if there is a collision risk, the vehicle waits on the line.

[0011] Preferably, the step of determining whether there is a collision risk between the vehicle and the obstacle vehicle in the target lane includes: detecting the distance L between the vehicle and the obstacle vehicle behind the vehicle in the target lane. 2 and speed difference ΔV, determine the distance L between the vehicle and the obstacle vehicle 1 Is it greater than the safety distance L? 2 , where the safety distance is

[0012] L 2 =ΔV×TTC+D

[0013] Among them, TTC is the estimated time of collision, and D is the reserved distance;

[0014] If L 1 >L 2 , then it is judged that there is no collision risk;

[0015] If L 1 <L 2 , then it is judged that there is a collision risk.

[0016] Preferably, if there is a risk of collision, waiting on the line includes:

[0017] According to the distance between the obstacle vehicle in front of the vehicle and the vehicle, the distance between the obstacle vehicle behind the vehicle and the vehicle, and the estimated time of collision, the vehicle accelerates and waits on the line or decelerates and waits on the line.

[0018] Preferably, if the distance of the obstacle vehicle in front of the vehicle in the target lane is greater than the safety range of the vehicle in front and the estimated collision time of the obstacle vehicle in the target lane behind the vehicle is less than the safety time, accelerate and wait on the line.

[0019] Preferably, if the distance of the obstacle vehicle in front of the vehicle in the target lane is less than the safety range of the vehicle in front and the estimated collision time of the obstacle vehicle in the target lane behind the vehicle is less than the safety time, deceleration and waiting on the line are performed.

[0020] Preferably, if it is detected that the driver's line of sight meets the lane change triggering condition, turning on the turn signal includes:

[0021] If it is monitored that the driver's sight is shifted to the rearview mirror and the duration of the driver's sight being shifted to the rearview mirror is greater than a duration threshold, the turn signal corresponding to the rearview mirror is turned on.

[0022] In a second aspect, a lane change assistance system based on driver status is provided, which is used to implement the lane change assistance method based on driver status, including an assisted driving system and a driver status monitoring system. The assisted driving system is used to realize cruising and steering of the vehicle, and the driver status monitoring system is used to monitor the driver's line of sight. If the driver's line of sight is transferred to the rearview mirror and the duration is greater than the duration threshold, the turn signal corresponding to the rearview mirror is turned on and a flag is sent to the assisted driving system. The assisted driving system detects whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle changes lanes to the target lane. If the lane change conditions are not met, the vehicle waits until the lane change conditions are met, and then changes lanes to the target lane.

[0023] Preferably, the driver driving monitoring system divides the driver's visual range inside the vehicle into several areas, and determines the driver's driving intention based on the area where the driver's line of sight is located.

[0024] Preferably, the driver driving monitoring system establishes a 3D coordinate system of the driver's visible range inside the whole vehicle and a 2D coordinate system of a virtual plane, and the 3D coordinate system of the driver's visible range inside the whole vehicle corresponds to the 2D coordinate system of the virtual plane. The driver driving monitoring system converts the intersection of the driver's line of sight and the 2D coordinate system of the virtual plane to the 3D coordinate system of the driver's visible range inside the whole vehicle to obtain the driver's line of sight position.

[0025] In a third aspect, an electronic device is provided, comprising: a memory, a processor;

[0026] The memory stores computer-executable instructions;

[0027] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the lane change assistance method based on the driver's state.

[0028] Beneficial effects:

[0029] (1) The present disclosure provides a lane change assistance method and system based on driver status, which determines the driver's intention to change lanes by determining whether the length of time the driver's gaze is fixed on the rearview mirror is greater than a time threshold, and provides different lane change plans in accordance with the lane change conditions, thereby achieving rapid lane change and shortening the lane change time.

[0030] (2) When the lane change conditions are met, the system determines whether there is a risk of collision with an obstacle vehicle in the target lane. If there is no risk of collision, the system automatically controls the vehicle to accelerate and complete the lane change, thus shortening the critical time for lane change.

[0031] (3) When there is an obstacle behind the target lane and the lane change conditions are not met, the vehicle is automatically controlled to accelerate or decelerate while waiting on the lane, taking into account the safe distance of the target lane in front of the vehicle, so as to quickly complete the lane change when the lane change conditions are met, thereby improving traffic efficiency.

[0032] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a method flow chart of an embodiment of a lane change assistance method based on driver status in the present disclosure;

[0035] Figure 2 is a flowchart of an embodiment of a lane change assistance method based on driver status in the present disclosure;

[0036] Figure 3 is a method flow chart of another embodiment of a lane change assistance method based on driver status in the present disclosure;

[0037] Figure 4 A schematic diagram of an accelerated lane change according to another embodiment of a lane change assistance method based on a driver state in the present disclosure;

[0038] Figure 5 is a method flow chart of another embodiment of a lane change assistance method based on driver status in the present disclosure;

[0039] Figure 6 A schematic diagram of accelerating while waiting for lane change in another embodiment of a lane change assistance method based on driver status in the present disclosure;

[0040] Figure 7 A schematic diagram of slowing down and riding the line while waiting for lane change in another embodiment of a lane change assistance method based on driver status in the present disclosure;

[0041] Figure 8 is a schematic diagram of the system structure of an embodiment of a lane change assistance system based on driver status in the present disclosure;

[0042] Fig. 9 This is a diagram showing the division of the driver's visual range inside the vehicle according to an embodiment of a lane change assistance system based on driver status in the present disclosure.

[0043] Fig.10 A schematic diagram of driver sight monitoring of an embodiment of a lane change assistance system based on driver status in the present disclosure;

[0044] Fig.11 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure.

[0045] In the figure, 101 - assisted driving system, 102 - driver status monitoring system, 200 - electronic device, 201 - processor, 202 - memory, 203 - communication component, 204 - bus. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this document, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0048] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0049] Furthermore, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context indicates otherwise.

[0050] It should be further understood that the terms “comprises” and “includes” indicate the existence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the existence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups.

[0051] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0052] As autonomous driving technology matures, more and more vehicles are equipped with this advanced technology. In some high-end models, the automatic lane change function has become a reality. This function is triggered by two main ways: system active triggering and driver command triggering. Once the automatic lane change function is activated, the vehicle will automatically change lanes.

[0053] In related technologies, the driver's command trigger requires the driver to observe the environment and then issue a lane change command to the system to complete the lane change, which takes a long time. The system's active triggering method requires the perception performance to be sufficiently accurate. First, it detects whether the lane change conditions are met. If so, it turns on the turn signal and plans the lane change trajectory to implement the lane change. The lane change time is also long.

[0054] To this end, in a first aspect, the present disclosure provides Figure 1 A lane change assistance method based on driver status is shown, comprising the following steps:

[0055] S101, monitoring the driver's line of sight when cruising in the current lane;

[0056] The cruising driving is to activate the intelligent cruise or intelligent navigation function through the auxiliary driving system to realize the cruising driving of the vehicle in the lane, such as fixed speed cruise or following cruise. The driver's line of sight is monitored by the driver state monitoring system.

[0057] S102: If it is detected that the driver's line of sight meets the lane change triggering condition, turn on the turn signal;

[0058] The lane change triggering condition is that the driver's line of sight is detected to be shifted to the rearview mirror and the time the driver's line of sight is shifted to the rearview mirror is greater than the time threshold. If the driver's line of sight is detected to be shifted to the rearview mirror and the time the driver's line of sight is shifted to the rearview mirror is greater than the time threshold, the turn signal corresponding to the rearview mirror is turned on;

[0059] The time threshold is used to determine the time it takes for the driver's line of sight to transfer to the rearview mirror, so as to determine the driver's turning intention. In one embodiment, the time threshold is 2 seconds. For example, when the time it takes for the driver's line of sight to transfer from the front windshield to the rearview mirror is greater than 2 seconds, the corresponding turn signal is turned on, and then step S103 is performed. When the time it takes for the driver's line of sight to transfer from the front windshield to the rearview mirror is less than 2 seconds, the vehicle keeps driving without changing lanes.

[0060] Generally speaking, a car has two rearview mirrors, a left rearview mirror and a right rearview mirror. When the driver looks at the left rearview mirror and the time length is greater than the time length threshold, the left turn signal is turned on and preparations are made to change lanes to the left; when the driver looks at the right rearview mirror and the time length is greater than the time length threshold, the right turn signal is turned on and preparations are made to change lanes to the right.

[0061] S103, detecting whether the environment satisfies the lane change conditions. If all the lane change conditions are met, the vehicle changes lanes to the target lane. If not, the vehicle waits until the lane change conditions are met and then changes lanes to the target lane.

[0062] The lane change conditions include:

[0063] a. No steering wheel intervention;

[0064] b. The barrier-free vehicle or barrier-free vehicle in the target lane is outside the safety range;

[0065] c. The target lane meets the width requirements;

[0066] d. The line between the current lane and the target lane is a dotted line or becomes a dotted line after a certain distance.

[0067] Among them, no steering wheel intervention means detecting the steering wheel's turning force through sensors. When the driver turns the steering wheel, the sensor detects the steering wheel's turning force, which means that the lane changing condition is not met. When the driver does not turn the steering wheel, the steering wheel is controlled by the assisted driving system to meet the lane changing condition.

[0068] The target lane has no obstacle vehicles or the obstacle vehicles are outside the safety range, which means that there is no obstacle vehicle approaching quickly from the rear in the target lane, or the obstacle vehicle is outside the safety range and will not affect the vehicle's lane change to the target lane. In one embodiment, the safety range of the obstacle vehicle is a position where the estimated collision time TTC is greater than 3s, so that the vehicle can quickly change lanes without being affected by the obstacle vehicle behind.

[0069] The target lane meets the width requirement by detecting the width of the target lane through a camera. In one embodiment, the width of the target lane is 2.5m-5.5m. The width of a general lane is 2.5m-5.5m. By detecting the width of the target lane, it is possible to avoid driving into an abnormal lane by mistake.

[0070] The dashed line between the current lane and the target lane or the dashed line after a certain distance is used to determine whether the lane change can be made. According to traffic rules, lane changes can only be made when there is a dashed line, not when there is a solid line. When the dashed line between the current lane and the target lane is used, you can change lanes directly. When the solid line between the current lane and the target lane is used but becomes a dashed line after a certain distance, you can also start the lane change. During the lane change process, you can change lanes at the dashed line position. For example, the solid line between the current lane and the target lane becomes a dashed line after 100m. After the vehicle starts the lane change, the dashed line has already been turned into a dashed line when it is approaching the target lane. This does not affect the lane change.

[0071] The lane change is initiated only when all four lane change conditions are met. If one of the lane change conditions is not met, the lane change is not initiated. Through the rapid detection of lane change conditions, it is determined whether the lane change is possible. When the lane change is possible, the lane change is carried out in time, shortening the judgment time of the lane change.

[0072] S104: After the vehicle completes the lane change, turn off the turn signal and keep cruising in the center of the target lane.

[0073] The lane changing process in this embodiment is as follows Figure 2 As shown in the figure, when the smart cruise or smart navigation function is activated to realize the self-vehicle cruising, the driver state monitoring system monitors the driver's gaze area. When it is detected that the driver's gaze direction moves from the front windshield to the left / right rearview mirror, it is judged whether the gaze time is greater than 2s. When the time is greater than 2s, the lane change begins. The turn signal is turned on to make a turn request, and then the lane change begins. The lane change is completed through the lane change process. The driver's intention to change lanes is judged by whether the driver's gaze on the rearview mirror is greater than the time threshold, so as to achieve fast lane change and shorten the lane change time.

[0074] The present disclosure provides Figure 3 Another lane change assistance method based on driver status is shown, which is used to change lanes when there is an obstacle vehicle in the target lane, and includes the following steps:

[0075] S201, monitoring the driver's line of sight when cruising in the current lane;

[0076] S202: if it is detected that the driver's sight is shifted to the rearview mirror and the time length of the driver's sight being shifted to the rearview mirror is greater than a time length threshold, turning on the turn signal corresponding to the rearview mirror;

[0077] S203: When there is an obstacle vehicle behind the target lane and the lane change conditions are met, determine whether there is a collision risk between the vehicle and the obstacle vehicle in the target lane. If there is no collision risk, accelerate to change lanes.

[0078] The lane change conditions in this embodiment include:

[0079] a. No steering wheel intervention;

[0080] b. The target lane meets the width requirements;

[0081] c. The line between the current lane and the target lane is a dotted line or becomes a dotted line after a certain distance.

[0082] The steps of determining whether there is a collision risk between the ego vehicle and the obstacle vehicle in the target lane include:

[0083] Detect the distance L between the vehicle and the obstacle vehicle behind the vehicle in the target lane 2 and speed difference ΔV;

[0084] Determine the distance L between the vehicle and the obstacle vehicle 1 Is it greater than the safety distance L? 2 , where the safety distance is

[0085] L 2 =ΔV×TTC+D

[0086] Among them, TTC is the estimated time of collision, and D is the reserved distance;

[0087] If L 1 >L 2 , then it is judged that there is no collision risk;

[0088] If L 1 ≤L 2 , then it is judged that there is a collision risk.

[0089] The camera and radar installed on the vehicle monitor the longitudinal distance, lateral distance, speed and angular velocity of the obstacle vehicle in the target lane, and calculate the distance L between the vehicle and the obstacle vehicle behind the vehicle in the target lane by combining the speed of the vehicle. 2 and speed difference ΔV.

[0090] The estimated collision time TTC is 2.5-3.5s, and in this embodiment, the estimated collision time TTC is 3s. The reserved distance D is 0-20m, and in this embodiment, the reserved distance D is 20m, which can effectively reserve a safe distance to ensure the safety of lane change.

[0091] When accelerating to change lanes, the average longitudinal acceleration shall not exceed 2m / s 2 , to ensure driving comfort.

[0092] The specific lane change process is as follows: Figure 4 As shown,

[0093] t1 represents the moment when the driver's line of sight moves from the windshield to the left and right rearview mirrors for ≥ 2 seconds (the moment when the turn signal is automatically activated);

[0094] t2 represents the time when lane change starts;

[0095] t3 represents the time of lane change process;

[0096] t4 represents the time when the lane change is completed;

[0097] Generally, t2-t1≤1s; t3-t2≤2s; t4-t3≤2s; the duration of the entire lane changing process is controlled to be completed within 5s (t4-t1≤5s).

[0098] S204: After the vehicle completes the lane change, the turn signal is turned off and the vehicle cruises in the center of the target lane.

[0099] This embodiment determines the driver's intention to change lanes by determining whether the length of time the driver's gaze is fixed on the rearview mirror is greater than a time threshold, and coordinates the lane changing conditions to achieve a quick lane change and shorten the lane changing time.

[0100] The present disclosure also provides Figure 5 Another lane change assistance method based on driver status is shown, which is used to change lanes when there is an obstacle vehicle in the target lane, and includes the following steps:

[0101] S301, monitoring the driver's line of sight when cruising in the current lane;

[0102] S302: if it is detected that the driver's sight is shifted to the rearview mirror and the time length of the driver's sight being shifted to the rearview mirror is greater than a time length threshold, turning on the turn signal corresponding to the rearview mirror;

[0103] S303: When there is an obstacle vehicle behind the target lane and the lane change conditions are met, determine whether there is a collision risk between the vehicle and the obstacle vehicle in the target lane. If there is no collision risk, accelerate to change lanes; if there is a collision risk, wait on the line.

[0104] According to the distance between the obstacle vehicle in front of the vehicle and the vehicle, the distance between the obstacle vehicle behind the vehicle and the vehicle, and the estimated time of collision, the vehicle accelerates and waits on the line or decelerates and waits on the line.

[0105] If the distance of the obstacle vehicle in front of the vehicle in the target lane is greater than the safety range of the vehicle in front and the estimated collision time of the obstacle vehicle behind the vehicle in the target lane is less than the safety time, accelerate and wait on the line. In this embodiment, the safety time is 3s and the safety range of the vehicle in front is 100m.

[0106] Specifically, when the following lane change conditions are met, accelerate and wait on the line:

[0107] a. No steering wheel intervention;

[0108] b. The target lane meets the width requirements;

[0109] c. There is an obstacle behind the target lane and the TTC between the ego vehicle and the first obstacle behind is ≤ 3s;

[0110] d. The distance between the barrier-free vehicle or barrier-free vehicle in the target lane and the vehicle is greater than 100m;

[0111] e. The corresponding lane line is a dotted line.

[0112] like Figure 6 As shown in the figure, when the lane change starts, if there is an obstacle vehicle behind the target lane and TTC ≤ 3s, the ego vehicle rides on the dotted line between the current lane and the target lane, and accelerates to overtake the obstacle vehicle behind until the distance between the ego vehicle and the obstacle vehicle is greater than the safety distance, and the lane change is completed.

[0113] If the distance of the obstacle vehicle in front of the vehicle in the target lane is less than the safety range of the vehicle in front and the estimated collision time of the obstacle vehicle behind the vehicle in the target lane is less than the safety time, slow down and wait on the line. In this embodiment, the safety time is 3s and the safety range of the vehicle in front is 100m.

[0114] Specifically, when the following lane change conditions are met, accelerate and wait on the line:

[0115] a. No steering wheel intervention;

[0116] b. The target lane meets the width requirements;

[0117] c. There is an obstacle behind the target lane and the TTC between the ego vehicle and the first obstacle behind is ≤ 3s;

[0118] d. The distance between the obstacle vehicle in front of the target lane and the vehicle is less than 100m;

[0119] e. The corresponding lane line is a dotted line.

[0120] like Figure 7 As shown in the figure, when starting to change lanes, if there is an obstacle vehicle behind the target lane and TTC ≤ 3s, the ego vehicle rides on the dotted line between the current lane and the target lane, and slows down to wait for the obstacle vehicle behind to overtake the ego vehicle, until the distance between the ego vehicle and the obstacle vehicle is greater than the safety distance, and the lane change is completed.

[0121] S304: After the vehicle completes the lane change, turn off the turn signal and keep cruising in the center of the target lane.

[0122] Second, as Figure 8As shown, a lane change assistance system based on driver status is provided, which is used to implement a lane change assistance method based on driver status, including an assisted driving system 101 and a driver status monitoring system 102. The assisted driving system 101 is used to realize cruising and steering of the vehicle, and the driver status monitoring system 102 is used to monitor the driver's line of sight. If the driver's line of sight is transferred to the rearview mirror and the duration is greater than the duration threshold, the turn signal corresponding to the rearview mirror is turned on and a flag is sent to the assisted driving system 101. The assisted driving system 101 detects whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle changes lanes to the target lane. If the lane change conditions are not met, the vehicle waits until the lane change conditions are met, and then changes lanes to the target lane.

[0123] like Fig. 9 As shown, the driver driving monitoring system divides the driver's visual range inside the vehicle into several areas, and determines the driver's driving intention based on the area where the driver's line of sight is located.

[0124] For example, the driver's visual range inside the vehicle is divided into 16 areas. For the convenience of distinction, the corresponding areas are assigned serial numbers. Serial number 1 represents the area on the left side of the steering wheel; serial number 2 represents the area on the right side of the steering wheel; with the middle of the windshield as the boundary, serial number 3 represents the area of ​​the windshield on the driver's side, and serial number 4 represents the area of ​​the windshield on the passenger's side; serial number 5 represents the area for the instrument; serial number 6 represents the area for the entertainment console; serial number 7 represents the area of ​​the driver's door; serial number 8 represents the area of ​​the driver's floor; serial number 9 represents the area of ​​the passenger's floor; serial number 10 represents the area of ​​the passenger's door; serial number 11 represents the area of ​​the driver's rearview mirror, that is, the area of ​​the left rearview mirror; serial number 12 represents the area of ​​the passenger's exterior rearview mirror, that is, the area of ​​the right rearview mirror; serial number 13 represents the area of ​​the center console; serial number 14 represents the area of ​​the driver's window; serial number 15 represents the area of ​​the passenger's window; serial number 16 represents the area of ​​the interior rearview mirror.

[0125] The driver driving monitoring system determines the driver's driving intention based on the area where the driver's line of sight is located. For example, when the driver's line of sight moves from the area of ​​the windshield number 3 to the area of ​​the driver's side rearview mirror number 11, and stays in the area of ​​the driver's side rearview mirror number 11 for longer than the time when the line of sight is transferred to the rearview mirror and the duration is greater than the duration threshold, it is determined that the driver intends to change lanes to the left, and the lane change assistance method for changing lanes to the left is initiated.

[0126] The driver driving monitoring system establishes a 3D coordinate system of the driver's visible range inside the whole vehicle and a 2D coordinate system of the virtual plane. The 3D coordinate system of the driver's visible range inside the whole vehicle corresponds to the 2D coordinate system of the virtual plane. The driver driving monitoring system converts the intersection of the driver's line of sight and the 2D coordinate system of the virtual plane to the 3D coordinate system of the driver's visible range inside the whole vehicle to determine the driver's line of sight position.

[0127] Among them, Fig.10 As shown, the driver status monitoring system 102 divides the 3D coordinate system of the driver's visual range inside the vehicle into regions, and establishes a 2D virtual plane in front of the vehicle according to the divided regions, projects the region under the 3D coordinate system into the 2D coordinate system of the virtual plane, calculates the intersection of the line of sight and the 2D coordinate system of the virtual plane, and determines the region under the 3D coordinate system according to the intersection in the 2D coordinate system of the virtual plane. Figure 8 As shown, area 1' on the 2D plane is the equivalent area of ​​3D area 1. If the intersection of the line of sight and the 2D plane is in area 1', the line of sight area at this time is area 1 in the 3D coordinate system.

[0128] At the same time, in order to ensure the accuracy and stability of the line of sight area, the following processing is required:

[0129] First, filter the results of the perception algorithm. In complex environments, the raw data generated by the perception algorithm often has a certain degree of fluctuation and noise, which will have a negative impact on the stability of the sight vector. Through filtering, these interference factors can be effectively removed, making the sight vector more stable, thus providing a more reliable data basis for subsequent analysis and judgment.

[0130] Secondly, during the switching of the sight area, a certain debounce mechanism is set. When the sight switches between different areas, if there is no appropriate anti-shake measure, regional jitter is very likely to occur. This jitter not only affects the user experience, but may also cause the system to misjudge the sight area. By setting debounce, the changes in the sight area can be buffered and judged within a certain period of time. Only when the changes reach a certain level and stabilize, the area switch is confirmed, which effectively prevents the occurrence of regional jitter.

[0131] Finally, a special processing strategy is formulated for small sight areas. When the sight enters such a small area, the expansion algorithm is implemented in the area. Due to its small area, the small sight area may face many problems in practical applications, such as being greatly interfered by external factors and limited detection accuracy. Through the expansion algorithm, the scope of the area can be expanded to a certain extent, and its ability to capture and identify sight can be enhanced, thereby improving the accuracy and stability of the entire sight area detection.

[0132] Thirdly, Fig.11 As shown, an electronic device is provided, including: a memory, a processor;

[0133] The memory stores computer-executable instructions;

[0134] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the above method.

[0135] In one embodiment, the electronic device 200 includes: at least one processor 201 and a memory 202. Optionally, the electronic device 200 also includes a communication component 203. The processor 201, the memory 202 and the communication component 203 are connected via a bus 204.

[0136] In a specific implementation process, at least one processor 201 executes the computer-executable instructions stored in the memory 202, so that at least one processor 201 executes the above method.

[0137] The specific implementation process of the processor 201 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0138] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0139] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0140] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0141] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A lane change assistance method based on driver status, characterized in that: It includes the following steps: When cruising in the current lane, monitor the driver's line of sight; If it is detected that the driver's line of sight meets the lane change trigger condition, turn on the turn signal; Detect whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle changes lanes to the target lane. If the lane change conditions are not met, the vehicle waits until the lane change conditions are met, and then the vehicle changes lanes to the target lane.

2. The lane change assistance method based on driver status according to claim 1, characterized in that: The lane change conditions include: no intervention on the steering wheel, no obstacle vehicle in the target lane or the obstacle vehicle is outside the safe range, the target lane meets the width requirement, and the current lane and the target lane are separated by a dotted line or become a dotted line after a preset distance.

3. The lane change assistance method based on driver status according to claim 2, characterized in that: When there is an obstacle vehicle in the target lane and the other lane change conditions are all met, determine whether there is a collision risk between the vehicle itself and the obstacle vehicle in the target lane. If there is no collision risk, perform an accelerated lane change; If there is a collision risk, perform a straddling wait.

4. The lane change assistance method based on driver status according to claim 3, characterized in that: The step of determining whether there is a collision risk between the vehicle itself and the obstacle vehicle in the target lane includes: detecting the distance L2 and speed difference ΔV between the vehicle itself and the obstacle vehicle behind the vehicle in the target lane, and determining whether the distance L1 between the vehicle itself and the obstacle vehicle is greater than the safe distance L2, where the safe distance is L2 = ΔV × TTC + D Wherein, TTC is the predicted time to collision, and D is the reserved distance; If L1 > L2, it is determined that there is no collision risk; If L1 < L2, it is determined that there is a collision risk.

5. The lane change assistance method based on driver status according to claim 3, characterized in that: The step of, if there is a collision risk, performing a straddling wait includes According to the distance between the obstacle vehicle in front of the vehicle in the target lane and the vehicle itself, the distance between the obstacle vehicle behind the vehicle in the target lane and the vehicle itself, and the predicted time to collision, perform an accelerated straddling wait or a decelerated straddling wait.

6. The lane change assistance method based on driver status according to claim 5, characterized in that: If the distance of the obstacle vehicle in front of the vehicle in the target lane is greater than the safe range of the vehicle in front and the predicted collision time of the obstacle vehicle behind the vehicle in the target lane is less than the safe time, perform an accelerated straddling wait.

7. The lane change assistance method based on driver status according to claim 5, characterized in that: If the distance of the obstacle vehicle in front of the vehicle in the target lane is less than the safe range of the vehicle in front and the predicted collision time of the obstacle vehicle behind the vehicle in the target lane is less than the safe time, perform a decelerated straddling wait.

8. The lane change assistance method based on driver status according to claim 1, characterized in that: The step of, if it is detected that the driver's line of sight meets the lane change trigger condition, turning on the turn signal includes: If it is detected that the driver's line of sight transfers to the rearview mirror and the duration of the driver's line of sight transfer to the rearview mirror is greater than the duration threshold, turn on the turn signal corresponding to the rearview mirror.

9. A lane change assistance system based on driver status, characterized in that: A lane change assistance method based on the driver's state for implementing any one of claims 1-8 includes: An assisted driving system and a driver state monitoring system. The assisted driving system is used to implement the cruising and steering of the vehicle itself. The driver state monitoring system is used to monitor the driver's line of sight. If the driver's line of sight transfers to the rearview mirror and the duration is greater than the duration threshold, turn on the turn signal corresponding to the rearview mirror and send a flag bit to the assisted driving system. The assisted driving system detects whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle changes lanes to the target lane. If the lane change conditions are not met, the vehicle waits until the lane change conditions are met, and then the vehicle changes lanes to the target lane.

10. The lane changing system based on driver status according to claim 9, characterized in that: The driver driving monitoring system divides the driver's visual range inside the vehicle into several areas and determines the driver's driving intention based on the area where the driver's line of sight is located.

11. The lane changing system based on driver status according to claim 9, characterized in that: The driver driving monitoring system establishes a 3D coordinate system of the driver's visible range inside the whole vehicle and a 2D coordinate system of a virtual plane. The 3D coordinate system of the driver's visible range inside the whole vehicle corresponds to the 2D coordinate system of the virtual plane. The driver driving monitoring system converts the intersection of the driver's line of sight and the 2D coordinate system of the virtual plane to the 3D coordinate system of the driver's visible range inside the whole vehicle to obtain the driver's line of sight position.

12. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor executes the lane change assistance method based on driver status as described in any one of claims 1-8.

Images