Auxiliary driving method and device and electronic equipment

Abstract

The invention discloses an auxiliary driving method and device and electronic equipment. According to the specific scheme, in the running process of a target vehicle, detection data of the target vehicle under multiple detection indexes are obtained, and user fatigue parameters of a driving user corresponding to the target vehicle are determined based on the detection data; in response to an event that the user fatigue parameter meets a preset condition, activating a cruise function, and when the vehicle continues to run according to the current running speed of the target vehicle based on the cruise function, obtaining traffic element participation information of a running environment to which the target vehicle belongs; and when the running duration of the cruise function reaches a preset duration threshold value, controlling the target vehicle to move to the target position and brake according to the traffic element participation information. According to the invention, the cruise function is activated through the detected fatigue parameter of the user, and the driving safety of the vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to an assisted driving method, device and electronic equipment. Background Art

[0002] With the development of automobile technology, automobile accidents also occur from time to time. However, most automobile accidents are caused by physical reasons such as driver fatigue and fainting. Therefore, in order to ensure driving safety, it is possible to provide driver fatigue reminders.

[0003] Currently, when a vehicle is driving, a fatigue reminder is typically issued to the driver when the vehicle has been driving for a certain period of time. However, this method only provides a fatigue reminder to the driver and ends when the reminder is completed. It is impossible to accurately determine whether the fatigue reminder has been achieved, and it cannot guarantee driving safety. Summary of the Invention

[0004] The present invention provides a driving assistance method, device and electronic equipment, which activate a cruise function through a detected user fatigue parameter, thereby ensuring the safety of vehicle driving.

[0005] According to one aspect of the present invention, a driving assistance method is provided, the method comprising:

[0006] During the driving process of the target vehicle, detection data of the target vehicle under multiple detection indicators are obtained, and a user fatigue parameter of a driving user corresponding to the target vehicle is determined based on the detection data;

[0007] In response to an event in which a user fatigue parameter satisfies a preset condition, a cruise function is activated, and when the target vehicle continues to travel at a current speed based on the cruise function, traffic element participation information of a driving environment to which the target vehicle belongs is obtained;

[0008] When the operating time of the cruise function reaches the preset time threshold, the target vehicle is controlled to move to the target position and brake according to the traffic element participation information.

[0009] According to another aspect of the present invention, a driving assistance device is provided, the device comprising:

[0010] a fatigue parameter determination module, configured to obtain detection data of the target vehicle under multiple detection indicators during the driving process of the target vehicle, and determine a user fatigue parameter of the driving user corresponding to the target vehicle based on the detection data;

[0011] a cruise function activation module, configured to activate the cruise function in response to an event in which a user fatigue parameter satisfies a preset condition, and obtain traffic element participation information of a target vehicle's driving environment when the target vehicle continues to travel at the current speed of the target vehicle based on the cruise function;

[0012] The vehicle control module is used to control the target vehicle to move to the target position and brake according to the traffic element participation information when the cruise function's operating time reaches a preset time threshold.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the assisted driving method of any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the assisted driving method of any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the assisted driving method according to any embodiment of the present invention.

[0019] The technical solution of the embodiment of the present invention detects the driver's fatigue by acquiring test data for a target vehicle under multiple test indicators while the target vehicle is in motion, and determining the user fatigue parameter of the driver corresponding to the target vehicle based on the test data. In response to an event in which the user fatigue parameter meets a preset condition, the cruise function is activated to control the target vehicle to continue driving at the current speed, thereby ensuring the target vehicle's driving safety. During this process, traffic element participation information of the target vehicle's driving environment is acquired. When the cruise function's operating time reaches a preset threshold, the target vehicle is controlled to move to the target position and brake based on the traffic element participation information, thereby achieving a process of gradually decelerating and braking the target vehicle through the cruise function. The embodiment of the present invention solves the problem of the prior art in which it is impossible to determine whether the purpose of fatigue reminder has been achieved. The technical solution provided by the present invention realizes the detection and reminder of the driver's fatigue state, as well as the control of the target vehicle, thereby ensuring the safety of vehicle driving.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0022] Figure 1 is a flow chart of an assisted driving method provided by an embodiment of the present invention;

[0023] Figure 2 is a flow chart of an assisted driving method provided by an embodiment of the present invention;

[0024] Figure 3 1 is a schematic structural diagram of a driving assistance device provided by an embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the structure of an electronic device for implementing the assisted driving method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention 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 numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Example 1

[0029] Figure 1This is a flow chart of an assisted driving method provided by the first embodiment of the present invention. This embodiment is applicable to detecting the fatigue state of the driving user to determine whether to activate the cruise control function to control the target vehicle to ensure driving safety. The method can be executed by an assisted driving device, which can be implemented in the form of hardware and / or software. The assisted driving device can be configured in electronic devices such as mobile phones, computers or servers. Figure 1 As shown, the method includes:

[0030] S110 . During the driving process of the target vehicle, obtain detection data of the target vehicle under multiple detection indicators, and determine a user fatigue parameter of a driving user corresponding to the target vehicle based on the detection data.

[0031] The target vehicle can be the currently driving vehicle for which driver fatigue testing is required. The driver can be the user driving the target vehicle. Testing metrics include multiple indicators including driving time, steering wheel torque, collision warning, and lane deviation.

[0032] Correspondingly, the detection data corresponding to the driving time index is the cumulative driving time of the target vehicle in the current driving; the cumulative driving time can be understood as the length of time corresponding to the target vehicle from the start time to the current time. The detection data corresponding to the hand-gripping steering wheel torque index includes grip strength value and / or turning torque; the grip strength value is used to characterize the force applied by the driving user on the steering wheel. The turning torque can be the product of the force applied by the driving user on the steering wheel and the vertical distance from the force to the steering wheel rotation axis (i.e., the lever arm). The detection data corresponding to the collision warning index includes the number of collision warnings; the number of collision warnings can be the number of times the collision warning reminder is triggered. The detection data corresponding to the lane line deviation index includes the number of lane line deviation warnings. The number of lane line deviation warnings can be the number of times the lane line deviation warning prompt is triggered. The user fatigue parameter is used to characterize the fatigue level of the driving user.

[0033] It should be noted that collision warning and lane departure warning can be triggered by corresponding functions in the driver assistance system deployed in the target vehicle. Collision warning, also known as forward collision warning, uses sensors such as cameras and radar to sense objects in front of the target vehicle in real time, detecting the distance between the target vehicle and the object in front, and then alerting the driver. Lane departure warning consists of a heads-up display (HUD), a camera, a controller, and sensors. When lane departure warning is enabled, the camera (typically mounted on the side of the vehicle or in the rearview mirror) continuously captures the lane markings of the driving lane and uses image processing to determine the target vehicle's position in the lane. When the target vehicle is detected deviating from the lane markings, the sensor promptly collects vehicle data and the driver's operating status, and the controller then issues an alarm signal. The entire process completes in approximately 0.5 seconds, providing the driver with more time to react. If the driver uses the turn signal and changes lanes normally, the lane departure warning function will not issue any warning.

[0034] Specifically, during the driving process of the target vehicle, multiple items are obtained, including the cumulative driving time of the target vehicle under the driving time index, the grip strength value and / or the turning torque under the hand-gripping steering wheel torque index, the number of collision warnings under the collision warning index, and the number of lane deviation warnings under the lane deviation index, and the user fatigue parameter of the driving user corresponding to the target vehicle is determined through multiple detection data.

[0035] In an embodiment of the present invention, a method for determining the user fatigue parameter of the driving user corresponding to the target vehicle by inspecting the data may be: determining a first parameter under the driving time index based on the accumulated driving time and the fatigue value corresponding to each time level; determining a second parameter under the hand-holding steering wheel torque index based on the turning torque and the preset torque threshold; determining a third parameter under the collision warning index based on the number of collision warnings and the corresponding evaluation value; determining a fourth parameter under the offset lane line index based on the number of offset lane line warnings and the corresponding evaluation value; and determining the user fatigue parameter of the driving user during the driving process of the target vehicle based on the first parameter, the second parameter, the third parameter and / or the fourth parameter.

[0036] The duration level may be a pre-set level corresponding to the accumulated fatigue duration. Different duration levels correspond to different fatigue values. For example, if the duration level is level 1, the corresponding fatigue value may be α. If the duration level is level 2, the corresponding fatigue value may be 2α. Optionally, the fatigue value increases with the accumulated driving duration. The first parameter may be the fatigue value determined by the current accumulated driving duration. Optionally, the duration level corresponding to the accumulated driving duration may be determined, and the fatigue value corresponding to that duration level may be used as the first parameter. For example, if the accumulated driving duration is 2 hours, the duration level may be level 1, and the corresponding first parameter (fatigue parameter) may be α. The preset torque threshold may be a pre-set standard value for the torque. Optionally, if the torque is less than the preset torque threshold within a preset time period, a second parameter is determined based on the preset value. The second parameter may be used to represent the relationship between the torque and the user's fatigue level. For example, if the preset time period is 5 minutes and the preset value is β, then if the torque is consistently less than the preset torque threshold within 5 minutes, the second parameter may be β. The evaluation value corresponding to the number of collision warnings may be a pre-set value representing the user's fatigue level each time a collision warning is triggered. For example, the collision warning of the target vehicle is triggered once, and the corresponding evaluation value is set to γ. The third parameter may be the multiplication result between the evaluation value and the number of collision warnings. The evaluation value corresponding to the number of offset lane line warnings may be a pre-set value representing the user's fatigue level each time a offset lane line warning is triggered. For example, the offset lane line warning of the target vehicle is triggered once, and the corresponding evaluation value is set to δ. The fourth parameter may be the multiplication result between the corresponding evaluation value and the number of offset lane line warnings. The user fatigue parameter may be a value determined by the sum of the first parameter, the second parameter, the third parameter and / or the fourth parameter.

[0037] Specifically, the duration level corresponding to the cumulative driving time is determined, and based on the duration level and the fatigue value corresponding to each duration level, the fatigue value of the duration level corresponding to the cumulative driving time is determined, that is, the first parameter under the driving duration index. When the rotational torque is less than the preset torque threshold within the preset time length, the second parameter under the hand-gripping steering wheel torque index is determined based on the preset value. The number of collision warnings and the corresponding evaluation value are multiplied to determine the third parameter under the collision warning index. The number of lane deviation warnings and the corresponding evaluation value are multiplied to determine the fourth parameter under the lane deviation index. The first parameter, the second parameter, the third parameter and / or the fourth parameter are summed to determine the user fatigue parameter of the driving user during the driving of the target vehicle.

[0038] Exemplarily, driver fatigue detection can be performed as follows: driver fatigue is assessed based on cumulative driving time, steering wheel torque, forward collision warning, and lane departure warning. For example, for every time the driver's cumulative driving time exceeds two hours, a first parameter may be incremented by α points. For every time the steering wheel torque or torque is less than a preset torque threshold for a predetermined period of time, a second parameter may be incremented by β points. For every time the forward collision warning is triggered, a third parameter may be incremented by γ points. For every time the lane departure warning is triggered, a fourth parameter may be incremented by δ points. If the target vehicle is turned off or in neutral gear, the first through fourth parameters are reset to zero. The user fatigue parameter is determined by summing the accumulated first, second, third, and fourth parameters. It should be noted that the first, second, third, and fourth parameters are all initially zero. Each time the corresponding detection indicators are processed, the corresponding parameters are determined, thereby determining the user fatigue parameter based on each parameter.

[0039] S120. In response to an event in which a user fatigue parameter meets a preset condition, activating a cruise function, and obtaining traffic element participation information of a driving environment to which the target vehicle belongs while continuing to drive at a current driving speed of the target vehicle based on the cruise function.

[0040] The preset condition may be a pre-set condition for activating the cruise control function. Optionally, the preset condition is determined to be satisfied when a user fatigue parameter reaches a preset fatigue threshold. The cruise control function may be used to control the target vehicle to maintain lane centering and adaptive cruise control. The cruise control function controls the target vehicle to automatically drive. The current driving speed may be the speed of the target vehicle when the cruise control function is activated. Traffic element participation information may include lane line information, driving vehicle information, user information on the road, and indicator light information.

[0041] Specifically, upon detecting that a user fatigue parameter reaches a preset fatigue threshold and determining that the user fatigue parameter satisfies a preset condition, a corresponding driver fatigue signal in the target vehicle is set. In response to the driver fatigue signal being set, the cruise function is activated, taking over control of the target vehicle. The cruise function adaptively cruises the target vehicle at the current speed, ensuring that the target vehicle remains within the corresponding lane. During this process, information about traffic elements in the target vehicle's driving environment is obtained.

[0042] In an embodiment of the present invention, after responding to an event in which the user fatigue parameter meets a preset condition, the method also includes: controlling the double flash function of the lights in the target vehicle to turn on, so that the lights of the target vehicle are in a double flash state; and / or, controlling the vibration module deployed on the steering wheel of the target vehicle to vibrate, so as to remind the driving user of the target vehicle; and / or, controlling the vibration module deployed on the seat belt of the target vehicle to vibrate, so as to remind the target user in the target vehicle; wherein the target user includes at least the driving user and the passenger user riding in the target vehicle; and / or, controlling the vibration module deployed on the seat of the target vehicle to vibrate; and / or, playing a reminder audio based on a speaker module deployed in the target vehicle; and / or, displaying a reminder animation and / or a reminder audio on the dashboard and / or central control display screen on the target vehicle.

[0043] The double flash state can be understood as the double flashing lights of the target vehicle. By activating the double flashing lights of the target vehicle, drivers of other vehicles or users in related lanes can be alerted. The vibration module deployed on the steering wheel of the target vehicle is used to control the vibration of the steering wheel of the target vehicle. The vibration module deployed on the seat of the target vehicle is used to control the vibration of the seat or seat belt. The speaker module deployed in the target vehicle is used to provide audio reminders to the target user. Both the reminder animation and the reminder audio are used to remind the driver and passengers of the target vehicle of fatigue. The central control display can be understood as the interactive interface inside the target vehicle.

[0044] Specifically, when a user fatigue parameter is detected to have reached a preset fatigue threshold, the target vehicle's lights are activated to flash, alerting other drivers or users in the lane that the target vehicle's driving condition is abnormal and to maintain a safe distance. Alternatively, a vibration module deployed on the target vehicle's steering wheel is activated to vibrate, alerting the driver and passengers in the target vehicle. Alternatively, a vibration module deployed on the target vehicle's seat is activated to vibrate, alerting the target user through seatbelt and / or seat vibrations. Alternatively, a reminder audio is played via a speaker module deployed in the target vehicle, and / or a reminder animation and / or audio is displayed on the target vehicle's instrument panel and / or central control display.

[0045] Optionally, before activating the cruise function, the method further includes: initiating at least one braking action to alert a target user in a target vehicle.

[0046] Among them, the braking function of the target vehicle's driving assistance system (Automatic Warning Braking, AWB) can be used to initiate a short braking. Automatic warning braking, also known as short braking, is a short "braking" process that the braking system uses to remind the driver before performing full braking. During the activation of AWB, a certain braking force will be generated and the brake lights will be turned on. During the braking process, the vehicle speed will be slightly reduced, but the reduction will not exceed the maximum limit. At the same time, the corresponding deceleration cannot exceed the limit (generally 5m / s 2 ). The target users include the driving user in the target vehicle and the passenger users riding in the target vehicle.

[0047] Specifically, when it is detected that the user fatigue parameter reaches a preset fatigue threshold, before activating the cruise function, the automatic warning braking function can be activated by the driving assistance system to initiate at least one braking action to remind the target user in the target vehicle again.

[0048] For example, when the user fatigue parameter is detected to have reached a preset fatigue threshold, the driver fatigue signal is set, and the driving assistance system first activates the AWB function to remind the driver again. Then, the cruise function (advanced cruise function) is activated, and control of the target vehicle is activated through the cruise function. The current driving speed is used as the target cruise speed of the target vehicle to ensure that the target vehicle performs adaptive cruise control within the corresponding lane line.

[0049] S130: When the operating time of the cruise function reaches a preset time threshold, the target vehicle is controlled to move to the target position and brake according to the traffic element participation information.

[0050] The preset time threshold may be a pre-set standard value for the time during which the cruise function controls the target vehicle to travel. The target position may be a planned position at which the target vehicle stops.

[0051] Specifically, when the cruise function controls the target vehicle to travel at a constant speed for a duration exceeding a preset duration threshold, the target vehicle is controlled to move to a target position and braked to the target position according to the traffic element participation information corresponding to the target vehicle.

[0052] The technical solution of this embodiment detects driver fatigue by acquiring test data for a target vehicle under multiple test indicators during its travel, and determining the user fatigue parameter of the driver corresponding to the target vehicle based on the test data. In response to an event in which the user fatigue parameter meets a preset condition, the cruise function is activated to control the target vehicle to continue traveling at its current speed, thereby ensuring the target vehicle's driving safety. During this process, traffic element participation information of the target vehicle's driving environment is acquired. When the cruise function's operating duration reaches a preset threshold, the target vehicle is controlled to move to a target position and brake based on the traffic element participation information, thereby achieving a process of gradually decelerating and braking the target vehicle through the cruise function. This embodiment of the present invention solves the problem of the prior art in being unable to determine whether the purpose of fatigue reminder has been achieved. The technical solution provided by the present invention enables detection of the driver's fatigue state, reminders, and control of the target vehicle, thereby ensuring vehicle driving safety.

[0053] Example 2

[0054] Figure 2 This is a flowchart of an assisted driving method provided by the second embodiment of the present invention. This embodiment is a preferred embodiment of the above embodiment. Its specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or corresponding to the above embodiment are not repeated here. Figure 2 As shown, the method includes:

[0055] S210 . During the driving process of the target vehicle, obtain detection data of the target vehicle under multiple detection indicators, and determine a user fatigue parameter of a driving user corresponding to the target vehicle based on the detection data.

[0056] S220. In response to an event in which a user fatigue parameter satisfies a preset condition, the cruise function is activated, and when the target vehicle continues to travel at the current speed of the target vehicle based on the cruise function, traffic element participation information of the driving environment to which the target vehicle belongs is obtained.

[0057] S230: When the operating time of the cruise function reaches a preset time threshold, determine the target position according to the lane line information, the moving vehicle information, the user information on the road, and the indicator light information in the traffic element participation information.

[0058] Lane line information may include the position information of at least one lane line on the road the target vehicle is traveling on. Vehicle information may include the position information and vehicle speed information of adjacent vehicles in each lane of the road the target vehicle is traveling on. Road user information may include the position and speed information of pedestrians on the road the target vehicle is traveling on. Indicator light information may include indicator light display information on the road the target vehicle is traveling on. The target location may be the location where the target vehicle is stopped by cruise control.

[0059] Specifically, when the running time of the target vehicle controlled by the cruise function reaches a preset time threshold, the target position where the target vehicle stops is planned and determined based on the lane line information, driving vehicle information, user information on the road and indicator light information in the traffic element participation information.

[0060] S240 , planning a path according to the target position and the current driving position, and controlling the target vehicle to travel to the target position based on the planned path, and braking.

[0061] The planned path may be a route for the target vehicle to decelerate and travel to the target location.

[0062] Specifically, a path is planned based on the target vehicle and the current driving position to determine the path. The target vehicle is controlled to drive to the target position through the planned path and is controlled to stop moving.

[0063] For example, the preset time threshold may be 10 seconds or 15 seconds. After the target vehicle is controlled to travel at a constant speed for 10 seconds or 15 seconds using the cruise function, a path is planned based on the target location and the current driving location, so that the target vehicle is controlled to travel at a reduced speed along the planned path using the cruise function to stop at the target location.

[0064] It should be noted that after the target vehicle stops, the electronic parking brake (EPB) can be applied by the driving assistance system to park the target vehicle by clamping and releasing the friction plate.

[0065] In an embodiment of the present invention, controlling the target vehicle to move to a target position and braking includes: during the process of controlling the target vehicle to move, performing a voice broadcast in the target vehicle, and issuing a traction exit request to the engine / motor controller in the target vehicle, so that the engine / motor controller exits the acceleration mode based on the traction exit request.

[0066] The voice announcement can be used to remind the driver that the cruise control function is currently controlling the target vehicle to decelerate and move to the target location. The traction disengagement request can be used to notify the engine and / or motor controller to not process the acceleration command issued by the driver by triggering the accelerator pedal. The acceleration mode can be a mode in which the target vehicle accelerates in response to the acceleration command issued by the driver by triggering the accelerator pedal.

[0067] Specifically, while the cruise control function is controlling the target vehicle to decelerate and reach the target location, a voice announcement is made in the target vehicle to remind the driver that the cruise control function is currently controlling the target vehicle to decelerate and reach the target location. During this process, the driving assistance system can issue a traction-force disengagement request to the engine / motor controller in the target vehicle, so that the engine and / or motor controller does not process the acceleration command issued by the driver by triggering the accelerator pedal.

[0068] For example, while the cruise control function (advanced cruise control) is controlling the vehicle's deceleration and stop, an audio notification can be provided to the driver to alert them that the cruise control is controlling the vehicle's deceleration and stop. Simultaneously, the driver assistance system issues a traction-disengagement request to the engine / motor controller in the target vehicle, effectively ignoring any acceleration commands issued by the driver by activating the accelerator pedal. Because the driver may be fatigued during this process and may continue to press the accelerator pedal due to inertia, it is necessary to ensure that the acceleration commands issued by the driver by activating the accelerator pedal do not conflict with the cruise control's deceleration and stop operation.

[0069] It should be noted that during normal advanced cruise control of the target vehicle, if the driver presses the accelerator while the driver assistance system is decelerating the target vehicle, the advanced cruise function will be terminated because the driver has the highest driving authority in this situation. However, in the embodiments of the present invention, the driver may be fatigued, so the target vehicle will ignore the accelerator request to ensure driving safety.

[0070] Optionally, the method also includes: in response to an event of detecting a target operation, exiting the cruise function, and continuing to execute the steps of obtaining detection data of the target vehicle under multiple detection indicators, and determining the user fatigue parameter of the driving user corresponding to the target vehicle based on the detection data.

[0071] Among them, the event of detecting the target operation can be: after the target vehicle is braked, the electronic parking brake is operated by the driving assistance system, or, during the process of the cruise function controlling the driving of the target vehicle, that is, during the process of the cruise function taking over the driving rights of the target vehicle, an event is detected in which the driving user triggers the deceleration pedal to issue a deceleration command.

[0072] Specifically, after the target vehicle brakes and the electronic parking brake is applied by the driver assistance system, the cruise function is exited. Alternatively, after the cruise function takes over driving rights for the target vehicle, the cruise function is exited upon detecting a deceleration command issued by the driver using the deceleration pedal. The process then proceeds to acquire test data for the target vehicle under multiple test indicators and, based on the test data, determine a user fatigue parameter for the driver corresponding to the target vehicle. The deceleration command may be determined based on an active deceleration pedal signal in the target vehicle.

[0073] It should be noted that after the cruise function takes over the driving rights of the target vehicle, if a deceleration command issued by the driving user through the deceleration pedal is detected, it is determined that the driving user has received a fatigue reminder, and based on the feedback of the deceleration command, the advanced cruise is exited, and the driving right of the target vehicle is taken over by the driving user.

[0074] It should be noted that if the driver's fatigue parameter reaches the preset fatigue threshold after the cruise function is activated, if the driver keeps pressing the decelerator pedal, they must lift the pedal and then press it again to exit the advanced cruise function. From the signal perspective, the decelerator pedal signal must be in an active state before the driving assistance system determines that the cruise function needs to be exited and driving rights returned to the driver.

[0075] The technical solution of this embodiment detects driver fatigue by acquiring test data for a target vehicle under multiple test indicators during its travel, and determining a user fatigue parameter for the driver corresponding to the target vehicle based on the test data. In response to an event in which the user fatigue parameter meets a preset condition, the cruise control function is activated to control the target vehicle to continue traveling at its current speed, thereby ensuring the safety of the target vehicle. During this process, traffic element information of the target vehicle's driving environment is acquired. When the cruise control function's operating time reaches a preset threshold, the target location is determined based on the lane information, vehicle information, road user information, and indicator light information contained in the traffic element information. A path is then planned based on the target location and the current driving position. The target vehicle is then controlled to travel to the target location based on the planned path and brakes. This ensures the safety of the target vehicle's travel to the target location, and the process of gradually decelerating and braking the target vehicle through the cruise control function is implemented. This embodiment of the present invention solves the problem of the prior art in which it is difficult to determine whether the purpose of fatigue reminder has been achieved. The technical solution provided by the present invention detects and reminds the driver of the driver's fatigue state, and controls the target vehicle, thereby ensuring the safety of vehicle travel.

[0076] Example 3

[0077] Figure 3This is a schematic diagram of the structure of a driving assistance device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: a fatigue parameter determination module 310 , a cruise function activation module 320 and a vehicle control module 330 .

[0078] The fatigue parameter determination module 310 is used to obtain detection data of the target vehicle under multiple detection indicators during the driving process of the target vehicle, and determine the user fatigue parameter of the driving user corresponding to the target vehicle based on the detection data; the cruise function activation module 320 is used to activate the cruise function in response to an event that the user fatigue parameter meets the preset conditions, and obtain the traffic element participation information of the driving environment to which the target vehicle belongs when the cruise function continues to drive according to the current driving speed of the target vehicle; the vehicle control module 330 is used to control the target vehicle to move to the target position and brake according to the traffic element participation information when the operating time of the cruise function reaches a preset time threshold.

[0079] The technical solution of this embodiment detects driver fatigue by acquiring test data for a target vehicle under multiple test indicators during its travel, and determining the user fatigue parameter of the driver corresponding to the target vehicle based on the test data. In response to an event in which the user fatigue parameter meets a preset condition, the cruise function is activated to control the target vehicle to continue traveling at its current speed, thereby ensuring the target vehicle's driving safety. During this process, traffic element participation information of the target vehicle's driving environment is acquired. When the cruise function's operating duration reaches a preset threshold, the target vehicle is controlled to move to a target position and brake based on the traffic element participation information, thereby achieving a process of gradually decelerating and braking the target vehicle through the cruise function. This embodiment of the present invention solves the problem of the prior art in being unable to determine whether the purpose of fatigue reminder has been achieved. The technical solution provided by the present invention enables detection of the driver's fatigue state, reminders, and control of the target vehicle, thereby ensuring vehicle driving safety.

[0080] Based on the above embodiment, optionally, the detection indicators include multiple items of driving time indicator, hand-gripping steering wheel torque indicator, collision warning indicator and lane offset indicator; accordingly, the detection data corresponding to the driving time indicator is the cumulative driving time of the target vehicle in the current driving; the detection data corresponding to the hand-gripping steering wheel torque indicator includes grip strength value and / or turning torque; the detection data corresponding to the collision warning indicator includes the number of collision warnings; and the detection data corresponding to the lane offset indicator includes the number of lane offset warnings.

[0081] Optionally, the fatigue parameter determination module includes: a user fatigue parameter determination unit, used to determine a first parameter under the driving time index based on the cumulative driving time and the fatigue value corresponding to each time level; determine a second parameter under the hand-holding steering wheel torque index based on the turning torque and the preset torque threshold; determine a third parameter under the collision warning index based on the number of collision warnings and the corresponding evaluation value; determine a fourth parameter under the offset lane line index based on the number of offset lane line warnings and the corresponding evaluation value; based on the first parameter, the second parameter, the third parameter and / or the fourth parameter, determine the user fatigue parameter of the driving user during the driving process of the target vehicle.

[0082] Optionally, in response to an event in which a user fatigue parameter meets a preset condition, the device further includes: a fatigue reminder module, configured to control the double flash function of the lights in the target vehicle to be turned on, so that the lights of the target vehicle are in a double flash state; and / or, controlling the vibration module deployed on the steering wheel of the target vehicle to vibrate, so as to remind the driving user of the target vehicle; and / or, controlling the vibration module deployed on the seat belt of the target vehicle to vibrate, so as to remind the target user in the target vehicle; wherein the target user includes at least the driving user and the passenger user riding in the target vehicle; and / or, controlling the vibration module deployed on the seat of the target vehicle to vibrate; and / or, playing a reminder audio based on a speaker module deployed in the target vehicle; and / or, displaying a reminder animation and / or a reminder audio on the dashboard and / or central control display screen on the target vehicle.

[0083] Optionally, before activating the cruise function, the device further includes: a braking activation module, configured to initiate at least one braking action to alert a target user in a target vehicle.

[0084] Optionally, a vehicle control module is used to determine the target position based on the lane line information, driving vehicle information, user information on the road, and indicator light information in the traffic element participation information; plan a path based on the target position and the current driving position, and control the target vehicle to travel to the target position based on the planned path and brake.

[0085] Optionally, the vehicle control module also includes: an acceleration mode exit unit, which is used to perform voice broadcasting in the target vehicle during the process of controlling the driving of the target vehicle, and to issue a traction exit request to the engine / motor controller in the target vehicle, so that the engine / motor controller exits the acceleration mode based on the traction exit request.

[0086] Optionally, the device also includes: a cruise function exit module, which is used to exit the cruise function in response to an event of detecting a target operation, and continue to execute the steps of obtaining detection data of the target vehicle under multiple detection indicators, and determining the user fatigue parameter of the driving user corresponding to the target vehicle based on the detection data.

[0087] The assisted driving device provided in the embodiment of the present invention can execute the assisted driving method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Example 4

[0089] Figure 4 1 is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0090] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0091] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0092] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the assisted driving method.

[0093] In some embodiments, the assisted driving method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the assisted driving method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the assisted driving method in any other appropriate manner (e.g., by means of firmware).

[0094] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] The computer programs used to implement the assisted driving method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0096] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-mentioned functions defined in the method of the embodiment of the present invention are performed.

[0097] Example 5

[0098] The fifth embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a processor to execute an assisted driving method, the method comprising:

[0099] During the driving process of the target vehicle, detection data of the target vehicle under multiple detection indicators is obtained, and the user fatigue parameter of the driving user corresponding to the target vehicle is determined based on the detection data; in response to the event that the user fatigue parameter meets the preset conditions, the cruise function is activated, and when the cruise function continues to drive according to the current driving speed of the target vehicle, the traffic element participation information of the driving environment to which the target vehicle belongs is obtained; when the operating time of the cruise function reaches a preset time threshold, the target vehicle is controlled to move to the target position and brake according to the traffic element participation information.

[0100] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0104] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0105] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A driving assistance method, characterized in that: include: During the driving process of a target vehicle, detection data of the target vehicle under multiple detection indicators are obtained, and a user fatigue parameter of a driving user corresponding to the target vehicle is determined based on the detection data; In response to an event in which the user fatigue parameter satisfies a preset condition, a cruise function is activated, and when the target vehicle continues to travel according to the current travel speed of the target vehicle based on the cruise function, traffic element participation information of the driving environment to which the target vehicle belongs is obtained; When the operating time of the cruise function reaches a preset time threshold, the target vehicle is controlled to move to a target position and brake according to the traffic element participation information.

2. The method according to claim 1, characterized in that The detection indicators include multiple indicators of driving time, steering wheel torque, collision warning and lane deviation; accordingly, The detection data corresponding to the driving time indicator is the cumulative driving time of the target vehicle during the current driving; The detection data corresponding to the hand-gripping steering wheel torque index includes a grip force value and / or a turning torque; The detection data corresponding to the collision warning indicator includes the number of collision warnings; The detection data corresponding to the lane line deviation indicator includes the number of lane line deviation warnings.

3. The method according to claim 2, characterized in that The determining, based on the detection data, a user fatigue parameter of a driving user corresponding to the target vehicle includes: determining a first parameter under the driving time indicator according to the accumulated driving time and the fatigue value corresponding to each driving time level; determining a second parameter under the hand-gripping steering wheel torque indicator according to the rotational torque and a preset torque threshold; determining a third parameter under the collision warning indicator according to the number of collision warnings and the corresponding evaluation value; Determining a fourth parameter under the offset lane line indicator according to the number of offset lane line warnings and the corresponding evaluation value; Based on the first parameter, the second parameter, the third parameter and / or the fourth parameter, a user fatigue parameter of the driving user during driving the target vehicle is determined.

4. The method according to claim 1 or 3, characterized in that After responding to the event that the user fatigue parameter meets a preset condition, the method further includes: Controlling the double flash function of the lights of the target vehicle to be turned on, so that the lights of the target vehicle are in a double flash state; and / or, controlling a vibration module disposed on a steering wheel of the target vehicle to vibrate to alert a driver of the target vehicle; and / or, Controlling a vibration module disposed on a seat belt of the target vehicle to vibrate to alert a target user in the target vehicle; wherein the target user includes at least a driver and a passenger in the target vehicle; and / or, controlling a vibration module disposed on the target vehicle seat to vibrate; and / or, Playing a reminder audio based on a speaker module deployed in the target vehicle; and / or, A reminder animation and / or reminder audio is displayed on the instrument panel and / or central control display screen of the target vehicle.

5. The method according to claim 1, characterized in that Before activating the cruise function, the method further includes: Initiate at least one braking action to alert a target user in the target vehicle.

6. The method according to claim 1, characterized in that The controlling the target vehicle to move to a target position and braking according to the traffic element participation information includes: Determine the target location based on lane line information, moving vehicle information, user information on the road, and indicator light information in the traffic element participation information; Path planning is performed according to the target position and the current driving position, and the target vehicle is controlled to travel to the target position based on the planned path and brake.

7. The method according to claim 1 or 6, characterized in that The controlling the target vehicle to move to a target position and braking the target vehicle includes: During the process of controlling the driving of the target vehicle, a voice announcement is made in the target vehicle, and a traction force exit request is sent to the engine / motor controller in the target vehicle, so that the engine / motor controller exits the acceleration mode based on the traction force exit request.

8. The method according to claim 7, characterized in that The method further comprises: In response to an event of detecting a target operation, the cruise function is exited, and the steps of obtaining detection data of the target vehicle under multiple detection indicators and determining a user fatigue parameter of a driving user corresponding to the target vehicle based on the detection data are continued.

9. A driving assistance device, characterized in that: include: a fatigue parameter determination module, configured to obtain detection data of a target vehicle under a plurality of detection indicators during the driving process of the target vehicle, and determine a user fatigue parameter of a driving user corresponding to the target vehicle based on the detection data; a cruise function activation module, configured to activate the cruise function in response to an event in which the user fatigue parameter satisfies a preset condition, and obtain traffic element participation information of a driving environment to which the target vehicle belongs when the target vehicle continues to travel according to the current driving speed of the target vehicle based on the cruise function; The vehicle control module is used to control the target vehicle to move to the target position and brake according to the traffic element participation information when the operating time of the cruise function reaches a preset time threshold.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the assisted driving method according to any one of claims 1 to 8.

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