JP2019128954A - Method and system of controlling linkage between driver and vehicle active safety technology - Google Patents

Abstract

The present invention discloses a control method and a control system for interlocking a driver with a vehicle active safety technology. Kind Code: A1 A vehicle environment is sensed and vehicle environment data is acquired; a behavior of a vehicle driver is monitored; driving operation data is acquired; And obtaining driving mode data corresponding to the driver's intention; sensing the vehicle's own state and obtaining own vehicle data; Determine and determine active safety control data; correspondingly control that the vehicle performs active safety operation. The present invention realizes the link between the driver and the active safety technology, and enhances the safety and reliability of the vehicle. [Selection diagram] Fig. 1

Description

The present invention covers the field of vehicle active safety technology, and more specifically, is a control method and control system for interlocking between a driver and vehicle active safety technology.

Along with the development of smart driving, vehicle active safety technology has been widely applied in the field of vehicle smart control, and the technology continues to monitor the vehicle itself and its surrounding environment with various sensors such as camera, radar, laser and ultrasonic wave. When a potential danger is detected, an alarm is issued to alert the driver to abnormal vehicle or road conditions, and therefore vehicle active safety technology plays an important role in improving driving safety and reducing traffic accidents.
However, there is a lack of linkage between the existing active safety technology and the driver: (1) The active safety technology generally monitors only the vehicle itself and the surrounding environment, so the driver's intention can not be accurately understood, for example When the vehicle ahead is detected, the driver depresses the brake pedal and then releases it, and the active safety system erroneously determines that the driver has performed a deceleration operation, and delays the activation of the collision prevention function. (2) In the event of an accident or emergency situation, it is difficult for the driver to handle correctly. For example, the driver cannot fully step on the brake pedal due to panic, and a collision occurs due to insufficient braking force. If the vehicle turns in the wrong direction and the vehicle rushes into an obstacle, the active safety system cannot understand the driver's intention and is prone to accidents.

Chinese Patent Application Publication No. 102667117

The object of the present invention is to control the linkage between the driver and the vehicle active safety technology for the problem that the active safety system cannot understand the driver's intention because the linkage between the existing active safety technology and the driver is insufficient. Provide a method and control system, realize the link between active safety technology and driver, and enhance the safety and reliability of the vehicle.

The control method for interlocking between the driver and the vehicle active safety technology disclosed in the present invention is applied to a vehicle that performs smart driving, and includes the following steps:

Detecting the surrounding environment of the vehicle, the distance and relative speed between the vehicle and the preceding vehicle, the distance and relative speed between the vehicle and the side vehicle, the area range where the road can travel, the obstacle detected by the vehicle and the vehicle Obtain vehicle environment data including distance with and relative speed with

Monitor driving behavior of the vehicle driver and acquire driving motion data including facial expression, detection of motion of limbs, handle grip force, pressure of accelerator brake pedal; recognizing driver's intention by recognizing the driving motion data Judge and obtain driving mode data corresponding to the driver's intention;

Detects the vehicle's own state and obtains own vehicle data including own vehicle speed, own vehicle blinker signal, own vehicle yaw angle, own vehicle steering wheel rotation angle;

Determining and determining a vehicle active safety control command and active safety control data from the vehicle environment data, driving mode data, and own vehicle data;

The vehicle active safety control command and the active safety control data correspondingly control the vehicle to perform an active safety operation.

Further, the method of recognizing the driving operation data includes data fusion, machine learning, deep learning method; determining the driver's intention means that the driver's intention is collision avoidance intention, deceleration intention, turning intention, Including determining whether it belongs to a significant turning intention or an intention to leave the road.

Furthermore, the active safety control command comprises controlling one or more combinations of active braking, active turning, active seat belt control; correspondingly the active safety control data is active braking It includes braking strength, braking time, braking action time length, active direction change direction, direction change time, direction change angle, magnitude of tension force of active seat belt, action time and time length.

The control system for linking the driver and the vehicle active safety technology disclosed in the present invention includes a vehicle environment detection unit, a driver monitoring unit, a driver operation pattern recognition unit, a vehicle own state acquisition unit, a determination unit, and an execution unit. The driver monitoring unit is connected to the driver movement pattern recognition unit, the determination unit is connected to the vehicle environment sensing unit, the driver movement pattern recognition unit, and the vehicle state acquisition unit, respectively, and the execution unit is connected to the determination unit;

The vehicle environment sensing unit senses the surrounding environment of the vehicle, and the distance and relative speed between the own vehicle and the preceding vehicle, the distance and relative velocity between the own vehicle and the side vehicle, the area range where the road can travel, the own vehicle Obtain vehicle environment data including distance and relative speed between the vehicle and the detected obstacle;

Said driver monitoring unit: monitoring the action of the vehicle driver and acquiring driving operation data including facial expression, detection of movement of limbs, handle grip force, pressure of accelerator brake pedal;

The driver action pattern recognition unit: recognizes the driver's intention by recognizing the driving action data, and obtains driving mode data corresponding to the driver's intention;

Said vehicle state acquisition unit: detecting vehicle state, acquiring vehicle data including vehicle speed, vehicle blinker signal, vehicle yaw angle, vehicle handle rotation angle;

The determining unit: determining and determining a vehicle active safety control command and active safety control data based on vehicle environment data, driving mode data, and own vehicle data;

Execution unit: The vehicle is controlled by the vehicle active safety control command and the active safety control data, and the active safety operation is performed.

Further, the vehicle environment sensing unit includes a sensor such as a camera, a radar sensor, a laser sensor, and an ultrasonic sensor, an environment data processing unit, and an environment data output unit; including the camera, the radar sensor, and the laser A sensor, the ultrasonic sensor is used to sense a surrounding environment of the vehicle and acquire vehicle environment data; the environmental data processing unit is used to process vehicle environment data; and the environmental data output unit is Used to output the vehicle environment data processed by the environment data processing unit to a decision unit.

Furthermore, the driver monitoring unit includes a camera face expression detection unit, a steering wheel grip detection unit, a brake accelerator pedal pressure detection unit, a camera limb operation detection unit, a driving operation data processing unit, and a driving operation data output unit; The camera face expression detection unit is used to detect the facial expression of the driver; the handle grip detection unit is used to detect the grip pressure on the steering wheel by the driver's hand; the brake accelerator pedal The pressure detection unit is used to detect the stepping pressure on the brake and the accelerator by the driver; the camera limb movement detection unit is used to detect the movement pattern and the movement width of the driver's arm and body; The driving operation data processing unit It is used to process; the running operation data output unit is used to output driving operation data processed by the driver operating the data processing unit to the decision unit.

Furthermore, the vehicle state acquisition unit is connected to the vehicle electronic control unit by the CAN bus, and includes the vehicle speed, the vehicle blinker signal and the vehicle yaw angle, and the vehicle steering wheel rotation angle from a plurality of electronic control units of the vehicle. Obtain own vehicle data.

Furthermore, the execution unit includes an active brake controller, an active direction change controller, an active seat belt controller, a transmission control system, an engine control system, a seat belt control system, and an EPS system, and the active brake controller is activated according to a determination result of the determination unit. Brake control is correspondingly performed; the active direction change controller correspondingly executes active direction change control according to the determination result of the determination unit; the active seat belt controller controls the active seat belt control according to the determination result of the determination unit Correspondingly; the transmission control system, the engine control The system adjusts the control to allow the vehicle a safe distance; the seat belt control system receives the seat belt adjustment command sent from the active seat belt controller and the magnitude of the seat belt tension on the driver Control the time and duration of operation; the EPS system receives a turn command sent from the active turn controller and controls that the vehicle can only turn in a direction away from the target object.

The present invention acquires vehicle environment data, driving mode data corresponding to the driver's intention, and own vehicle data, respectively, by detecting the surrounding environment of the vehicle, monitoring the action of the vehicle driver, and detecting the vehicle's own state. Determine and determine the active safety control command and the active safety control data, and correspondingly control that the vehicle performs the active safety operation, thereby realizing the linkage between the driver and the active safety technology, and Improve safety and reliability.

FIG. 1 is an overall flow schematic diagram of a control method for interlocking between a driver and a vehicle active safety technology disclosed in the first embodiment. FIG. 2 is an overall structure and connection block diagram of a control system for interlocking the driver and the vehicle active safety technology disclosed in the second embodiment. FIG. 3 is a detailed block diagram of the vehicle environment sensing unit of FIG. FIG. 4 is a detail block diagram of the driver monitoring unit of FIG. FIG. 5 is a detailed block diagram of the vehicle state acquisition unit of FIG. FIG. 6 is a detail block diagram of the execution unit of FIG.

For ease of explanation, the present invention will be described in detail with reference to the following specific embodiments and accompanying drawings.

Example 1

As shown in FIG. 1, the control method of interlocking between the driver and the vehicle active safety technology according to the present embodiment is applied to a vehicle performing smart driving, and mainly includes the following steps S101 to S106:

Step S101: Sensing the surrounding environment of the vehicle, detecting the distance and relative speed between the own vehicle and the preceding vehicle, the distance and relative speed between the own vehicle and a side vehicle, the area where the road can travel, and detecting the own vehicle. Vehicle environment data D1 including the distance to the obstacle and the relative velocity are obtained.

Obstacles in step S101 include passers-by, trees, bicycles and the like.

Step S102: The action operation of the vehicle driver is monitored, and driving operation data including facial expression, motion detection of the four limbs, handle grip force, pressure of the accelerator brake pedal is acquired.

Step S103: The driver's intention is determined by recognizing the driving operation data, and driving mode data D2 corresponding to the driver's intention is acquired.

In step S103, the method for recognizing driving operation data includes data fusion, machine learning, and deep learning method. As an example, a deep learning network with a Faster-CNN structure can be adopted and recognized. Determining the driver's intention includes determining whether the driver's intention belongs to a collision avoidance intention, a deceleration intention, a turning intention, a significant turning intention, or an intention to leave the road. As one example, the driver's intention is a combination of a collision avoidance intention (braking force) and a major turning intention when judging that the driver is about to collide with a leading vehicle.

Step S104: The vehicle's own state is sensed, and the vehicle data D3 including the vehicle speed, the vehicle blinker signal, the vehicle yaw angle, and the vehicle steering wheel rotation angle is acquired.

Step S105: A vehicle active safety control command and active safety control data are determined and determined based on the vehicle environment data D1, driving mode data D2, and host vehicle data D3.

Step S106: In response to the vehicle active safety control command and active safety control data, the vehicle correspondingly controls the active safety operation.

In step S106, the active safety control command includes controlling one or more combinations of active braking, active redirection, active seat belt control; correspondingly active safety control data There are the braking strength of active braking, braking time, braking action length, direction of active turning, time of turning, angle of turning, magnitude of tensile force of active seat belt, working time and duration Including. As one example, when it is intended to implement preceding vehicle collision avoidance, the active safety action employed is a combination and simultaneous action of three types of active safety measures: active braking, active turning and active seat belt control.

Example 2

As shown in FIG. 2, the control system for linking the driver and the vehicle active safety technology disclosed in the second embodiment includes a vehicle environment sensing unit 100, a driver monitoring unit 200, a driver motion pattern recognition unit 300, and the vehicle itself. Including a status acquisition unit 400, a determination unit 500, and an execution unit 600; the driver monitoring unit 200 is connected to the driver motion pattern recognition unit 300, and the determination unit 500 is connected to the vehicle environment sensing unit 100 and the driver motion pattern recognition unit 300, respectively. The vehicle own state acquisition unit 400 is connected, and the execution unit 600 is connected to the determination unit 500.

The vehicle environment sensing unit 100: senses the surrounding environment of the vehicle, the distance and relative speed between the host vehicle and the preceding vehicle, the distance and relative speed between the host vehicle and the side vehicle, the area where the road can travel, Vehicle environment data is acquired including the distance between the car and the detected obstacle and the relative speed.

As shown in FIG. 3, the vehicle environment sensing unit 100 includes sensors such as a camera 101, a radar sensor 102, a laser sensor 103, an ultrasonic sensor 104, an environment data processing unit 120 and an environment data output unit 130. Among them, the camera 101, the radar sensor 102, the laser sensor 103, and the ultrasonic sensor 104 are used to sense the surrounding environment of the vehicle and acquire vehicle environment data. The environmental data processing unit 120 is used to process vehicle environmental data, and the environmental data output unit 130 is used to output the vehicle environmental data processed by the environmental data processing unit 120 to the determination unit 500 Is done.

The driver monitoring unit 200 monitors behavior of the vehicle driver, and acquires driving operation data including facial expressions, motion detection of four limbs, handle grip, and pressure of an accelerator brake pedal.

As shown in FIG. 4, the driver monitoring unit 200 includes a camera face expression detection unit 201, a steering wheel grip detection unit 202, a brake accelerator pedal pressure detection unit 203, a camera limb operation detection unit 204, a driving operation data processing unit 220, and driving. An operation data output unit 230 is included. Among them, the camera face expression detection unit 201 is used to detect the facial expression of the driver; the handle grip detection unit 202 is used to detect the gripping pressure on the steering wheel by the driver's hand The brake accelerator pedal pressure detection unit 203 is used to detect the stepping pressure on the brake and the accelerator by the driver; the camera limb movement detection unit 204 detects the movement pattern and movement width of the driver's arm and body Used to detect; the driving action data processing unit 220 is used to process the driving action data; the driving action data output unit 230 is processed by the driving action data processing unit 220 in the decision unit 500 Used to output operation data.

The driver operation pattern recognition unit 300: recognizes the driver's intention by recognizing the driving operation data, and acquires driving mode data corresponding to the driver's intention.

The vehicle self state acquisition unit 400 senses the self state of the vehicle and acquires self vehicle data including a self vehicle speed, a self vehicle blinker signal, a self vehicle yaw angle, and a self steering wheel rotation angle.

As shown in FIG. 5, the vehicle state acquisition unit 400 is connected to the vehicle electronic control unit by the CAN bus, and the vehicle speed, the vehicle blinker signal and the vehicle yaw angle, and the vehicle's vehicle yaw angle from a plurality of electronic control units of the vehicle. Acquires own vehicle data including the vehicle steering wheel rotation angle.

The determination unit 500: determines and determines a vehicle active safety control command and active safety control data based on vehicle environment data, driving mode data, and own vehicle data.

The execution unit 600: Controls the vehicle according to the vehicle active safety control command and the active safety control data to perform the active safety operation.

As shown in FIG. 6, the execution unit 600 includes an active brake controller 610, an active direction change controller 620, an active seat belt controller 630, a transmission control system 640, an engine control system 650, a seat belt control system 660, and an EPS system 670. . The active brake controller 610 correspondingly executes active brake control according to the determination result of the determination unit 500; the active direction change controller 620 correspondingly executes active direction control according to the determination result of the determination unit 500; An active seat belt controller 630 correspondingly executes an active seat belt control according to the determination result of the determination unit 500; the transmission control system 640, the engine control system 650 adjust the control, and secure the vehicle a safe distance; The seat belt control system 660 receives the seat belt adjustment command transmitted from the active seat belt controller 630, and determines the magnitude of the tension of the seat belt for the driver, And time and controls the time length; the EPS system 670 receives a direction change command transmitted from the active turning controller 620, vehicle controls that can only diverted away from the target object.

The working principles and beneficial effects of the embodiment 1 and the embodiment 2 are the same.

As described above, the embodiment obtains the vehicle environment data, the driving mode data corresponding to the driver's intention, and the own vehicle data by sensing the surrounding environment of the vehicle, monitoring the behavior of the vehicle driver and sensing the vehicle's own state, respectively. To determine and determine vehicle active safety control commands and active safety control data, and correspondingly control the vehicle to perform active safety operations, thereby achieving interlocking between the driver and active safety technology. Increase vehicle safety and reliability.

What has been described above is merely a specific implementation of the present invention, but the scope of protection of the present invention is not limited thereto. Changes and replacements conceived without the whole creative work are covered by the scope of protection of the present invention. Therefore, the protection scope of the present invention is based on the protection scope in which the rights request is limited.

Claims (2)

Detecting the surrounding environment of the vehicle, the distance and relative speed between the vehicle and the preceding vehicle, the distance and relative speed between the vehicle and the side vehicle, the area range where the road can travel, the obstacle detected by the vehicle and the vehicle Obtain vehicle environment data including distance with and relative speed with
Monitors the driver's action and obtains driving action data including facial expressions, limb movement detection, steering wheel grip force, accelerator brake pedal pressure; and recognizes the driver's intention by recognizing the driving action data Judge and obtain driving mode data corresponding to the driver's intention;
Detects the vehicle's own state and obtains own vehicle data including own vehicle speed, own vehicle blinker signal, own vehicle yaw angle, own vehicle steering wheel rotation angle;
Determine and determine a vehicle active safety control command and active safety control data from the vehicle environment data, the driving mode data, and the vehicle data;
The vehicle active safety control command and the active safety control data correspondingly control that the vehicle performs an active safety operation;
The method for recognizing the driving motion data includes data fusion, machine learning, and deep learning method; determining the driver's intention is that the driver's intention is collision avoidance intention, deceleration intention, direction intention, Determining if it belongs to a turning intention or intention to leave the road;
The active safety control command includes controlling one or more combinations of active braking, active turning, active seat belt control; correspondingly, the active safety control data corresponds to braking strength of active braking. Braking time, braking action time length, direction of active turning, time of turning, angle of turning, magnitude of tensile force of active seat belt, and action time and time length. It is a control method of interlocking of a driver and vehicle active safety technology. Vehicle environment detection unit, driver monitoring unit, driver operation pattern recognition unit, vehicle self status acquisition unit, determination unit, execution unit; driver monitoring unit is connected with driver operation pattern recognition unit, and determination units are each Connected with the vehicle environment detection unit, the driver operation pattern recognition unit, the vehicle self status acquisition unit, and the execution unit with the determination unit;
The vehicle environment sensing unit senses the surrounding environment of the vehicle, and the distance and relative speed between the own vehicle and the preceding vehicle, the distance and relative velocity between the own vehicle and the side vehicle, the area range where the road can travel, the own vehicle Obtain vehicle environment data including distance and relative speed between the vehicle and the detected obstacle;
Said driver monitoring unit: monitoring the action of the vehicle driver and acquiring driving operation data including facial expression, detection of movement of limbs, handle grip force, pressure of accelerator brake pedal;
The driver action pattern recognition unit: recognizes the driver's intention by recognizing the driving action data, and obtains driving mode data corresponding to the driver's intention;
Said vehicle own state acquisition unit: senses the vehicle's own state and acquires own vehicle data including own vehicle speed, own vehicle blinker signal, own vehicle yaw angle, and own vehicle handle rotation angle;
The determination unit: determining and determining a vehicle active safety control command and active safety control data according to the vehicle environment data, the driving mode data, and the vehicle data;
The execution unit: controlling the vehicle to perform an active safety operation according to the vehicle active safety control command and the active safety control data;
The vehicle environment sensing unit includes a sensor such as a camera, a radar sensor, a laser sensor, an ultrasonic sensor, an environmental data processing unit and an environmental data output unit; among them, the camera, the radar sensor, the laser sensor, The ultrasonic sensor is used to sense the surrounding environment of the vehicle and is used to acquire vehicle environmental data; the environmental data processing unit is used to process vehicle environmental data, and the environmental data output unit is the determination unit Used to output the vehicle environment data processed by the environment data processing unit;
The driver monitoring unit includes a camera face expression detection unit, a handle grip strength detection unit, a brake accelerator pedal pressure detection unit, a camera limb motion detection unit, a driving motion data processing unit, and a driving motion data output unit; A camera face expression detection unit is used to detect a facial expression of the driver; the handle grip force detection unit is used to detect a grip pressure on the handle by the driver's hand; the brake accelerator pedal pressure detection A unit is used to detect the driver's brake and accelerator pedal pressure; the camera limb motion detection unit is used to detect the driver's arm, body motion pattern and width; A data processing unit processes the driving operation data It is used to output the driving operation data the running operation data output unit is processed by the driver operating the data processing unit to the determination unit; is used;
The vehicle self status acquisition unit is connected to the vehicle electronic control unit via a CAN bus, and includes a vehicle speed, a vehicle blinker signal, a vehicle yaw angle, and a vehicle handle rotation angle from a plurality of electronic control units of the vehicle Retrieve data;
The execution unit includes an active brake controller, an active turning controller, an active seat belt controller, a transmission control system, an engine control system, a seat belt control system, an EPS system, and the active brake controller controls the active brake according to the determination result of the determination unit. The active seat turn controller correspondingly executes the active turn control according to the decision result of the decision unit; the active seat belt controller takes the active seat belt control according to the decision result of the decision unit The transmission control system, the engine control system Adjust the control to ensure the vehicle safe distance; the seat belt control system receives the seat belt adjustment command sent from the active seat belt controller, and the magnitude of the seat belt tension to the driver, Controlling the action time and the time length; characterized in that the EPS system receives the turn command sent from the active turn controller and controls that the vehicle can turn only in the direction away from the target object. It is a control system of interlocking of a driver and vehicle active safety technology.

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