A vehicle hierarchical tactile warning method and decision controller

Abstract

This application provides a vehicle-level tactile warning method and decision controller, relating to the field of vehicle control technology. The method includes: real-time acquisition of all-domain perception signals; generating scene warning commands based on ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals; generating vehicle driving warning commands based on driver assistance function signals, driver status monitoring signals, and vehicle dynamic signals; generating tactile warning control commands based on the scene warning commands and vehicle driving warning commands; and sending the tactile warning control commands to a seatbelt controller, causing the seatbelt controller to control the seatbelt pretensioning motor to perform seatbelt pretensioning actions based on stress values. This application can improve the effectiveness of warnings and driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle-level tactile warning method and decision controller. Background Technology

[0002] With the evolution of automotive electronic architecture and the widespread adoption of advanced driver assistance systems (ADAS), vehicles are equipped with a variety of safety features such as automatic emergency braking, forward collision warning, lane departure warning, driver monitoring systems, and infrared night vision. However, these systems are typically developed by different suppliers and operate as independent functional units, leading to information silos, fragmented decision-making among safety subsystems, a lack of central coordination, and difficulty in coping with complex risk scenarios such as harsh environments, vehicle malfunctions, and poor driver condition.

[0003] Existing warning technologies primarily rely on visual and auditory methods, which are limited in scope and easily overlooked. When vehicles are driven at night and the driver is slightly fatigued, existing technologies may miss potential risks. Furthermore, mainstream active seatbelt systems typically serve only as a last resort in collision accidents, with high pretensioning trigger thresholds, limited modes, and responses only to emergency braking or collision signals. They are ineffective in providing proactive warnings during the initial and escalating stages of risks.

[0004] Therefore, there is a response gap between active and passive safety systems, failing to achieve a seamless connection from risk warning to personal protection. Summary of the Invention

[0005] This application provides a vehicle-level tactile warning method and decision controller, which can improve the effectiveness of warnings and driving safety.

[0006] In a first aspect, embodiments of this application provide a vehicle-level tactile warning method, applied to a decision controller integrated into a vehicle, the method comprising: Real-time acquisition of global perception signals, including: ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals; Based on the ambient light signal, the vehicle dynamic signal, the environmental perception signal, and the parking perception signal, a main scene warning is generated, and a scene warning command is generated. Based on the assisted driving function signal, the driver status monitoring signal, and the vehicle dynamic signal, a vehicle driving warning is generated, and a vehicle driving warning command is generated. Based on the scene warning command and the vehicle driving warning command, generate a tactile warning control command; The tactile warning control command is sent to the seat belt controller, so that the seat belt controller controls the seat belt pretensioning motor to perform a seat belt pretensioning action according to the stress value based on the tactile warning control command.

[0007] Optionally, the step of generating a scene warning command based on the ambient light signal, the vehicle dynamic signal, the environmental perception signal, and the parking perception signal includes: Based on the ambient light signal, determine whether the vehicle is in night driving mode or day driving mode; If the vehicle is in the night driving mode, a scene warning command for the night driving mode is generated based on the infrared night vision signal in the environmental perception signal. If the vehicle is in the daytime driving mode, a scene warning command for the daytime driving mode is generated based on the forward-looking signal and radar signal in the environmental perception signal. Based on the gear information in the vehicle dynamic signal, determine whether the vehicle is in reverse mode; If the vehicle is in reversing mode, a scene warning command with directional indication is generated based on the reversing collision warning signal in the parking perception signal.

[0008] Optionally, the vehicle driving warning command includes at least one of: lane departure warning command, driver status warning command, and vehicle dynamic warning command; the step of generating the vehicle driving warning command based on the assisted driving function signal, the driver status monitoring signal, and the vehicle dynamic signal includes: The lane departure warning command is generated based on the lane departure warning signal in the driver assistance function signal; Based on the driver assistance function signal and / or the driver status monitoring signal, a driver status warning is issued, and a driver status warning command is generated. Based on the vehicle dynamic signals, a vehicle dynamic warning is generated, and a vehicle dynamic warning command is generated.

[0009] Optionally, generating the lane departure warning command based on the lane departure warning signal in the driver assistance function signal includes: Based on the lane departure warning signal, determine whether the vehicle has deviated from its lane; If lane departure occurs, the driver is asked to perform a steering correction operation based on the steering wheel angle information in the vehicle dynamic signal. If the steering correction operation is not performed, a Level 1 warning command is generated as the lane departure warning command; If the duration of the lane departure exceeds a preset departure time, a secondary warning instruction is generated as the lane departure warning instruction, wherein the warning level of the primary warning instruction is lower than that of the secondary warning instruction.

[0010] Optionally, the step of generating a driver status warning command based on the driver status monitoring signal includes: Based on the driver status monitoring signals, determine whether the driver is fatigued; If the driver is fatigued, a Level 1 warning instruction is generated as a warning instruction for the driver's condition. Based on the hands-off alarm signal in the driver assistance function signal, determine whether the driver's hands have taken off the steering wheel; If the driver takes both hands off the steering wheel and the vehicle is in assisted driving mode, the first-level warning command is generated as the driver status warning command. If the driver's hands are off the steering wheel for a period exceeding a preset time, a secondary warning instruction is generated as the lane departure warning instruction, wherein the warning level of the primary warning instruction is lower than that of the secondary warning instruction.

[0011] Optionally, the step of generating a vehicle dynamic warning command based on the vehicle dynamic signal includes: Based on the yaw rate information and steering wheel angle information in the vehicle dynamic signal, determine whether the vehicle is showing signs of instability; If the aforementioned instability trend occurs, a Level II or Level III warning instruction is generated as the vehicle dynamic warning instruction based on the degree of the instability trend; wherein, the warning level of the Level II warning instruction is lower than that of the Level III warning instruction.

[0012] Optionally, generating a tactile warning control command based on the scene warning command and the vehicle driving warning command includes: Obtain the warning level of the scene warning command and the warning level of the vehicle driving warning command; The tactile warning control command is generated based on the highest warning level among the warning levels of the scene warning command and the vehicle driving warning command.

[0013] Optionally, generating the tactile warning control command based on the highest warning level among the warning levels of the scene warning command and the vehicle driving warning command includes: When the highest warning level is Level 1, a tactile warning control command with low-frequency, small-amplitude vibration is generated. When the highest warning level is Level 2, a short, moderate-intensity pre-tightening tactile warning control command is generated; When the highest warning level is Level 3, a tactile warning control command for transient high-pressure pretensioning is generated.

[0014] Optionally, the method further includes: Based on the highest warning level, generate a collaborative audiovisual warning command; The collaborative audiovisual warning command is sent to the vehicle display device and the vehicle speaker; the vehicle display device is used to display visual icons, and the vehicle speaker is used to broadcast voice prompts. When the highest warning level is Level 1 warning, the coordinated audio-visual warning command is used to cause the vehicle display device to display a visual icon of a preset size and to cause the vehicle speaker to output a voice prompt of a preset frequency. When the highest warning level is a level 2 or level 3 warning, the coordinated audio-visual warning command is used to cause the vehicle display device to display a visual icon larger than the preset size, and to cause the vehicle speaker to output a voice prompt at a frequency higher than the preset frequency.

[0015] Secondly, embodiments of this application also provide a decision controller, which is integrated on the vehicle and is used to execute any of the vehicle-level tactile warning methods described in the first aspect above.

[0016] This application provides a vehicle-level tactile warning method and decision controller. The vehicle-level tactile warning method is applied to a decision controller integrated into a vehicle. The method first acquires global perception signals in real time, specifically including ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals. Second, it performs main scene warning processing based on the acquired ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals to generate corresponding scene warning commands. Simultaneously, it performs vehicle driving warning processing based on driver assistance function signals, driver status monitoring signals, and vehicle dynamic signals to generate vehicle driving warning commands. Then, the decision controller integrates the generated scene warning commands and vehicle driving warning commands to generate tactile warning control commands. Finally, the decision controller sends the tactile warning control commands to the seat belt controller, causing the seat belt controller to control the seat belt pretensioning motor to perform a seat belt pretensioning action with a corresponding force value according to the command. By using this method, unified acquisition and centralized processing of all-domain perception signals from different sources can be achieved. Scene warning commands are generated based on multi-dimensional signals such as ambient light, vehicle dynamics, environmental perception, and parking perception. At the same time, vehicle driving warning commands are generated based on signals such as assisted driving, driver status, and vehicle dynamics. Finally, the two types of warning commands are integrated into tactile warning control commands and sent to the seat belt controller to execute the corresponding force pretensioning action. This not only greatly improves the vehicle's warning coordination capability in complex risk scenarios and realizes intelligent protection based on tactile perception, but also enables the driver to directly perceive risks through tactile sensation, avoiding the risk being missed due to the neglect of visual and auditory warnings, thereby effectively improving the effectiveness of warnings and driving safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a vehicle-level tactile warning method provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the process of generating scene warning commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 3 A flowchart illustrating the generation of scene warning commands in another vehicle-level tactile warning method provided in this application embodiment; Figure 4A schematic diagram illustrating the process of generating lane departure warning commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 5 A schematic diagram illustrating the process of generating driver status warning commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 6 A flowchart illustrating the generation of driver status warning commands in another vehicle-level tactile warning method provided in this application embodiment; Figure 7 A schematic diagram illustrating the process of generating dynamic vehicle warning commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 8 A schematic diagram of the process for generating tactile warning control commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 9 This is a schematic diagram of the process for generating collaborative audiovisual warning commands in a vehicle-level tactile warning method provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a vehicle-graded tactile warning system provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] Before providing a detailed explanation of this application, let's first introduce its application scenarios.

[0023] In real-world driving scenarios that rely on vehicle safety warnings, such as nighttime driving, reversing, and highway driving, the various safety subsystems are developed by different suppliers and operate independently, making it difficult to achieve a synergistic effect. For example, when driving at night and the driver is in a state of mild fatigue, if a pedestrian suddenly appears in front of the vehicle, the existing infrared night vision system can detect the target, but it cannot integrate the fatigue state with environmental risks to make decisions, resulting in untimely warnings or conventional warning methods that are easily ignored by the driver.

[0024] Based on this, this application provides a vehicle-level tactile warning method and a decision controller. The vehicle-level tactile warning method is applied to a decision controller integrated into a vehicle. The method first acquires real-time global perception signals, specifically including ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals. Second, it performs main scene warning processing based on the acquired ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals to generate corresponding scene warning commands. Simultaneously, it performs main scene warning processing based on driver assistance function signals, driver status monitoring signals, and vehicle dynamic signals. The vehicle driving warning process generates a vehicle driving warning command. Then, the decision controller integrates the generated scenario warning command with the vehicle driving warning command to generate a tactile warning control command. Finally, the decision controller sends the tactile warning control command to the seat belt controller, which then controls the seat belt pretensioner motor to perform a seat belt pretensioning action with the corresponding force value according to the command. This significantly improves the vehicle's warning coordination capability in complex risk scenarios, realizes intelligent protection based on tactile feedback, and enables the driver to directly perceive risks through tactile sensation, avoiding the risk being missed due to the neglect of visual and auditory warnings, thereby effectively improving the effectiveness of warnings and driving safety.

[0025] The following explanation, in conjunction with the accompanying drawings, uses several embodiments to illustrate the concepts.

[0026] First, the decision controller used in the method will be explained.

[0027] Specifically, the decision controller is integrated into the vehicle. Through the vehicle's internal control area network (CAN bus) or a dedicated hardwired interface, the input of the decision controller is connected to at least the following signal sources: an ambient light sensor for collecting ambient light signals; an infrared night vision camera, a forward-looking intelligent driving camera, and radar for collecting environmental information; a driver monitoring camera for collecting driver status monitoring signals; a vehicle CAN bus interface for collecting vehicle dynamic signals; an intelligent driving domain controller for collecting signals from driver assistance functions; and a parking assist controller for collecting parking perception signals. The output of the decision controller is connected to at least the seatbelt controller to send tactile warning control commands to the seatbelt controller. In one possible implementation, the decision controller integrates a signal processing unit and a decision algorithm module, capable of processing received signals and implementing the functional logic defined in this application according to preset decision logic. It should be noted that the decision controller can be an independent electronic control unit or integrated into the vehicle domain controller or central computing platform; this application does not specifically limit this.

[0028] In this embodiment, the decision controller is integrated into the vehicle and is connected to a light intensity sensor, camera, radar, driver monitoring camera, CAN bus, intelligent driving domain controller, parking assist controller, and seat belt controller. The decision controller processes the received ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals in a unified manner, and sends tactile warning control commands to the seat belt controller based on the processing results. This enables the seat belt pretensioner motor to perform pretensioning action according to the stress value, significantly improving the coordination and reliability of the vehicle's graded tactile warning system.

[0029] Figure 1 This is a flowchart illustrating a vehicle-level tactile warning method provided in an embodiment of this application, as shown below. Figure 1 As shown, this vehicle-graded tactile warning method is applied to a decision controller integrated into a vehicle, including: S101 acquires global sensing signals in real time.

[0030] The global perception signals include: ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals.

[0031] In this embodiment, the decision controller acquires global perception signals in real time.

[0032] Specifically, ambient light signals are acquired through a light intensity sensor; environmental perception signals in nighttime environments are acquired through an infrared night vision camera, and environmental perception signals in daytime environments are acquired through a forward-looking intelligent driving camera and radar; driver status monitoring signals are acquired through a driver monitoring camera; vehicle dynamic signals, including vehicle yaw rate, steering wheel angle, longitudinal acceleration, and lateral acceleration, are acquired through the vehicle CAN bus interface; driver assistance function signals, including automatic emergency braking signals, forward collision warning signals, lane departure warning signals, and hands-free alarm signals, are acquired through the intelligent driving domain controller; and parking perception signals, including reversing collision warning signals, are acquired through the parking assist controller.

[0033] S102 generates scene warning commands by performing main scene warnings based on ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals.

[0034] Specifically, after acquiring the overall perception signal, the main scene warning process is performed. Main scene warning refers to the decision controller generating corresponding warning commands based on the current driving scenario type of the vehicle. Specifically, main scene warnings can be generated based on ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals.

[0035] For example, ambient light signals are analyzed to distinguish driving scenarios under different lighting conditions, such as daytime or nighttime. Further, based on environmental perception signals, the system assesses whether there is a risk of collision with pedestrians or obstacles ahead. Gear information in vehicle dynamic signals is analyzed to determine if the vehicle is in reverse mode. Based on this, combined with parking perception signals, the system assesses the collision risk in the current scenario. Based on the above scenario identification and risk assessment results, a scenario warning command corresponding to the current main scenario is generated. The scenario warning command at least includes the current main scenario type identifier and the corresponding warning level information.

[0036] S103 generates vehicle driving warning commands based on driver assistance function signals, driver status monitoring signals, and vehicle dynamic signals.

[0037] In this embodiment, vehicle driving warning processing is performed in parallel with the main scene warning. Vehicle driving warning refers to the decision controller making judgments and generating corresponding warning commands independently of the main scene based on risk factors related to the lane, driver status, and vehicle stability during vehicle operation.

[0038] Specifically, the decision controller performs lane departure warning analysis based on driver assistance function signals and generates lane departure warning commands; it performs driver status warning analysis based on driver status monitoring signals and hands-off alarm information in driver assistance function signals and generates driver status warning commands; and it performs vehicle stability warning analysis based on vehicle dynamic signals and generates vehicle dynamic warning commands.

[0039] The lane departure warning command, driver status warning command, and vehicle dynamic warning command mentioned above each contain at least warning level information.

[0040] S104 generates tactile warning control commands based on scene warning commands and vehicle driving warning commands.

[0041] In this embodiment, based on the scene warning command and the vehicle driving warning command, the two types of warning commands are processed in a comprehensive manner to determine the intensity and method of the tactile feedback that needs to be output, i.e., the tactile warning control command.

[0042] Specifically, the risk level indicated by the scenario warning command and the risk level indicated by the vehicle driving warning command are comprehensively evaluated, and then corresponding tactile warning control commands are generated. The tactile warning control commands include force parameters for instructing the seat belt pretensioning motor to perform corresponding actions, so that the intensity of the tactile warning matches the current risk level of the entire vehicle.

[0043] S105, the tactile warning control command is sent to the seat belt controller, so that the seat belt controller controls the seat belt pretensioning motor to perform the seat belt pretensioning action according to the stress value based on the tactile warning control command.

[0044] Specifically, the tactile warning control command is sent to the seat belt controller via the vehicle's internal control area network (CAN bus) or a dedicated hard-wired interface. Upon receiving the command, the seat belt controller parses it, extracts the force parameters, and then drives the connected seat belt pretensioner motor to output a pretensioning force matching these parameters, allowing the driver to receive tactile warning feedback through the tightening or vibration of the seat belt.

[0045] In this embodiment, unified acquisition and centralized processing of all-domain perception signals from different sources can be achieved. Scene warning commands are generated based on multi-dimensional signals such as ambient light, vehicle dynamics, environmental perception, and parking perception. At the same time, vehicle driving warning commands are generated based on signals such as assisted driving, driver status, and vehicle dynamics. Finally, the two types of warning commands are integrated into tactile warning control commands and sent to the seat belt controller to execute the corresponding force pretensioning action. This not only greatly improves the vehicle's warning coordination capability in complex risk scenarios and realizes intelligent protection based on tactile perception, but also enables the driver to directly perceive risks through tactile sensation, avoiding the risk being missed due to the neglect of visual and auditory warnings, thereby effectively improving the effectiveness of warnings and driving safety.

[0046] In the above Figure 1 Based on the corresponding embodiments, in order to more clearly demonstrate the process of generating scene warning commands, this application also provides a possible implementation of generating scene warning commands in the vehicle-level tactile warning method. Figure 2 This is a schematic flowchart illustrating the generation of scene warning commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 2 As shown, in step S102 above, the main scene warning is generated based on ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals. The generated scene warning command includes: S210 determines whether the vehicle is in night driving mode or day driving mode based on ambient light signals.

[0047] Specifically, the acquired ambient light signal is analyzed, and its value is compared with a preset illumination threshold. If the ambient light signal is lower than the preset illumination threshold, the vehicle is determined to be in nighttime driving mode; if the ambient light signal is higher than or equal to the preset illumination threshold, the vehicle is determined to be in daytime driving mode.

[0048] If the S220 is in night driving mode, it generates a scene warning command for night driving mode based on the infrared night vision signal in the environmental perception signal.

[0049] Specifically, in nighttime driving mode, infrared night vision cameras, compared to forward-looking cameras and radar, have the advantages of being unaffected by light attenuation and being able to actively detect thermal radiation targets. This effectively avoids the problem of forward-looking cameras missing targets due to insufficient lighting, and the limited ability of radar to identify non-metallic targets such as pedestrians. Therefore, in nighttime driving mode, the target detection results of infrared night vision signals in the environmental perception signal are used as the primary reference, with the detection results of other sensors serving as auxiliary references, thereby improving the accuracy and robustness of target recognition in nighttime scenarios.

[0050] Based on this, pedestrians, animals, or obstacles in the infrared night vision signal are identified, and their collision time is calculated. When a pedestrian or animal target is identified and its collision time is lower than a first threshold T1, a Level 1 warning command is triggered, which instructs the seatbelt pretensioner motor to perform low-frequency, small-amplitude vibration. If the collision time further decreases to a lower threshold T2, or automatic emergency braking is triggered, a Level 3 warning command is immediately triggered, which instructs the seatbelt pretensioner motor to perform transient, high-force pretensioning. Based on the above collision time evaluation results, scene warning commands corresponding to the warning level are generated as scene warning commands for the night driving mode.

[0051] S230, if in daytime driving mode, generates a scene warning command for daytime driving mode based on the forward-looking signal and radar signal in the environmental perception signal.

[0052] Specifically, if the system is determined to be in daytime driving mode, the forward-looking signal collected by the front-view intelligent driving camera and the radar signal collected by the radar are fused together. When the processing result meets the triggering conditions for a forward collision warning, a level 2 warning command is generated, which instructs the seatbelt pretensioner to perform a short, medium-force pretension. When the fusion processing result meets the triggering conditions for automatic emergency braking, a level 3 warning command is generated, which instructs the seatbelt pretensioner to perform a transient, high-force pretension. Based on the triggering status of the aforementioned forward collision warning signal and automatic emergency braking signal, a scene warning command corresponding to the warning level is generated, serving as the scene warning command for the daytime driving mode.

[0053] It should be noted that, in the embodiments of this application, the level 3 warning command corresponds to the highest level of risk, followed by the level 2 warning, and the level 1 warning corresponds to the lowest level of risk. Moreover, the higher the warning level, the greater the pretension of the active seat belt and the stronger the urgency of the warning.

[0054] Figure 3 This is a schematic diagram illustrating the process of generating scene warning commands in another vehicle-level tactile warning method provided in an embodiment of this application. For example... Figure 3 As shown, in step S102 above, the main scene warning is generated based on ambient light signals, vehicle dynamic signals, environmental perception signals, and parking perception signals. The generated scene warning command includes: S240 determines whether the vehicle is in reverse mode based on the gear information in the vehicle dynamic signal.

[0055] Specifically, gear information is extracted from the vehicle's dynamic signals to determine whether the gear is reverse. If the gear is reverse, the vehicle is currently in reverse mode; if the gear is not reverse, the vehicle is currently in non-reverse mode.

[0056] If the S250 is in reverse mode, it generates a scene warning command with directional indication based on the reversing collision warning signal in the parking perception signal.

[0057] Specifically, if the vehicle is determined to be in reversing mode, the reversing collision warning signal and the rear obstacle detection results are obtained from the parking perception signal. Based on the positional information of the rear obstacle, a scene warning command with directional indication is generated as the scene warning command for reversing mode. The directional indication is used to instruct the seat belt controller to control the seat belt to vibrate or pretension on the corresponding side based on the left or right direction of the risk source when executing the tactile warning, so as to alert the driver to the collision risk in the corresponding direction.

[0058] In this embodiment, by automatically distinguishing between nighttime and daytime driving modes based on ambient light signals, and using infrared night vision signals or forward-looking and radar signals for risk assessment respectively, all-weather adaptive scene warnings are achieved. At the same time, the reversing mode is identified based on gear information and a tactile warning command with directional prompts is generated, enabling the driver to intuitively perceive the location of the risk behind. This ensures that the generation of scene warning commands can match the current environment under different lighting conditions and driving states, improving the accuracy and scene adaptability of the warnings.

[0059] In the above Figure 1 Based on the corresponding embodiments, to more clearly demonstrate the process of generating vehicle driving warning commands, this application also provides a possible implementation of generating vehicle driving warning commands in a vehicle hierarchical tactile warning method. Optionally, in the above-described S103, generating vehicle driving warning commands based on assisted driving function signals, driver status monitoring signals, and vehicle dynamic signals includes: Among them, vehicle driving warning instructions include at least one of the following: lane departure warning instructions, driver status warning instructions, and vehicle dynamic warning instructions.

[0060] S310 generates a lane departure warning command based on the lane departure warning signal in the driver assistance function signal.

[0061] Specifically, a lane departure warning signal is extracted from the driver assistance function signals. This signal is pre-calculated and generated by the intelligent driving domain controller based on lane line information detected by the forward-facing camera and the relative position of the vehicle to the lane lines. Upon receiving the lane departure warning signal, the decision controller analyzes it to determine whether the vehicle is currently experiencing a lane departure event. If the signal indicates a lane departure, the controller generates a lane departure warning command. This command includes at least the warning level information corresponding to the current risk of lane departure, which is used to generate subsequent haptic warning control commands.

[0062] S320 generates driver status warning commands based on driver assistance function signals and / or driver status monitoring signals.

[0063] Specifically, a hands-off alarm signal is extracted from the driver assistance function signals, and driver facial feature information is extracted from the driver state monitoring signals. The hands-off alarm signal determines whether the driver's hands have left the steering wheel, and the driver's facial feature information determines whether the driver is fatigued. If the hands-off alarm signal indicates that the driver's hands have left the steering wheel and the vehicle is in driver assistance mode, or if the driver's facial feature information indicates that the driver is fatigued, a driver state warning command is generated. This driver state warning command includes at least a warning level corresponding to the current risk level of the driver's state, which is used to generate subsequent tactile warning control commands.

[0064] S330 generates vehicle dynamic warning commands based on vehicle dynamic signals.

[0065] Specifically, yaw rate and steering wheel angle information are extracted and analyzed from vehicle dynamic signals to calculate their deviation and rate of change. If the deviation between the yaw rate and steering wheel angle exceeds a preset stability threshold, the vehicle is determined to be showing signs of instability, such as fishtailing or skidding. Based on the severity of the instability trend, a vehicle dynamic warning command is generated. This command includes at least a warning level corresponding to the current risk of vehicle instability, which is used to generate subsequent tactile warning control commands.

[0066] In this embodiment, by independently generating lane departure warning commands, driver status warning commands, and vehicle dynamic warning commands based on lane departure warning signals, driver status monitoring signals, and vehicle dynamic signals, parallel perception and hierarchical judgment of risks in different dimensions during driving are achieved. Together, they constitute a vehicle driving warning system covering the entire driving scenario, providing multi-dimensional basis support for the subsequent comprehensive output of tactile warning control commands.

[0067] Based on the embodiments corresponding to S310-S330 above, in order to more clearly demonstrate the process of generating lane departure warning instructions, this application also provides a possible implementation of generating lane departure warning instructions in a vehicle-level tactile warning method. Figure 4 This is a schematic flowchart illustrating the generation of lane departure warning commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 4 As shown, S310 above generates a lane departure warning command based on lane line information and turn signal information in the driver assistance function signal, including: S410 determines whether the vehicle has deviated from its lane based on the lane departure warning signal.

[0068] Specifically, a lane departure warning signal is extracted from the driver assistance function signals. This signal directly indicates whether the vehicle is currently unintentionally deviating from its lane. Upon receiving the lane departure warning signal, it is analyzed. If the analysis result is true, it is determined that a lane departure event has occurred; if the analysis result is empty, it is determined that no lane departure event has occurred.

[0069] S420: If lane departure occurs, the system determines whether the driver should perform a steering correction operation based on the steering wheel angle information in the vehicle dynamic signal.

[0070] Specifically, if a lane departure event is determined, steering wheel angle information is further extracted from the vehicle's dynamic signals. This information is then analyzed to determine the relationship between the direction of steering wheel angle change and the vehicle's deviation direction. If the direction of the steering wheel angle is opposite to the vehicle's deviation direction, and the angle amplitude exceeds a preset correction threshold, it is determined that the driver is performing a steering correction operation. If the direction of the steering wheel angle is the same as the vehicle's deviation direction, or the angle amplitude does not exceed the correction threshold, it is determined that the driver is not performing a steering correction operation.

[0071] If the steering correction operation is not performed in S430, a Level 1 warning command is generated as a lane departure warning command.

[0072] Specifically, if it is determined that the driver has not performed a steering correction operation, and the current lane departure risk is judged to be in the early stage, a primary reminder needs to be issued to the driver. Based on this, a first-level warning instruction is generated as a lane departure warning instruction. The first-level warning instruction is used to instruct the seat belt pretensioner to perform low-frequency small-amplitude vibration, which is used to gently remind the driver that the vehicle has deviated from the lane without causing the driver to be nervous.

[0073] S440 If the duration of lane departure exceeds the preset departure time, a secondary warning instruction is generated as a lane departure warning instruction.

[0074] The warning level of a Level 1 warning is lower than that of a Level 2 warning.

[0075] Specifically, upon confirmation of lane departure, a lane departure timer is simultaneously activated. If the duration of lane departure exceeds a preset duration and the driver fails to take effective steering corrective action, the lane departure risk is deemed to have escalated, requiring stronger intervention. A secondary warning instruction is then generated as a lane departure warning instruction. This secondary warning instruction instructs the seatbelt pretensioner to apply a short, moderate pretension, providing the driver with a clearer tactile reminder and urging them to take over vehicle control promptly. The primary warning instruction has a lower warning level than the secondary warning instruction.

[0076] In this embodiment, by directly receiving lane departure warning signals from the intelligent driving domain controller and combining this with steering wheel angle information to determine whether the driver is actively correcting the lane, the system can effectively identify the driver's true intentions and avoid generating unnecessary warnings when the driver has already consciously made a move. Simultaneously, based on the extension of the deviation duration, the warning level is automatically upgraded from Level 1 vibration to Level 2 pre-tensioning, achieving a progressive tactile feedback from gentle prompts to strong intervention. This prevents excessive warnings from interfering with the driver while ensuring a sufficiently strong reminder when the driver remains unresponsive, thereby improving the accuracy and effectiveness of the lane departure warning.

[0077] Based on the embodiments corresponding to S310-S330 above, in order to more clearly demonstrate the process of generating driver status warning instructions, this application also provides a possible implementation of generating driver status warning instructions in a vehicle-level tactile warning method. Figure 5 This is a schematic flowchart illustrating the generation of driver status warning commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 5 As shown, the above-mentioned S320, which generates a driver status warning command based on the driver status monitoring signal, includes: S510 determines whether the driver is fatigued based on driver condition monitoring signals.

[0078] Specifically, facial feature information of the driver is extracted from the driver condition monitoring signal. This facial feature information is collected in real time by the driver monitoring camera, including parameters such as eye opening and closing, blinking frequency, head posture, and gaze direction. These parameters are analyzed; for example, if features such as eye opening and closing consistently falling below a preset threshold, abnormally decreased or increased blinking frequency, or frequent head nodding are detected, the driver is determined to be fatigued. If none of these fatigue characteristics are present, the driver is determined to be in normal condition and not fatigued.

[0079] S520: If the driver is fatigued, a Level 1 warning command is generated as a driver status warning command.

[0080] Specifically, if driver fatigue is detected, a status alert needs to be issued. Since fatigue is an early stage of risk and has not yet reached the level of emergency intervention, a Level 1 warning instruction is generated as a driver status warning instruction. The Level 1 warning instruction is used to instruct the seat belt pretensioner motor to vibrate at a low frequency and a small amplitude, so as to remind the driver to pay attention to rest or adjust their driving status through the seat belt with gentle tactile feedback, so as to avoid safety accidents caused by decreased attention due to fatigue.

[0081] In this embodiment, facial feature information is collected in real time by a driver monitoring camera, which can identify the driver's fatigue state. Once fatigue is detected, a first-level warning command is immediately generated and the seat belt is vibrated to remind the driver. Compared with traditional sound or light prompts, the tactile feedback is more direct and less likely to be ignored, which helps to attract the driver's attention in the early stages of fatigue driving, thereby reducing the risk of accidents caused by fatigue.

[0082] Figure 6 This is a schematic diagram illustrating the process of generating driver status warning commands in another vehicle-level tactile warning method provided in an embodiment of this application. For example... Figure 6 As shown, the above-mentioned S320, which generates a driver status warning command based on the driver status monitoring signal, includes: The S530 determines whether the driver's hands have left the steering wheel based on the hands-off warning signal in the driver assistance function signals.

[0083] Specifically, a hands-off alarm signal is extracted from the driver assistance function signals. This signal is detected by the steering wheel grip force sensor or steering torque sensor and then generated by the intelligent driving domain controller. The decision controller analyzes the hands-off alarm signal. If the analysis result is true, it is determined that the driver's hands have taken off the steering wheel; if the analysis result is false, it is determined that the driver's hands have not taken off the steering wheel.

[0084] S540: If the driver takes both hands off the steering wheel and the vehicle is in assisted driving mode, a first-level warning command is generated as a driver status warning command.

[0085] Specifically, if it is determined that the driver's hands are off the steering wheel, further information on the vehicle's assisted driving status is obtained. When the vehicle is currently in assisted driving mode and the driver's hands are off the steering wheel, it is determined that there is a risk of driver inattention. Based on this, a first-level warning command is generated as a driver status warning command, which reminds the driver to put their hands back on the steering wheel through low-frequency, small vibrations of the seat belt.

[0086] S550: If the driver takes both hands off the steering wheel for more than the preset time, a level 2 warning command is generated as a lane departure warning command.

[0087] The warning level of a Level 1 warning is lower than that of a Level 2 warning.

[0088] Specifically, once the driver's hands are confirmed to be off the steering wheel, a hands-off timing system is initiated simultaneously. If the duration of the driver's hands being off the steering wheel exceeds the preset hands-off time and the driver still does not return their hands to the steering wheel, the risk is deemed to have escalated, requiring stronger intervention. A secondary warning instruction is then generated as a driver status warning instruction. This secondary warning instruction instructs the seatbelt pretensioner to perform a short, moderate pretension, providing the driver with a clearer sensory reminder. The primary warning instruction has a lower warning level than the secondary warning instruction.

[0089] It should be noted that S510-S520 (fatigue warning) and S530-S550 (hands-off warning) are both parallel decision branches in S320 that generate driver status warning commands. There is no fixed execution order between them. The decision controller can execute these two sets of judgments simultaneously or sequentially according to a preset polling order. The two sets of judgments rely on different signal sources, and their judgment logic is independent. The warning commands generated by each set of judgments (both are driver status warning commands) are summarized, and the highest warning level is output to the subsequent S104 for comprehensive processing. This parallel and independent judgment method ensures the comprehensiveness of driver status warnings. Whether it is a decrease in attention caused by fatigue or a loss of control caused by hands-off, it can be captured in time and the corresponding tactile warning can be output.

[0090] In this embodiment, the driver's hands are in contact with the steering wheel in real time through the hands-off alarm signal. A first-level warning command is output in the assisted driving mode. If the driver continues to take his hands off the steering wheel for more than a preset time, the warning command is automatically upgraded to a second-level warning command. This achieves progressive tactile feedback, which effectively prevents the driver from becoming overly dependent on the assisted driving system. It provides progressively enhanced tactile feedback before the risk escalates, thereby improving the safety of human-machine co-driving in assisted driving scenarios.

[0091] Based on the embodiments corresponding to S310-S330 above, in order to more clearly demonstrate the process of generating vehicle dynamic warning commands, this application also provides a possible implementation of generating vehicle dynamic warning commands in a vehicle hierarchical tactile warning method. Figure 7 This is a schematic flowchart illustrating the generation of dynamic vehicle warning commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 7 As shown, the above-mentioned S330, which generates a vehicle dynamic warning command based on vehicle dynamic signals, includes: S610 determines whether the vehicle is showing signs of instability based on the yaw rate and steering wheel angle information in the vehicle dynamic signal.

[0092] Specifically, yaw rate and steering wheel angle information are extracted from vehicle dynamic signals. Yaw rate reflects the angular velocity of the vehicle's rotation around its vertical axis, while steering wheel angle reflects the driver's steering intention. These two parameters are then compared and analyzed in real time to calculate the deviation between the actual yaw rate and the theoretical expected yaw rate corresponding to the steering wheel angle. If this deviation exceeds a preset instability threshold, the vehicle is determined to be showing signs of instability, such as fishtailing or sideslipping; if the deviation is within the preset threshold range, the vehicle is determined to be in a stable state.

[0093] If an instability trend occurs in S620, a Level 2 or Level 3 warning command will be generated as a vehicle dynamic warning command based on the degree of instability trend.

[0094] Among them, the warning level of the Level II warning instruction is lower than that of the Level III warning instruction.

[0095] In this embodiment, if the vehicle is determined to show signs of instability, the severity of the instability trend is further assessed. Specifically, the magnitude and rate of change of the yaw rate deviation are calculated. When the deviation value is in the mild instability range (e.g., exceeding the threshold but with a small deviation), the degree of instability is determined to be mild, and a Level 2 warning command is generated as a vehicle dynamic warning command. This command instructs the seatbelt pretensioner to perform a short, moderate pretension to alert the driver to abnormal vehicle posture. When the deviation value is in the severe instability range (e.g., a large deviation or a sharp increase in the rate of change of deviation), the degree of instability is determined to be severe, and a Level 3 warning command is generated as a vehicle dynamic warning command. This command instructs the seatbelt pretensioner to perform a transient, high-force pretension to provide a strong sensory warning to the driver before loss of control. The Level 2 warning command has a lower warning level than the Level 3 warning command.

[0096] In this embodiment, by comparing the deviation between the yaw rate and the steering wheel angle in real time, it is possible to identify unstable trends such as vehicle tail-slip and sideslip. Based on the degree of deviation, it automatically matches a level two or three tactile warning. Through graded intervention of seat belt pretension force, it provides the driver with direct and distinguishable tactile feedback before the vehicle is about to lose control, making up for the deficiency of visual warnings being easily ignored in emergency driving conditions, and effectively improving the active safety protection capability in vehicle dynamic instability scenarios.

[0097] In the above Figure 1 Based on the corresponding embodiments, in order to more clearly demonstrate the process of generating tactile warning control commands, this application also provides a possible implementation of generating tactile warning control commands in a vehicle-level tactile warning method. Figure 8 This is a schematic flowchart illustrating the generation of tactile warning control commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 8As shown, in the above-mentioned S104, the tactile warning control command generated based on the scene warning command and the vehicle driving warning command includes: S710 acquires the warning level of scene warning commands and the warning level of vehicle driving warning commands.

[0098] Specifically, scene warning commands and vehicle driving warning commands are obtained. Scene warning commands at least include the current main scene type identifier and the corresponding warning level information. Vehicle driving warning commands include lane departure warning commands, driver status warning commands, and vehicle dynamic warning commands, each with its corresponding warning level. Each warning command corresponds to a warning level; for example, a level 1 warning command corresponds to a level 1 warning, a level 2 warning command corresponds to a level 2 warning, and a level 3 warning command corresponds to a level 3 warning. The corresponding warning level is parsed from these commands for subsequent comprehensive comparison.

[0099] The S720 generates tactile warning control commands based on the highest warning level among the warning levels of the scene warning commands and the vehicle driving warning commands.

[0100] Specifically, the warning levels of the acquired scene warning commands, lane departure warning commands, driver status warning commands, and vehicle dynamic warning commands are compared with each other, and the warning level with the highest value is selected as the highest warning level. Based on this highest warning level, a matching tactile warning control command is generated. The tactile warning control command includes force parameters to instruct the seat belt pretensioner motor to perform corresponding actions, so that the intensity of the tactile warning matches the current overall vehicle risk level.

[0101] In this embodiment, by acquiring the warning levels of scene warnings and various vehicle driving warnings respectively, and selecting the highest level as the final output basis, it is ensured that the tactile feedback received by the driver in any complex risk scenario always matches the most urgent risk level, avoiding command conflicts when multiple warnings coexist, and realizing decision-making from multiple risk inputs to a single tactile output.

[0102] In the above Figure 8 Based on the corresponding embodiments, to more clearly illustrate the process of generating tactile warning control commands, this application also provides a possible implementation of generating tactile warning control commands in a vehicle-level tactile warning method. Optionally, in the above-described S720, the generation of tactile warning control commands based on the highest warning level among the warning levels of the scene warning command and the vehicle driving warning command includes: S810 generates a tactile warning control command with low-frequency, small-amplitude vibration when the highest warning level is Level 1.

[0103] Specifically, the highest warning level is compared with a preset threshold. When the highest warning level is Level 1, the overall risk of the vehicle is considered low, requiring only mild, suggestive feedback to the driver without causing excessive anxiety. The resulting tactile warning control command instructs the seatbelt pretensioner motor to perform low-frequency, small-amplitude vibrations. Upon receiving this command, the seatbelt controller drives the pretensioner motor to vibrate periodically at a low frequency and small amplitude, allowing the driver to perceive the risk through tactile feedback without interfering with normal driving operations.

[0104] S820 generates a short, moderately intense tactile warning control command when the highest warning level is Level 2.

[0105] Specifically, when the highest warning level is Level 2, the overall risk of the vehicle is determined to be at a moderate level, requiring a clearer tactile reminder to the driver. The resulting tactile warning control command instructs the seatbelt pretensioner motor to perform a short, moderate pretension. Upon receiving this command, the seatbelt controller drives the pretensioner motor to output a moderate pretension force within a short time, causing the seatbelt to tighten once with moderate force, thus conveying a clear tactile sensation to the driver.

[0106] S830 generates a transient, high-tension tactile warning control command when the highest warning level is Level 3.

[0107] Specifically, when the highest warning level is Level 3, the overall risk to the vehicle is determined to be at an emergency level, requiring the strongest level of tactile warning to be issued to the driver. The resulting tactile warning control command instructs the seatbelt pretensioner motor to perform a transient, high-force pretension. Upon receiving this command, the seatbelt controller drives the pretensioner motor to output a large pretension force within a very short time, causing the seatbelt to tighten rapidly and forcefully, providing the strongest tactile feedback to remind the driver to take immediate evasive action.

[0108] In this embodiment, by mapping the highest warning level to three progressively stronger tactile modes—Level 1 low-frequency small-amplitude vibration, Level 2 short-duration medium pretension, and Level 3 transient high-pressure pretension—a continuous, graded tactile feedback from suggestive reminders to definitive warnings and then to emergency intervention is achieved. This allows drivers to intuitively identify the severity of the current risk solely based on the tactile sensation transmitted by the seatbelt, without relying on visual or auditory channels. This effectively solves the problem that traditional sound and light warnings are easily ignored in noisy environments or when drivers are distracted, significantly improving the effectiveness of tactile warnings.

[0109] In the above Figure 1Based on the corresponding embodiments, in order to more clearly demonstrate the process of generating collaborative audiovisual warning commands, this application also provides a possible implementation of generating collaborative audiovisual warning commands in a vehicle-level tactile warning method. Figure 9 This is a schematic diagram illustrating the process of generating collaborative audiovisual warning commands in a vehicle-level tactile warning method provided in an embodiment of this application. Figure 9 As shown, based on the above S101-S105, the method further includes: The in-vehicle display device is used to display visual icons, and the in-vehicle speaker is used to broadcast voice prompts.

[0110] When the highest warning level is Level 1, the coordinated audio-visual warning command is used to make the in-vehicle display device display a visual icon of a preset size and make the in-vehicle speaker output a voice prompt of a preset frequency.

[0111] When the highest warning level is Level II or Level III, the coordinated audio-visual warning command is used to make the in-vehicle display device display a visual icon larger than the preset size and make the in-vehicle speaker output a voice prompt at a frequency higher than the preset frequency.

[0112] S910 generates coordinated audiovisual warning commands based on the highest warning level.

[0113] Specifically, based on the highest warning level, a coordinated audiovisual warning command is generated to complement the tactile warning control command. The coordinated audiovisual warning command is used to provide multimodal auxiliary reminders to the driver through visual and auditory channels while the seat belt performs a tactile warning.

[0114] When the highest warning level is Level 1, a Level 1 coordinated audiovisual warning command is generated. This command instructs the in-vehicle display device to display a visual icon of a preset size and instructs the in-vehicle speakers to output a voice prompt at a preset frequency. When the highest warning level is Level 2 or Level 3, a Level 2 or Level 3 coordinated audiovisual warning command is generated. This command instructs the in-vehicle display device to display a visual icon larger than a preset size and instructs the in-vehicle speakers to output a voice prompt at a frequency higher than a preset frequency, in order to match the warning intensity under the higher risk level.

[0115] The S920 sends coordinated audio-visual warning commands to the vehicle display device and vehicle speakers.

[0116] The coordinated audiovisual warning commands are sent to both the in-vehicle display device and the in-vehicle speaker. The in-vehicle display device includes at least one of the instrument panel, head-up display, or central control screen, and is used to display visual icons of appropriate size and style according to the received commands. The in-vehicle speaker is used to broadcast voice prompts of appropriate frequency and volume according to the received commands. By simultaneously outputting through tactile, visual, and auditory channels, a three-dimensional warning system is formed to ensure that the driver can perceive risk information in the most direct way.

[0117] In this embodiment, based on tactile warnings, a coordinated audiovisual warning command is simultaneously generated and output according to the highest warning level, linking seatbelt vibration / pretensioning, instrument panel icon display, and voice prompts. When the risk level is low, a gentle audiovisual approach assists the tactile prompt; when the risk escalates to level two or three, the visual icon size increases and the voice frequency rises to strengthen the warning intensity. This multimodal collaborative mechanism leverages the advantages of direct and easily ignored tactile feedback while utilizing the audiovisual channel to provide risk type information, ensuring that drivers can effectively receive warnings in different driving environments, significantly improving the coverage and reliability of warnings.

[0118] Based on the decision controller provided in the above embodiments, this application also provides a possible implementation of a vehicle-level tactile warning system. Figure 10 This is a schematic diagram of a vehicle-graded tactile warning system provided in an embodiment of this application. Figure 10 As shown, the vehicle graded tactile warning system includes: a global signal input module, a seat belt controller, and a decision controller in any of the above embodiments; the global signal input module, the seat belt controller, and the decision controller are all communicatively connected.

[0119] The system comprises two modules: a global signal input module for collecting global perception signals, including but not limited to ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals, and sending the collected global perception signals to the decision controller; and a seatbelt controller for receiving tactile warning control commands generated by the decision controller and driving the seatbelt pretensioning motor to perform seatbelt action based on stress values. The decision controller is also connected to both the global signal input module and the seatbelt controller, processing the global perception signals collected by the global signal input module to generate scene warning commands and vehicle driving warning commands, and generating tactile warning control commands based on these two types of commands to send to the seatbelt controller.

[0120] Based on the same inventive concept, the vehicle-graded tactile warning system has the vehicle-graded tactile warning function as described in any of the above embodiments, and has the beneficial effects of the corresponding embodiments, which will not be repeated here.

[0121] Based on the vehicle-graded tactile warning system provided in the above embodiments, this application also provides a possible implementation of a vehicle. The vehicle includes: a vehicle body, and the vehicle-graded tactile warning system from any of the above embodiments disposed on the vehicle body.

[0122] Based on the same inventive concept, the vehicle has the vehicle-level tactile warning function as described in any of the above embodiments, and has the beneficial effects of the corresponding embodiments, which will not be repeated here.

[0123] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle graded tactile warning method as described in any of the above embodiments, and having the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0124] The computer-readable storage media in this application embodiment include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0125] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0126] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle-level tactile warning method, characterized in that, The method, applied to a decision controller integrated into a vehicle, includes: Real-time acquisition of global perception signals, including: ambient light signals, environmental perception signals, driver status monitoring signals, vehicle dynamic signals, driver assistance function signals, and parking perception signals; Based on the ambient light signal, the vehicle dynamic signal, the environmental perception signal, and the parking perception signal, a main scene warning is generated, and a scene warning command is generated. Based on the assisted driving function signal, the driver status monitoring signal, and the vehicle dynamic signal, a vehicle driving warning is generated, and a vehicle driving warning command is generated. Based on the scene warning command and the vehicle driving warning command, generate a tactile warning control command; The tactile warning control command is sent to the seat belt controller, so that the seat belt controller controls the seat belt pretensioning motor to perform a seat belt pretensioning action according to the stress value based on the tactile warning control command.

2. The method according to claim 1, characterized in that, The step of generating a scene warning command based on the ambient light signal, the vehicle dynamic signal, the environmental perception signal, and the parking perception signal includes: Based on the ambient light signal, determine whether the vehicle is in night driving mode or day driving mode; If the vehicle is in the night driving mode, a scene warning command for the night driving mode is generated based on the infrared night vision signal in the environmental perception signal. If the vehicle is in the daytime driving mode, a scene warning command for the daytime driving mode is generated based on the forward-looking signal and radar signal in the environmental perception signal. Based on the gear information in the vehicle dynamic signal, determine whether the vehicle is in reverse mode; If the vehicle is in reversing mode, a scene warning command with directional indication is generated based on the reversing collision warning signal in the parking perception signal.

3. The method according to claim 1, characterized in that, The vehicle driving warning command includes at least one of: lane departure warning command, driver status warning command, and vehicle dynamic warning command; the step of generating the vehicle driving warning command based on the assisted driving function signal, the driver status monitoring signal, and the vehicle dynamic signal includes: The lane departure warning command is generated based on the lane departure warning signal in the driver assistance function signal; Based on the driver assistance function signal and / or the driver status monitoring signal, a driver status warning is issued, and a driver status warning command is generated. Based on the vehicle dynamic signals, a vehicle dynamic warning is generated, and a vehicle dynamic warning command is generated.

4. The method according to claim 3, characterized in that, The step of generating the lane departure warning command based on the lane departure warning signal in the driver assistance function signal includes: Based on the lane departure warning signal, determine whether the vehicle has deviated from its lane; If lane departure occurs, the driver is asked to perform a steering correction operation based on the steering wheel angle information in the vehicle dynamic signal. If the steering correction operation is not performed, a Level 1 warning command is generated as the lane departure warning command; If the duration of the lane departure exceeds a preset departure time, a secondary warning instruction is generated as the lane departure warning instruction, wherein the warning level of the primary warning instruction is lower than that of the secondary warning instruction.

5. The method according to claim 3, characterized in that, The step of generating a driver status warning command based on the driver status monitoring signal includes: Based on the driver status monitoring signals, determine whether the driver is fatigued; If the driver is fatigued, a Level 1 warning instruction is generated as a warning instruction for the driver's condition. Based on the hands-off alarm signal in the driver assistance function signal, determine whether the driver's hands have taken off the steering wheel; If the driver takes both hands off the steering wheel and the vehicle is in assisted driving mode, the first-level warning command is generated as the driver status warning command. If the driver's hands are off the steering wheel for a period exceeding a preset time, a secondary warning instruction is generated as the lane departure warning instruction, wherein the warning level of the primary warning instruction is lower than that of the secondary warning instruction.

6. The method according to claim 3, characterized in that, The step of generating a vehicle dynamic warning command based on the vehicle dynamic signal includes: Based on the yaw rate information and steering wheel angle information in the vehicle dynamic signal, determine whether the vehicle is showing signs of instability; If the aforementioned instability trend occurs, a Level II or Level III warning instruction is generated as the vehicle dynamic warning instruction based on the degree of the instability trend; wherein, the warning level of the Level II warning instruction is lower than that of the Level III warning instruction.

7. The method according to claim 1, characterized in that, The step of generating tactile warning control commands based on the scene warning command and the vehicle driving warning command includes: Obtain the warning level of the scene warning command and the warning level of the vehicle driving warning command; The tactile warning control command is generated based on the highest warning level among the warning levels of the scene warning command and the vehicle driving warning command.

8. The method according to claim 7, characterized in that, The step of generating the tactile warning control command based on the highest warning level among the warning levels of the scene warning command and the vehicle driving warning command includes: When the highest warning level is Level 1, a tactile warning control command with low-frequency, small-amplitude vibration is generated. When the highest warning level is Level 2, a short, moderate-intensity pre-tightening tactile warning control command is generated; When the highest warning level is Level 3, a tactile warning control command for transient high-pressure pretensioning is generated.

9. The method according to claim 1, characterized in that, The method further includes: Based on the highest warning level, generate a collaborative audiovisual warning command; The collaborative audiovisual warning command is sent to the vehicle display device and the vehicle speaker; the vehicle display device is used to display visual icons, and the vehicle speaker is used to broadcast voice prompts. When the highest warning level is Level 1 warning, the coordinated audio-visual warning command is used to cause the vehicle display device to display a visual icon of a preset size and to cause the vehicle speaker to output a voice prompt of a preset frequency. When the highest warning level is a level 2 or level 3 warning, the coordinated audio-visual warning command is used to cause the vehicle display device to display a visual icon larger than the preset size, and to cause the vehicle speaker to output a voice prompt at a frequency higher than the preset frequency.

10. A decision controller, characterized in that, The decision controller is integrated on the vehicle and is used to execute the vehicle graded tactile warning method according to any one of claims 1-9.

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