A lane change assistance method and system based on driver state and electronic device

Abstract

The present disclosure provides a lane changing assistance method, system and electronic device based on the state of the driver, comprising the following steps: monitoring the line of sight of the driver while cruising in the current lane; if the line of sight of the driver meets the lane changing trigger condition, turning on the turn signal; detecting whether the environment meets the lane changing condition, if all the lane changing conditions are met, the ego vehicle changes lanes to the target lane, if the lane changing condition is not met, the ego vehicle waits until the lane changing condition is met, and then the ego vehicle changes lanes to the target lane. Whether the length of time that the driver's line of sight is fixed on the rearview mirror is greater than the length threshold is used to determine the driver's intention to change lanes, and different lane changing schemes are provided in combination with the lane changing conditions to achieve rapid lane changing and shorten the lane changing time.

Description

Technical Field

[0001] This invention belongs to the field of driver assistance technology, specifically relating to a lane change assistance method, system, and electronic device based on driver status. Background Technology

[0002] As autonomous driving technology matures, more and more vehicles are being equipped with this advanced technology. Automatic lane changing is already a reality in some high-end models. This function is triggered in two main ways: by the system itself and by driver commands. Once activated, the vehicle will automatically complete the lane-changing maneuver.

[0003] In related technologies, lane change is triggered by driver commands, requiring the driver to observe the environment and then issue a lane change command to the system, which takes a relatively long time. The system-triggered method requires sufficiently precise perception capabilities; it first checks whether the lane change conditions are met, and if so, activates the turn signal and plans a lane change trajectory to execute the change, which also takes a relatively long time. Summary of the Invention

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

[0005] Therefore, in a first aspect, the present invention provides a lane change assistance method based on driver status, comprising the following steps:

[0006] While cruising within the current lane, the system monitors the driver's line of sight.

[0007] If the driver's line of sight is detected to meet the lane change trigger conditions, the turn signal will be activated;

[0008] The system checks whether the environment meets the lane-changing conditions. If all lane-changing conditions are met, the vehicle changes lanes to the target lane. If the lane-changing conditions are not met, the vehicle waits until the conditions are met before changing lanes to the target lane.

[0009] Preferably, the lane-changing conditions include: no steering wheel intervention, no obstruction vehicles in the target lane or obstruction vehicles being outside the safe range, the target lane meeting the width requirements, and the current lane and the target lane being a dashed line or becoming a dashed line after a preset distance.

[0010] Preferably, when there is an obstacle vehicle in the target lane and all other lane-changing conditions are met, it is determined whether there is a risk of collision between the vehicle and the obstacle vehicle in the target lane. If there is no risk of collision, the vehicle accelerates and changes lanes; if there is a risk of collision, the vehicle waits while straddling the lane.

[0011] Preferably, the step of determining whether there is a collision risk between the host vehicle and an obstacle vehicle in the target lane includes: detecting the distance L2 and the speed difference ΔV between the host vehicle and the obstacle vehicle behind the host vehicle in the target lane, and determining whether the distance L1 between the host vehicle and the obstacle vehicle is greater than the safety distance L2, where the safety distance is

[0012] L2 = ΔV × TTC + D

[0013] where TTC is the time to collision and D is the reserved distance;

[0014] If L1 > L2, it is determined that there is no collision risk;

[0015] If L1 < L2, it is determined that there is a collision risk.

[0016] Preferably, the step of, if there is a collision risk, performing a straddle wait includes

[0017] Performing an accelerating straddle wait or a decelerating straddle wait according to the distance between the obstacle vehicle in front of the host vehicle in the target lane and the host vehicle, the distance between the obstacle vehicle behind the host vehicle and the host vehicle, and the time to collision.

[0018] Preferably, if the distance of the obstacle vehicle in front of the host vehicle in the target lane is greater than the safety range of the preceding vehicle and the predicted collision time of the obstacle vehicle behind the host vehicle in the target lane is less than the safety time, an accelerating straddle wait is performed.

[0019] Preferably, if the distance of the obstacle vehicle in front of the host vehicle in the target lane is less than the safety range of the preceding vehicle and the predicted collision time of the obstacle vehicle behind the host vehicle in the target lane is less than the safety time, a decelerating straddle wait is performed.

[0020] Preferably, 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:

[0021] If it is detected that the driver's line of sight shifts to the rearview mirror and the duration of the driver's line of sight shifting to the rearview mirror is greater than the duration threshold, turn on the turn signal corresponding to the rearview mirror.

[0022] Secondly, a lane change assist system based on driver state is provided to implement the aforementioned lane change assist method based on driver state. The system includes a driver assistance system and a driver state monitoring system. The driver assistance system enables the vehicle to cruise and steer. The driver state monitoring system monitors the driver's gaze. If the driver's gaze shifts to the rearview mirror for a duration exceeding a threshold, the driver activates the turn signal corresponding to the rearview mirror and sends a signal to the driver assistance system. The driver assistance system checks 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 conditions are met before changing lanes to the target lane.

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

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

[0025] Thirdly, an electronic device is provided, comprising: a memory and a processor;

[0026] The memory stores computer-executed instructions;

[0027] The processor executes computer execution instructions stored in the memory, causing the processor to execute the lane change assistance method based on driver state.

[0028] Beneficial effects:

[0029] (1) This disclosure provides a lane change assistance method and system based on driver status. The driver’s intention to change lanes is determined by whether the duration of the driver’s gaze on the rearview mirror is greater than a time threshold. In conjunction with the lane change conditions, different lane change schemes are provided to achieve rapid lane change and shorten the lane change time.

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

[0031] (3) When there is an obstacle vehicle behind the vehicle in the target lane, which makes the lane change conditions not met, the vehicle is automatically controlled to accelerate or decelerate while waiting in the target lane in the safe distance in front of the vehicle to wait for the lane change conditions to be met and quickly complete the lane change, thereby improving traffic efficiency.

[0032] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating an embodiment of a lane change assistance method based on driver status in this disclosure.

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

[0036] Figure 3 This is a flowchart illustrating another embodiment of a lane change assist method based on driver status in this disclosure.

[0037] Figure 4 This is a schematic diagram of accelerated lane change, representing another embodiment of a lane change assistance method based on driver status in this disclosure.

[0038] Figure 5 This is a flowchart illustrating another embodiment of a lane change assist method based on driver status in this disclosure.

[0039] Figure 6 This is a schematic diagram illustrating acceleration while waiting to change lanes, representing another embodiment of a lane change assistance method based on driver state in this disclosure.

[0040] Figure 7 This is a schematic diagram of deceleration while waiting to change lanes, representing another embodiment of a lane change assistance method based on driver status in this disclosure.

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

[0042] Figure 9 This is a diagram showing the driver's field of vision inside the vehicle, representing an embodiment of a lane change assist system based on driver status, as disclosed in this disclosure.

[0043] Figure 10 This is a schematic diagram of driver gaze monitoring, representing an embodiment of a lane change assist system based on driver status in this disclosure.

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

[0045] In the diagram, 101-Driver Assistance System, 102-Driver Status Monitoring System, 200-Electronic Equipment, 201-Processor, 202-Memory, 203-Communication Components, 204-Bus. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0048] Depending on the context, the word "if" as used here can be interpreted as "when," "when," or "in response to determination."

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

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

[0051] The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means “any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C”. Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0052] As autonomous driving technology matures, more and more vehicles are being equipped with this advanced technology. Automatic lane changing is already a reality in some high-end models. This function is triggered in two main ways: by the system itself and by driver commands. Once activated, the vehicle will automatically complete the lane-changing maneuver.

[0053] In related technologies, lane change is triggered by driver commands, requiring the driver to observe the environment and then issue a lane change command to the system, which takes a relatively long time. The system-triggered method requires sufficiently precise perception capabilities; it first checks whether the lane change conditions are met, and if so, activates the turn signal and plans a lane change trajectory to execute the change, which also takes a relatively long time.

[0054] Therefore, in the first aspect, this disclosure provides as follows: Figure 1 The lane change assistance method based on driver status, as shown, includes the following steps:

[0055] S101. When cruising within the current lane, monitor the driver's line of sight;

[0056] Cruise control refers to activating intelligent cruise or intelligent navigation functions through the driver assistance system to enable the vehicle to cruise within its lane, such as constant speed cruise or follow-the-car cruise. Driver gaze monitoring is achieved through a driver status monitoring system that detects the driver's gaze.

[0057] S102. If the driver's line of sight is detected to meet the lane change triggering conditions, turn on the turn signal;

[0058] The lane change trigger condition is that the driver's gaze is detected shifting to the rearview mirror and the duration of this shift exceeds a time threshold. If the driver's gaze is detected shifting to the rearview mirror and the duration exceeds the time threshold, the turn signal corresponding to the rearview mirror is activated.

[0059] The duration threshold is used to determine the time it takes for the driver's gaze to shift to the rearview mirror, in order to determine the driver's turning intention. In one embodiment, the duration threshold is 2 seconds. For example, if the time it takes for the driver's gaze to shift from the windshield to the rearview mirror is greater than 2 seconds, the corresponding turn signal is activated, and then step S103 is performed. If the time it takes for the driver's gaze to shift from the windshield to the rearview mirror is less than 2 seconds, the vehicle continues driving without changing lanes.

[0060] Generally, cars have two rearview mirrors: a left rearview mirror and a right rearview mirror. When the driver's gaze is on the left rearview mirror for a duration exceeding a certain threshold, the driver should turn on the left turn signal and prepare to change lanes to the left. When the driver's gaze is on the right rearview mirror for a duration exceeding a certain threshold, the driver should turn on the right turn signal and prepare to change lanes to the right.

[0061] S103. Detect whether the environment meets the lane change conditions. If all lane change conditions are met, the vehicle will change lanes to the target lane. If the lane change conditions are not met, the vehicle will wait until the lane change conditions are met before changing lanes to the target lane.

[0062] The lane change conditions include:

[0063] a. No steering wheel intervention;

[0064] b. The target lane has no accessible vehicles or the accessible vehicles are outside the safe range;

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

[0066] d. The current lane and the target lane are separated by a dashed line or become dashed after a certain distance.

[0067] Among them, the steering wheel without intervention means that the sensor detects the steering wheel's rotational force. When the driver turns the steering wheel, the sensor detects the steering wheel's rotational force, which means that the lane change conditions are not met; when the driver does not turn the steering wheel, the steering wheel is controlled by the driver assistance system to meet the lane change conditions.

[0068] The target lane being free of obstructions or the obstruction being outside the safe zone means that there are no obstructions rapidly approaching from behind in the target lane, or that the obstruction is outside the safe zone and will not affect the vehicle's ability to change lanes to the target lane. In one embodiment, the safe zone for the obstruction is a position where the expected time of collision (TTC) is greater than 3 seconds, allowing the vehicle to quickly change lanes without being affected by the obstruction from behind.

[0069] The target lane meets the width requirement by detecting its width using a camera. In one embodiment, the target lane width is 2.5m-5.5m. The width of a typical lane is also 2.5m-5.5m. Detecting the width of the target lane helps prevent incorrect driving into non-standard lanes.

[0070] The presence of a dashed line between the current lane and the target lane, or a dashed line after a certain distance, determines whether a lane change is permitted. According to traffic rules, lane changes are only allowed when there is a dashed line; they are prohibited when there is a solid line. A lane change is permissible when the current lane and the target lane are both dashed. Similarly, a lane change can also be initiated when the current lane and the target lane are both solid but become dashed after a certain distance. The lane change should be performed at the dashed line position. For example, if the current lane and the target lane are solid but become dashed after 100 meters, the lane change will continue as the vehicle moves towards the target lane, even if the line becomes dashed.

[0071] Lane changing is initiated only when all four lane-changing conditions are met; if any one of the conditions is not met, lane changing is not initiated. The system rapidly detects lane-changing conditions to determine if a lane change is possible, and then executes the change promptly, minimizing the judgment time.

[0072] S104. After the vehicle has completed the lane change, turn off the turn signal and cruise in the center of the target lane.

[0073] The lane-changing process in this embodiment is as follows: Figure 2 As shown, when intelligent cruise control or intelligent navigation is activated for autonomous driving, the driver state monitoring system monitors the driver's gaze area. When the system detects that the driver's gaze has moved from the windshield to the left / right rearview mirror, it determines whether the gaze duration is greater than 2 seconds. If the duration is greater than 2 seconds, a lane change is initiated. The system first activates the turn signal to request a turn, then begins the lane change process, completing the lane change. By determining whether the driver's gaze duration on the rearview mirror exceeds a certain threshold, the system aims to determine the driver's intention to change lanes, enabling rapid lane changes and shortening the lane change time.

[0074] This disclosure provides, for example Figure 3 Another lane change assistance method based on driver status, shown for changing lanes when there is an obstacle vehicle in the target lane, includes the following steps:

[0075] S201. When cruising within the current lane, monitor the driver's line of sight;

[0076] S202. If it is detected that the driver's gaze has shifted to the rearview mirror and the duration of the driver's gaze shifting to the rearview mirror is greater than the duration threshold, then turn on the turn signal corresponding to the rearview mirror.

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

[0078] The lane-changing conditions in this embodiment include:

[0079] a. No steering wheel intervention;

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

[0081] c. The current lane and the target lane are separated by a dashed line or become dashed after a certain distance.

[0082] The steps to determine whether there is a risk of collision between your vehicle and an obstacle vehicle in the target lane include:

[0083] Detect the distance L2 and speed difference ΔV between the vehicle and an obstacle vehicle behind it in the target lane;

[0084] Determine whether the distance L1 between the vehicle and the obstacle vehicle is greater than the safe distance L2, where the safe distance is...

[0085] L2=ΔV×TTC+D

[0086] Where TTC is the estimated time of collision and D is the clearance distance;

[0087] If L1 > L2, then there is no risk of collision.

[0088] If L1 ≤ L2, then a collision risk is identified.

[0089] The system monitors the longitudinal distance, lateral distance, speed, and angular velocity of obstacle vehicles in the target lane using cameras and radar mounted on the vehicle. Combined with the vehicle's speed, it calculates the distance L2 and speed difference ΔV between the vehicle and the obstacle vehicle behind it in the target lane.

[0090] The estimated time to collision (TTC) is 2.5-3.5 seconds; in this embodiment, the estimated TTC is 3 seconds. The allowance distance (D) is 0-20 meters; in this embodiment, the allowance distance (D) is 20 meters, which effectively provides a safe distance and ensures the safety of lane changing.

[0091] When accelerating to change lanes, the average longitudinal acceleration does not exceed 2 m / s². 2 To ensure driving comfort.

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

[0093] t1 represents the moment when the driver's gaze shifts 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 moment the lane change begins;

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

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

[0097] Generally, t2-t1≤1s; t3-t2≤2s; t4-t3≤2s; the entire lane change process should be completed within 5s (t4-t1≤5s).

[0098] S204. After the vehicle has completed the lane change, turn off the turn signal and cruise in the center of the target lane.

[0099] This embodiment determines the driver's intention to change lanes by checking whether the duration of the driver's gaze on the rearview mirror exceeds a certain threshold, and, in conjunction with the lane-changing conditions, enables rapid lane changes and shortens the lane-changing time.

[0100] This disclosure also provides, as Figure 5 Another lane change assistance method based on driver status, shown for changing lanes when there is an obstacle vehicle in the target lane, includes the following steps:

[0101] S301. When cruising within the current lane, monitor the driver's line of sight;

[0102] S302. If it is detected that the driver's gaze has shifted to the rearview mirror and the duration of the driver's gaze shifting to the rearview mirror is greater than the duration threshold, then turn on the turn signal corresponding to the rearview mirror.

[0103] S303. When there is an obstacle vehicle behind in the target lane and all lane-changing conditions are met, determine whether there is a risk of collision between the vehicle and the obstacle vehicle in the target lane. If there is no risk of collision, accelerate and change lanes; if there is a risk of collision, wait while straddling the lane.

[0104] Based on the distance between the vehicle and the obstacle vehicle in front of it in the target lane, the distance between the vehicle and the obstacle vehicle behind it, and the expected time of collision, the vehicle may accelerate or decelerate while waiting in the lane.

[0105] If the distance to an obstacle vehicle in front of the vehicle in the target lane is greater than the safe distance of the vehicle in front, and the estimated collision time of an obstacle vehicle behind the vehicle in the target lane is less than the safe time, the vehicle accelerates and waits on the lane line. In this embodiment, the safe time is 3 seconds, and the safe distance of the vehicle in front is 100 meters.

[0106] Specifically, the lane change will proceed by accelerating while waiting when the following lane change conditions are met.

[0107] a. No steering wheel intervention;

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

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

[0110] d. There are no obstructing vehicles ahead in the target lane, or the distance between an obstructing vehicle and the vehicle is greater than 100m;

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

[0112] like Figure 6 As shown, when starting a lane change, if there is an obstacle vehicle behind the target lane and TTC≤3s, the vehicle will drive along the dashed line between the current lane and the target lane, and accelerate to overtake the obstacle vehicle behind it, until the distance between the vehicle and the obstacle vehicle is greater than the safe distance, and the lane change is completed.

[0113] If the distance to an obstacle vehicle in front of the vehicle in the target lane is less than the safe distance of the vehicle in front, and the estimated collision time of an obstacle vehicle behind the vehicle in the target lane is less than the safe time, then the vehicle will decelerate and wait on the lane line. In this embodiment, the safe time is 3 seconds, and the safe distance of the vehicle in front is 100 meters.

[0114] Specifically, the lane change will proceed by accelerating while waiting when the following lane change conditions are met.

[0115] a. No steering wheel intervention;

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

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

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

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

[0120] like Figure 7 As shown, when starting a lane change, if there is an obstacle vehicle behind the target lane and TTC≤3s, the vehicle will drive along the dashed line between the current lane and the target lane, and slow down to wait for the obstacle vehicle behind to pass the vehicle. The lane change will be completed when the distance between the vehicle and the obstacle vehicle is greater than the safe distance.

[0121] S304. After the vehicle has completed the lane change, turn off the turn signal and cruise in the center of the target lane.

[0122] Secondly, such as Figure 8As shown, a lane change assist system based on driver state is provided, which implements a lane change assist method based on driver state. It includes a driver assistance system 101 and a driver state monitoring system 102. The driver assistance system 101 is used to realize the vehicle's cruise driving and steering. The driver state monitoring system 102 is used to monitor the driver's gaze. If the driver's gaze is transferred to the rearview mirror and the duration is greater than the duration threshold, the driver turns on the turn signal corresponding to the rearview mirror and sends a flag to the driver assistance system 101. The driver assistance 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 before changing lanes to the target lane.

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

[0124] For example, the driver's visible area inside the vehicle is divided into 16 zones. To facilitate differentiation, these zones are assigned numbers: Zone 1 represents the area to the left of the steering wheel; Zone 2 represents the area to the right of the steering wheel; Zone 3, with the center of the windshield as the boundary, represents the windshield area on the driver's side; Zone 4 represents the windshield area on the passenger side; Zone 5 represents the instrument panel area; Zone 6 represents the infotainment system area; Zone 7 represents the driver's side door area; Zone 8 represents the driver's side floor area; Zone 9 represents the passenger's side floor area; Zone 10 represents the passenger's side door area; Zone 11 represents the driver's side rearview mirror area (left rearview mirror); Zone 12 represents the passenger's side exterior rearview mirror area (right rearview mirror); Zone 13 represents the center console area; Zone 14 represents the driver's side window area; Zone 15 represents the passenger's side window area; and Zone 16 represents the interior rearview mirror area.

[0125] The driver monitoring system determines the driver's driving intention based on the area where the driver's gaze is located. For example, when the driver's gaze 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 more than the time the gaze has been 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 assist method for changing lanes to the left is activated.

[0126] The driver monitoring system establishes a 3D coordinate system within the driver's field of vision inside the vehicle and a 2D coordinate system on a virtual plane. The 3D coordinate system within the driver's field of vision inside the vehicle corresponds to the 2D coordinate system on the virtual plane. The driver monitoring system converts the intersection of the driver's line of sight and the 2D coordinate system on the virtual plane to the 3D coordinate system within the driver's field of vision inside the vehicle to determine the driver's line of sight position.

[0127] Among them, such as Figure 10 As shown, the driver state monitoring system 102 divides the driver's visible area inside the vehicle into 3D coordinate systems, and establishes a 2D virtual plane in front of the vehicle based on the divided areas. The area in the 3D coordinate system is projected onto the 2D coordinate system of the virtual plane. The intersection point of the line of sight and the 2D coordinate system of the virtual plane is calculated, and the area in the 3D coordinate system is determined based on the location of the intersection point in the 2D coordinate system of the virtual plane. For example... Figure 8 As shown, region 1' on the 2D plane is the equivalent region of region 1 in 3D. If the intersection of the line of sight and the 2D plane is within region 1', then the line of sight region at this time is region 1 in the 3D coordinate system.

[0128] In order to ensure the accuracy and stability of the line-of-sight area, the following processing is required:

[0129] First, filtering is performed on the results of the perception algorithm. In complex environments, the raw data generated by the perception algorithm often contains fluctuations and noise, which negatively impacts the stability of the gaze vector. Filtering effectively removes these interfering factors, making the gaze vector more stable and providing a more reliable data foundation for subsequent analysis and judgment.

[0130] Secondly, a debounce mechanism should be implemented during the switching of viewing areas. Without proper debounce measures, area jitter is highly likely when switching between different areas. This jitter not only affects user experience but may also lead to incorrect judgment of the viewing area by the system. By setting up debounce, changes in the viewing area can be buffered and assessed for a certain period. Only when the change reaches a certain level and stabilizes is the area switch confirmed, effectively preventing area jitter.

[0131] Finally, a specific processing strategy is developed for small line-of-sight regions. When the line of sight enters such a small region, an expansion algorithm is applied to that region. Due to their small size, small line-of-sight regions may face many problems in practical applications, such as greater susceptibility to external interference and limited detection accuracy. The expansion algorithm can, to a certain extent, expand the range of this region, enhancing its ability to capture and recognize the line of sight, thereby improving the accuracy and stability of the entire line-of-sight region detection.

[0132] Thirdly, such as Figure 11 As shown, an electronic device is provided, including: a memory and a processor;

[0133] The memory stores computer-executed instructions;

[0134] The processor executes computer execution instructions stored in the memory, causing the processor to perform the method described above.

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

[0136] In a specific implementation, at least one processor 201 executes computer execution instructions stored in memory 202, causing at least one processor 201 to perform the above-described method.

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

[0138] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0139] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0140] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0141] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A lane change assistance method based on driver status, characterized in that, Includes the following steps: While cruising within the current lane, the system monitors the driver's line of sight. If the driver's line of sight is detected to meet the lane change trigger conditions, the turn signal will be activated; The system checks whether the environment meets the lane-changing conditions. If all lane-changing conditions are met, the vehicle changes lanes to the target lane. If the lane-changing conditions are not met, the vehicle waits until the conditions are met before changing lanes to the target lane. The lane-changing conditions include: no steering wheel intervention, no obstructing vehicles in the target lane or obstructing vehicles are outside the safe range, the target lane meets the width requirements, and the current lane and the target lane are dashed lines or become dashed lines after a preset distance; When there is an obstacle vehicle in the target lane and all other lane-changing conditions are met, determine whether there is a risk of collision between your vehicle and the obstacle vehicle in the target lane. If there is no risk of collision, accelerate and change lanes; if there is a risk of collision, wait while straddling the lane. The provision regarding waiting while straddling lanes if there is a risk of collision includes: Based on the distance between the vehicle and the obstacle vehicle in front of it in the target lane, the distance between the vehicle and the obstacle vehicle behind it, and the expected time of collision, the vehicle may accelerate or decelerate while waiting in the lane. If the distance to an obstacle vehicle in front of your vehicle in the target lane is greater than the safe distance of the vehicle in front, and the estimated collision time of an obstacle vehicle behind your vehicle in the target lane is less than the safe time, accelerate and wait on the lane line, or If the distance to an obstacle vehicle in front of your vehicle in the target lane is less than the safe distance of the vehicle in front, and the estimated collision time of an obstacle vehicle behind your vehicle in the target lane is less than the safe time, then slow down and wait on the lane.

2. The lane change assistance method based on driver status according to claim 1, characterized in that, The step of determining whether there is a collision risk between the vehicle and an obstacle vehicle in the target lane includes: detecting the distance between the vehicle and an obstacle vehicle behind the vehicle in the target lane. and speed difference Determine the distance between your vehicle and the obstacle vehicle. Is it greater than the safe distance? The safe distance is in, To predict the time of the collision, To allow for a safe distance; like If so, it is determined that there is no risk of collision; like If so, it is determined that there is a risk of collision.

3. The lane change assistance method based on driver status according to claim 1, characterized in that, The step of activating the turn signal if the driver's line of sight is detected to meet the lane change triggering conditions includes: If the driver's gaze is detected to shift to the rearview mirror and the duration of the driver's gaze shifting to the rearview mirror exceeds a duration threshold, then the turn signal corresponding to the rearview mirror is activated.

4. A lane change assist system based on driver status, characterized in that, To implement the lane change assistance method based on driver state as described in any one of claims 1-3, the method comprises: The system includes an assisted driving system and a driver state monitoring system. The assisted driving system enables the vehicle to cruise and steer. The driver state monitoring system monitors the driver's gaze. If the driver's gaze shifts to the rearview mirror and the duration exceeds a time threshold, the driver activates the turn signal corresponding to the rearview mirror and sends a signal to the assisted driving system. The assisted driving system checks whether the environment meets the lane-changing conditions. If all lane-changing conditions are met, the vehicle changes lanes to the target lane. If the lane-changing conditions are not met, the vehicle waits until the lane-changing conditions are met before changing lanes to the target lane.

5. A lane change assist system based on driver status according to claim 4, characterized in that, The driver monitoring system divides the driver's field of vision inside the vehicle into several zones and judges the driver's driving intentions based on the zone in which the driver's line of sight is located.

6. A lane change assist system based on driver status according to claim 5, characterized in that, The driver monitoring system establishes a 3D coordinate system within the driver's field of vision inside the vehicle and a 2D coordinate system on a virtual plane. The 3D coordinate system within the driver's field of vision inside the vehicle corresponds to the 2D coordinate system on the virtual plane. The driver monitoring system converts the intersection of the driver's line of sight with the 2D coordinate system on the virtual plane to the 3D coordinate system within the driver's field of vision inside the vehicle to obtain the driver's line of sight position.

7. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform a lane change assistance method based on driver state as described in any one of claims 1-3.

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