CN109808613A - Intelligent driving system driving event evaluation detection method - Google Patents
Intelligent driving system driving event evaluation detection method Download PDFInfo
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- CN109808613A CN109808613A CN201910065261.4A CN201910065261A CN109808613A CN 109808613 A CN109808613 A CN 109808613A CN 201910065261 A CN201910065261 A CN 201910065261A CN 109808613 A CN109808613 A CN 109808613A
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Abstract
The present invention relates to a kind of intelligent driving system driving event evaluation detection methods, are related to intelligent driving technology.The described method includes: vehicle data when by vehicle driving is monitored analysis, the behavioral data and output data of Vehicular intelligent control loop are assessed；Whether the behavioral data and/or output data for judging Vehicular intelligent control loop meet respective preset condition；If meeting, by the behavioral data and output data record storage of corresponding assessment result and Vehicular intelligent control loop to designated memory.The present invention is in the information that the event that detects occurs, high efficiency evaluates each event cause, assessment result, the behavioral data of intelligent driving system and output data are taxonomically recorded in time, subsequent technology analysis is facilitated, has pushed the progress of intelligent driving technology.
Description
Technical field
The present invention relates to intelligent driving technical field more particularly to a kind of intelligent driving system driving event evaluation detection sides
Method.
Background technique
With the development of auto industry and transportation, intelligent automobile and intelligent transportation have become current automotive engineering
One of Main way of development.Car steering auxiliary system and intelligent driving system have started to popularize at present, to vehicle driving thing
Number of packages evidence (including active safety system data, passive safety system data, intelligent driving system data, vehicular chassis system number
According to, dynamical system data and body electronics system data etc.) acquisition and receive very necessary.It, can be right using these data
The working condition of active safety and intelligent driving system carries out data statistics and technology analysis in vehicle travel process, effectively facilitates
The progress of automobile active safety system and intelligent driving technology.
Currently, country has begun formulation for passive safety system or the relevant data recording standard of collision accident, so
And the event data record of the intelligent driving systems such as driving assistance system and automated driving system is not distinctly claimed still.However
The record of these event datas and analysis are very important to the progress for pushing intelligent driving technology.But in practice, right
Various travelling datas simply directly record be it is skimble-skamble, can not effectively help the true original for analyzing driving event behind
Cause.Such as ADAS event is diversified, and each event behind cause is extremely complex, it is desirable that has a kind of commenting for efficiently and accurately
Estimate method and accurately analyze by the cause of each event, and records for the analysis of subsequent technology.
In view of this, the present invention is exactly to propose a kind of efficient intelligence to the deficiency of existing driving event data record
Control loop driving event evaluation detection method.
Summary of the invention
Present invention solves the technical problem that being to provide a kind of intelligent driving system driving event evaluation detection method, solve
The running information of train movement recording equipment record common in the art is relatively simple, and directly cumbersome occupancy memory space is big, inconvenient
In to intelligent driving system subsequent technology analysis the problems such as.
The invention discloses a kind of intelligent driving system driving event evaluation detection methods, which comprises by right
Vehicle data when vehicle driving is monitored analysis, comments the behavioral data and output data of Vehicular intelligent control loop
Estimate；Whether the behavioral data and/or output data for judging Vehicular intelligent control loop meet respective preset condition；If symbol
It closes, then deposits the behavioral data and output data record storage of corresponding assessment result and Vehicular intelligent control loop to specified
Reservoir.
As a preferred embodiment of the present invention, the behavioral data includes: the sensing behavior in intelligent driving system
Data, decision behavior data and process performing data；The output data includes: sensing behavior sensing after output data,
The data that the data and process performing that decision behavior exports after making export after executing.
As a preferred embodiment of the present invention, the vehicle data includes: Vehicle Body Bus data, intelligent driving system
Data, vehicle braking control data, vehicle motor control data, Vehicular turn controls data, vehicle gear box controls data,
At least one of entire car controller data, accurately diagram data and vehicle man machine interface data.
As a preferred embodiment of the present invention, the method is specifically included: the anti-collision warning function number before detecting
Out when alarm signal, collide risk between vehicle and preceding vehicle described in analysis and assessment；Camera is called to detect driver
It whether is in the given time absent minded；When being determined as driver attention and not concentrating, then starts and record current
One analysis and assessment result, the vehicle data, behavioral data and output data at this time simultaneously mark the first current ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detecting automatic emergency brake system
System mode standby signal exception when, analysis and assessment automatic emergency brake system disabler situation；Judge radar or intelligence
Drive whether arithmetic and control unit occurs mistake；If mistake occurs, saves radar and intelligent driving arithmetic and control unit and sent out in mistake
The diagnostic error code at raw moment, the current second analysis and assessment result of open record, the vehicle data, behavioral data at this time
With output data and mark current second of ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detecting automatic emergency brake system
Into state of activation signal or automatic emergency brake system request braking system to brake precharge signal when, analysis and assessment
Automatic emergency brake system triggering situation or automatic emergency brake system request passive safety system pre-impact protection the case where；
It is divided into two kinds of situations to be judged and recorded: calls whether the camera detecting driver is in the given time attention first
Power is not concentrated, and when being determined as driver attention and not concentrating, is then started and is recorded current third analysis and assessment result, vehicle at this time
Data, behavioral data and output data simultaneously mark and are referred to the first described ADAS event；If not secondly, driver attention
It does not concentrate, then whether detects the object identification confidence value of automatic emergency brake system output within a preset period of time lower than default
Threshold value, when determining lower than the preset threshold, then the current 4th analysis and assessment result of open record, vehicle data at this time, row
For data and output data and mark the third current ADAS event.
As a preferred embodiment of the present invention, the method further includes: when detecting lane shift early warning function
When the warning message of energy, analysis and assessment current vehicle deviates the risk of current lane；The camera detecting driver is called to exist
It whether is absent minded in predetermined time；When being determined as driver attention and not concentrating, then starts and record the current 5th
Analysis and assessment result, vehicle data at this time, behavioral data and output data and label are referred to the first described ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detect deviation protect system
System mode mistake information when, analysis and assessment deviation protect system disabler situation；Judge to install on vehicle
Forward sight camera or intelligent driving arithmetic and control unit whether mistake occurs；It determines and mistake occurs, then save the forward sight camera shooting
The diagnostic error code at moment, the current 6th analysis and assessment knot of open record occur in mistake for head and intelligent driving arithmetic and control unit
Fruit, vehicle data at this time, behavioral data and output data and mark be classified as second of ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detect deviation protect system
Into state of activation signal when, analysis and assessment automotive run-off-road and deviation protection system function the case where having triggered；
Judge in two kinds of situation and record: it is first determined whether not concentrating as driver attention causes vehicle to deviate current lane；If
It is determined as absent minded, when being determined as driver attention and not concentrating, then starts and record current 7th analysis and assessment knot
Fruit, the vehicle data, behavioral data and output data at this time and label are referred to the first ADAS event；If not attention
It does not concentrate, then whether detects the Lane detection confidence value of deviation protection system within a preset period of time lower than scheduled
Threshold value, when determining lower than the scheduled threshold value, then the current 8th analysis and assessment result of open record, vehicle data at this time,
Behavioral data and output data simultaneously mark current 4th kind of ADAS event.
As a preferred embodiment of the present invention, the method specifically includes: the method is specifically included: when detecting
When driver initiates the information slowed down when adaptive cruise function accelerates, analysis and assessment current driver's revolt adaptive cruise function
The case where driver is slowed down when can accelerate；Judge whether current adaptive cruise function is abnormal；When determination is abnormal, open
It opens record and marks.
As a preferred embodiment of the present invention, the method is specifically included: when detect vehicle request driver connect
When the information of pipe, analysis and assessment driver not according to vehicle prompt adapter tube vehicle drive the case where；The camera is called to detect
Whether driver is in the given time absent minded；When being determined as driver attention and not concentrating, then start record
Current 9th analysis and assessment result, vehicle data at this time, behavioral data and output data and marking be referred to it is described the first
ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detect longitudinal acceleration it is abnormal or
When the information of operator brake exception, analysis and assessment driver's emergency braking situation；Judge automatic emergency brake system whether not
Expectability activation；When determine non-expectability activation when, the current tenth analysis and assessment result of open record, vehicle data at this time,
Behavioral data and output data are simultaneously labeled as the 5th kind of ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when the information for detecting steering wheel exception
When, the case where analysis and assessment driver's fierceness steering operation；Judge whether the case where emergency turn occur；If it is determined that occurring urgent
The case where steering, the then current 11st analysis and assessment result of open record, vehicle data at this time, behavioral data and output data
And it is labeled as the 6th kind of ADAS event.
As a preferred embodiment of the present invention, the method is specifically included: when detecting that driver applies steering wheel
When adding the moment information reversed with ADAS crosswise joint function, analysis and assessment driver revolts the feelings of ADAS crosswise joint function
Condition；Judge camera in Lane detection result curvature and curvature variation whether exceed normal range (NR)；If beyond normal
Range, it is determined that lane centering keeps function to exceed practical lane to the planning of track, then current 12nd assessment of open record
It analyzes result, vehicle data at this time, behavioral data and output data and is labeled as the 6th kind of ADAS event.
In conclusion intelligent driving system driving event evaluation detection method provided by the invention passes through the driving to vehicle
Data are monitored analysis, assess the behavioral data and output data of Vehicular intelligent control loop, judge Vehicular intelligent
Whether the behavioral data and/or output data of control loop meet respective preset condition, when meeting preset condition, then
The behavioral data and output data of corresponding assessment result and Vehicular intelligent control loop are stored, and are specified
In memory, designated memory here can be event data record instrument, can also be the memory with logout, thus
Have the following beneficial effects: that high efficiency evaluates each event cause, in time taxonomically in the information that the event that detects occurs
It records, facilitates subsequent technology analysis, pushed the progress of intelligent driving technology.
Detailed description of the invention
Fig. 1 is the flow diagram of the intelligent driving system driving event evaluation detection method of the preferred embodiment of the present invention.
Fig. 2 is the electrical block diagram of collection event data in intelligent driving system in the preferred embodiment of the present invention.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below, in order to make mesh of the invention
, technical solution and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, the present invention is further retouched in detail
It states.It should be noted that being used to help understand the present invention for the explanation of these embodiments, but do not constitute to this hair
Bright restriction.In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
Embodiment 1
Referring to Fig. 1, the present invention provides a kind of intelligent driving system driving event evaluation detection method, intelligence of the invention
Energy control loop can be automobile assistant driving system, can also be Unmanned Systems.The described method includes:
S10, by vehicle driving when vehicle data be monitored analysis, to the behavior number of Vehicular intelligent control loop
It is assessed according to output data；When the vehicle is running, when vehicle driving can be monitored in real time by various monitoring sensors
Various vehicle datas, these vehicle datas constantly generate, as the increase of running car time, mileage travelled can be a large amount of
It generates.The present invention and non-required rolling stock data, but by analysis and research, it selects and intelligent driving system driving event
Related vehicle data, these vehicle datas include: Vehicle Body Bus data, intelligent driving system data, vehicle braking control number
According to, vehicle motor control data, Vehicular turn control data, vehicle gear box control data, entire car controller data, high-precision
Spend at least one of map datum and vehicle man machine interface data.It therefore, from here can be a large amount of to the screening of vehicle data
Save data storage capacity, it may also reduce data monitoring amount of analysis.For the behavioral data packet of the vehicle with intelligent driving system
It includes: sensing behavioral data, decision behavior data and process performing data in intelligent driving；The output data includes: sense
The data that the data and process performing that output data, decision behavior after survey behavior sensing export after making export after executing.
Here assessment mainly compares behavioral data, output data with corresponding reference value respectively, according to comparison result
Determine that a situation arises for driving event.
Whether S20, the behavioral data for judging Vehicular intelligent control loop and/or output data meet respective default
Condition；Here respective phase mainly is met to one of the behavioral data of the intelligent driving system of vehicle, output data or the two
The preset condition answered.E.g. some concrete behavior data are unsatisfactory for respective preset condition and then illustrate that traveling is normal,
Do not cause event, if meeting, illustrates event.It can also be in the output of a certain data and go wrong, cause to receive
It goes wrong in wrong data or data transmission.
If S30, meeting, by corresponding assessment result and the behavioral data and output data of Vehicular intelligent control loop
Record storage is to designated memory.
In conclusion intelligent driving system driving event evaluation detection method in the preferred embodiment of the present invention, with intelligence
When the extraordinary variation of the vehicle generation driving status of energy control loop or driver take extraordinary driving behavior, intelligence is checked
A series of states of control loop and behavior, assess whether it executes expected movement and export expected value, and will delimit in advance
The vehicle data of range saves in memory to carry out subsequent data analysis and further to utilize.
Further, in above-mentioned steps S10, vehicle data when by vehicle driving is monitored the main packet of analysis
Include: to event related with body information be monitored analysis, to the information-related event of intelligent driving system be monitored analysis,
To event related with inertial navigation and reckoning module information be monitored analysis, to the information-related thing of braking control system
Part is monitored analysis, to being monitored analysis with the information-related event of engine control system, believe with steering control system
Cease related event be monitored analysis, to the information-related event of driver's monitoring modular is monitored analysis, vehicle man machine connects
The mouth related time is monitored analysis and is monitored analysis to the information-related event of high-precision map.
As shown in Fig. 2, realizing above-mentioned intelligent driving system driving event evaluation detection method in one embodiment of the invention
And it is related to perceiving link, decision link and the intelligent driving system structure for executing link.Intelligent driving system shown in Fig. 2
In, perception link relates generally to laser radar 1, video camera 2, GPS/IMU 3, radar and traveling of the sonar 4 to vehicle and You Guan counts
According to being sensed.Wherein, whether laser radar 1 mainly detects barrier around vehicle body, the quantity of laser radar 1 is one
Or it is multiple.Video camera 2 is mainly the image for shooting vehicle periphery, convenient for carrying out object identification and tracking, Ke Yijie in driving
The tracking that convolutional neural networks (CNN) realizes accurate object identification and degree of precision is closed, vehicle is reduced and collides event.Certainly
Plan link is mainly after being handled by processor 5 according to the data that the perception link that receives generates, output control instruction with
Continue after an action of the bowels and is executed according to control instruction.ESC 6 (electronic stabilizing control system), EPS 7 are specifically included that executing link
(four control by (electronic steering control system), EMS 8 (engine control system), TCU9 (control system of speed variator) and TCCU 10
Subsystem).These execute the operation of system control vehicle.And the sense in the behavioral data of screening mentioned above in intelligent driving
Surveying behavioral data includes: the data sensed when laser radar 1, video camera 2, GPS/IMU 3, radar and sonar 4 work.Decision
Behavioral data specifically includes that the various data sensed that processor 5 receives carry out analysis assessment.Process performing data are main
It include: ESC 6 (electronic stabilizing control system), EPS 7 (electronic steering control system), EMS8 (engine control system), TCU
Respectively work generated data in 9 (control system of speed variator) and TCCU 10 (4 wheel driven control subsystem).It is mentioned-above defeated
Output data after sensing behavior sensing in data out is primarily referred to as above-mentioned sensing device and senses data and be output to after handling
Data of the processor 5 during this.The data that decision behavior exports after making are mainly to export after finger processor processes are complete
Data.And the data that process performing exports after executing are primarily referred to as process performing and export the data executed instruction.It is indicated through research,
These data are highly useful for subsequent technology analysis, are conducive to the stability for promoting intelligent driving system.
Embodiment 1
In the embodiment of the present invention 1, the method is specifically included: the anti-collision warning fuction output alarm signal before detecting
When, collide described in analysis and assessment risk between vehicle and preceding vehicle；Call camera detecting driver in the predetermined time
It whether is inside absent minded；When being determined as driver attention and not concentrating, then starts and record current first analysis and assessment
As a result, the first current ADAS event of the vehicle data, behavioral data and output data and label at this time.
For example, before receiving when anti-collision warning function (FCW) output warning message, indication may occur with front truck
Risk of collision.Main Analysis of the present invention has following reason:
From vehicle fast approaching traveling ahead compared with slow train or stationary obstruction, the non-pre-decelerating of driver；It calls and takes the photograph at this time
As head, whether detecting driver focuses on, if detecting 5 seconds (or other specified times before the moment occurs for the phenomenon
It is interior) start arithmetic average and is less than a certain preset value, then open record and mark ADAS Event:Driver Attention
Low。
Embodiment 2
In the embodiment of the present invention 2, the method is specifically included: when the system mode for detecting automatic emergency brake system
When standby signal exception, analysis and assessment automatic emergency brake system disabler situation；Judge radar or intelligent driving operation control
Whether device processed occurs mistake；If mistake occurs, radar and intelligent driving arithmetic and control unit are saved in mistake, examining for moment occurs
Disconnected error code, the current second analysis and assessment result of open record, the vehicle data, behavioral data and output data at this time
And mark current second of ADAS event.
For example, when automatic emergency brake system (AEB) system mode prompts ERROR signal, then indicate AEB function
Failure.Analyze possible cause: mistake occurs for millimetre-wave radar or intelligent driving Operations Analysis；Save millimetre-wave radar and intelligence
Arithmetic and control unit can be driven in the DTC (diagnostic error code) of the event generation time, open record simultaneously marks: ADAS
Event:System Error.
Embodiment 3
In the embodiment of the present invention 3, the method is specifically included: when detecting that automatic emergency brake system enters activation shape
State signal or automatic emergency brake system request braking system to brake precharge signal when, analysis and assessment automatic emergency system
Dynamic system triggering situation or automatic emergency brake system request passive safety system pre-impact protection the case where；It is divided into two kinds of feelings
Condition is judged and is recorded: call first camera detecting driver in the given time whether be it is absent minded,
When being determined as driver attention and not concentrating, then starts and record current third analysis and assessment result, vehicle data at this time, row
For data and output data and label is referred to the first described ADAS event；Secondly, if not driver attention does not concentrate, then
Whether the object identification confidence value for detecting automatic emergency brake system output is lower than preset threshold within a preset period of time, determines
When lower than the preset threshold, then the current 4th analysis and assessment result of open record, vehicle data at this time, behavioral data and defeated
Data and the third current ADAS event of label out.
For example, when reception automatic emergency brake system (AEB) enters state of activation Active or automatic emergency brake
When system (AEB) requests signal of the braking system to brake precharge, AEB is triggered or automatic emergency brake system for indication
(AEB) request passive safety system pre-impact protection.It is as follows to be analyzed existing possible cause:
Possible cause 1: from vehicle fast approaching traveling ahead compared with slow train or stationary obstruction, the non-pre-decelerating of driver；
When call video camera detecting driver whether attention concentrate signal, if detecting the signal when the phenomenon occurs
Carve whether first 5 seconds beginning arithmetic averages are lower than scheduled value, if being lower than, open record simultaneously marks ADAS Event:
Driver Attention Low。
Possible cause 2:AEB false triggering
The object identification confidence level (Confidence) of AEB fuction output is determined, if detecting the signal described
Phenomenon occurred before the moment that minimum value is lower than scheduled certainty value in 5 seconds, then open record and marked ADAS Event:Object
Detection False Positive。
Embodiment 4
In the embodiment of the present invention 4, the method further includes: when the alarm signal for detecting lane shift warning function
When breath, analysis and assessment current vehicle deviates the risk of current lane；Call the camera detecting driver in the given time
It whether is absent minded；When being determined as driver attention and not concentrating, then starts and record current 5th analysis and assessment knot
Fruit, vehicle data at this time, behavioral data and output data and label are referred to the first described ADAS event.
For example, when receiving lane shift warning function (LDW) warning message, front truck is worked as in indication vehicle deviation
Road.It is as follows to analyze possible cause:
Driven vehicle deviates current lane, and driver corrects course not in time.Judge whether driver focuses on,
If it is determined that the absent minded or driver tired driving of driver, then open record and ADAS Event is marked:
Driver Attention Low。
Embodiment 5
In the embodiment of the present invention 5, the method is specifically included: when the system mode for detecting deviation protection system
When the information of mistake, analysis and assessment deviation protects the disabler situation of system；Judge that the forward sight installed on vehicle images
Whether head or intelligent driving arithmetic and control unit occur mistake；It determines and mistake occurs, then save the forward sight camera and intelligence is driven
Sail the diagnostic error code that the moment occurs in mistake for arithmetic and control unit, open record current 6th analysis and assessment result, at this time
Vehicle data, behavioral data and output data and mark be classified as second of ADAS event.
Citing is got on very well, and when deviation protects system (LDP) system mode prompt ERROR signal, indication LDP function is lost
Effect.Analyze possible cause: mistake occurs for forward sight camera or intelligent driving arithmetic and control unit.It saves forward sight camera and intelligence is driven
Arithmetic and control unit is sailed in the DTC (diagnostic error code) of the event generation time, open record simultaneously marks: ADAS Event:
System Error。
Embodiment 6
In the embodiment of the present invention 6, the method is specifically included: when detect deviation protection system enter activation shape
When the signal of state, analysis and assessment automotive run-off-road and deviation protection system function the case where having triggered；In two kinds of situation
Judge and record: it is first determined whether not concentrating as driver attention causes vehicle to deviate current lane；If it is determined that pay attention to
Power is not concentrated, and when being determined as driver attention and not concentrating, is then started and is recorded current 7th analysis and assessment result, institute at this time
It states vehicle data, behavioral data and output data and marks and be referred to the first ADAS event；If not it is absent minded, then it examines
Whether the Lane detection confidence value for surveying deviation protection system is lower than scheduled threshold value within a preset period of time, determines low
When the scheduled threshold value, then the current 8th analysis and assessment result of open record, vehicle data at this time, behavioral data and defeated
Data and mark current 4th kind of ADAS event out.
For example, when receiving signal of deviation protection system (LDP) into state of activation Active, indication
Automotive run-off-road and LDP function is triggered.Analysis has following possible cause:
Possible cause 1: it drives vehicle and deviates current lane, driver corrects course not in time；
Call whether camera detecting driver focuses on, if it is determined that do not focus on, then open record is simultaneously
Mark ADAS Event:Driver Attention Low.
Possible cause 2:LDP false triggering
It checks: the Lane detection confidence level (Confidence) of LDP fuction output, if detecting confidence value in institute
It states phenomenon and minimum value occurred before the moment in the several seconds lower than scheduled numerical value, then open record and mark ADAS Event:Lane
Detection Error。
Embodiment 7
In the embodiment of the present invention 7, the method is specifically included: the method specifically includes: adaptively patrolling when detecting
When driver initiates the information slowed down when function of navigating accelerates, when analysis and assessment current driver's resistance adaptive cruise function accelerates
The case where driver is slowed down；Judge whether current adaptive cruise function is abnormal；Determine that open record is simultaneously when being abnormal
Label.
Particularly, when the signal that driver is slowed down when detecting that adaptive cruise function ACC accelerates, driver's resistance
ACC function and slow down.There are several types of reasons for analysis:
Possible cause 1:ACC has exceeded the maximum allowable control range of definition to vehicle acceleration control.Detection is adaptive
The peak acceleration of cruise function ACC requests Max Acceleration Request signal, if detecting that this signal exists
The peak value that the phenomenon occurs before the moment in the several seconds (5 seconds) is greater than predetermined acceleration value, then open record and marks ADAS
Event:Longitudinal Acceleration Control out of Limitation.
Possible cause 2:ACC does not make correct response to the slower driving vehicle or stationary obstruction in front.Detection is certainly
Object identification state (Object State) signal for adapting to cruise function ACC, if detecting this signal in the phenomenon
The value before the moment in the several seconds (such as 5 seconds) occurs and is not equal to normal, then open record and marks ADAS Event:Object
Detection Error。
To the slower driving vehicle in front or the selection of stationary obstruction mistake occurs for possible cause 3:ACC.It detects adaptive
The effective target selection result (Object ID) for answering cruise function ACC, if detecting effective target selection result described existing
It is not equal to 1 as the value before the moment in the several seconds (5 seconds) occurs, then open record and marks ADAS Event:Object
Selection Failure。
Embodiment 8
In the embodiment of the present invention 8, the method is specifically included: when the information for detecting vehicle request driver's adapter tube
When, analysis and assessment driver not according to vehicle prompt adapter tube vehicle drive the case where；The camera detecting driver is called to exist
It whether is absent minded in predetermined time；When being determined as driver attention and not concentrating, then starts and record the current 9th
Analysis and assessment result, vehicle data at this time, behavioral data and output data and label are referred to the first described ADAS event.
For example, when occur adaptive cruise function ACC request driver's adapter tube signal sending the several seconds after driver still
Adapter tube vehicle or lane centering do not keep after function LCC request driver's adapter tube signal sending several seconds driver's adapter tube vehicle not yet
Or traffic congestion auxiliary TJA request driver's adapter tube signal sending the several seconds after driver not yet adapter tube vehicle the phenomenon that when, can
It is judged as that driver does not prompt adapter tube vehicle drive according to vehicle.Analyze reason are as follows: driver attention's signal is determined, if inspection
It measures the signal (5 seconds) several seconds beginning arithmetic average before the moment occurs for the phenomenon and then opens note less than a preset value
It records and marks ADAS Event:Driver Attention Low.
Embodiment 9
In the embodiment of the present invention 9, the method is specifically included: when detecting longitudinal acceleration exception or operator brake
When the information of exception, analysis and assessment driver's emergency braking situation；Judge the whether non-expectability activation of automatic emergency brake system；
When determining the activation of non-expectability, the current tenth analysis and assessment result of open record, vehicle data at this time, behavioral data and defeated
Out data and be labeled as the 5th kind of ADAS event.
For example, in several milliseconds, longitudinal acceleration reduction amount is more than specified acceleration reduced value or longitudinal acceleration
Degree is greater than specified acceleration value or interior operator brake request (torque) variable quantity is default more than or equal to corresponding in specified time
Value or operator brake pedal aperture are more than or equal to default opening value, then indicate driver's emergency braking.Analyze possible cause
Are as follows: automatic emergency brake system (AEB) fails to report front jogging vehicle or stationary obstruction, non-expectability activation.Detection
It whether is activated to be expected, open record simultaneously marks ADAS Event:AEB False Negative.
Embodiment 10
In the embodiment of the present invention 10, the method is specifically included: when detecting the information of steering wheel exception, assessment point
The case where analysing driver's fierceness steering operation；Judge whether the case where emergency turn occur；If it is determined that there are the feelings of emergency turn
Condition then the current 11st analysis and assessment result of open record, vehicle data at this time, behavioral data and output data and is labeled as
6th kind of ADAS event.
For example, in number ms (this time is set by the user), driver's steering wheel torque request variable quantity is beyond pre-
Determine variable quantity, perhaps driver's steering wheel angle request variable quantity predetermined direction disk corner or steering wheel angle speed in number ms
Degree be greater than predetermined angular speed perhaps in number ms transverse acceleration variation amount be greater than default transverse acceleration variation amount (m/s2) or
Transverse acceleration is greater than default transverse acceleration, then indicates that driver may fierce steering operation.It is as follows to analyze possible cause:
Possible cause 1: lane centering keeps function LCC or deviation defencive function LDP to exceed transverse path planning
The permitted maximum range of definition, so that forcing driver reversely to correct steering wheel beyond range is limited vehicle lateral control amount.
Detect Target Curvature signal (the target song that lane centering keeps function LCC or deviation defencive function LDP output
Rate), if detecting the signal peak > TBD 1/m, open record and flag F ailure Code:Lateral
Control out of Limitation
Possible cause 2: lane centering keeps function LCC or deviation defencive function LDP to ask the torque of steering mechanism
It asks control amount to have exceeded the maximum allowable control range of definition, driver is forced reversely to correct steering wheel.Lane centering is detected to protect
It holds function LCC or deviation defencive function LDP to request the steering torque of electric power steering (EPS), if detecting institute
Signal peak > TBD Nm is stated, then open record and flag F ailure Code:EPS Torque Request out of
Limitation。
Possible cause 3: driver voluntarily promptly corrects driving direction, then checks whether deviation defencive function LDP answers
The intervention.Open record simultaneously marks:
-Mark:Check LDP State；
-Mark:Check Lane Departure。
Possible cause 4: driver's emergency turn is hidden, then checks whether front has barrier and check automatic emergency system
Whether dynamic function AEB should intervene
Open record simultaneously marks:
-Mark:Check AEB State；
-Mark:Check Target Object。
Embodiment 11
In the embodiment of the present invention 11, the method is specifically included: when detect driver to steering wheel apply and ADAS
When the reversed moment information of crosswise joint function, the case where analysis and assessment driver revolts ADAS crosswise joint function；Judgement is taken the photograph
As head in Lane detection result curvature and curvature variation whether exceed normal range (NR)；If exceeding normal range (NR), really
Determining lane centering keeps function to the planning of track beyond practical lane, then the current 12nd analysis and assessment result of open record,
Vehicle data, behavioral data and output data at this time are simultaneously labeled as the 6th kind of ADAS event.
For example, driver, which applies steering wheel, is greater than default moment values with ADAS crosswise joint function opposing torque
When, indication driver may revolt ADAS crosswise joint function.Analyze possible cause: camera is in Lane detection result
Curvature (Curvature) and curvature variation (Curvature Rate) exceed normal range (NR), so that lane centering keeps function
LCC exceeds practical lane to the planning of track.
Detect the lane line curvature (Curvature) and curvature variation in the Lane detection result of camera output
(Curvature Rate) opens note if detecting that the curvature peak value or curvature variation value are greater than scheduled numerical value
Record simultaneously flag F ailure Code:Cam Lane Curvature out of normal range.
In the above embodiment of the present invention 1 to 11, the records of data mainly record analysis and assessment result, vehicle data,
Behavioral data and output data.These data are recorded in designated memory, this usual specified memory is event number
It is subsequent according to automobile manufacturing company in logger (EDR), can be helped more clearly to record any event occurred in ADAS level
Technological evolvement, accident sentence duty, and law making provides full and accurate effective evidence support.In addition, for the event data of generation, it can
To lock in accordance with the following methods:
When passive security event occurs for vehicle, recorded as the first locking condition；This kind of security incident is usually vehicle
The collision accident that occurs and (will occur).
When active safety event occurs for the vehicle, recorded as the second locking condition；Wherein first locking bar
The priority of part is higher than the priority of second locking condition.
Further, the active safety event includes: vehicle active safety class event, auxiliary driving class event.
Further, the first son locking when the vehicle active safety class event occurs, as the second locking condition
Condition record；When the auxiliary, which drives class event, to be occurred, as the second sub- locking condition record, wherein the first son lock
Fixed condition priority is higher than the described second sub- locking condition.
Further, it includes: that auxiliary drives function control amount beyond preset range event, auxiliary that the auxiliary, which drives class event,
The class function accidentally quit event that drives, auxiliary is helped to drive class function request driver's adapter tube event, the auxiliary drives function control
Amount processed drives class function accidentally quit event beyond preset range event, the auxiliary and drives with auxiliary driving class function request
Locking priority between the person of sailing adapter tube event three is identical.
Further, the condition that passive security event occurs for the vehicle refers to the collision hair for meeting or exceeding activation threshold value
Raw or irreversible restraint device is unfolded.
Further, the condition that the vehicle active safety class event occurs for the vehicle refers to the active peace of the vehicle
Total system or driver assistance system are performed.
It is above to lift preferred embodiment, the object, technical solutions and advantages of the present invention are described in detail, the above implementation
The explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, furthermore uses in the present invention
" first ", " second " and similar word be not offered as any sequence, quantity or importance, and be used only to distinguish not
Same object.In conclusion the content of the present specification is only embodiments of the present invention, it is not intended to limit patent of the invention and protects
Protect range, it is all using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, directly or
It connects and is used in other related technical areas, be included within the scope of the present invention.It should not be construed as to this
The limitation of invention.
Claims (14)
- The event evaluation detection method 1. a kind of intelligent driving system is driven a vehicle, which is characterized in that the described method includes: by vehicle Vehicle data when driving is monitored analysis, assesses the behavioral data and output data of Vehicular intelligent control loop； Whether the behavioral data and/or output data for judging Vehicular intelligent control loop meet respective preset condition；If meeting, Then by the behavioral data and output data record storage of corresponding assessment result and Vehicular intelligent control loop to specified storage Device.
- The event evaluation detection method 2. intelligent driving system according to claim 1 is driven a vehicle, which is characterized in that the behavior Data include: sensing behavioral data, decision behavior data and process performing data in intelligent driving system；The output number According to include: after the data that export and process performing execute after output data, decision behavior after sensing behavior sensing is made it is defeated Data out.
- The event evaluation detection method 3. intelligent driving system according to claim 1 or 2 is driven a vehicle, which is characterized in that described Vehicle data includes: Vehicle Body Bus data, intelligent driving system data, vehicle braking control data, vehicle motor control number Data, entire car controller data, accurately diagram data and vehicle people are controlled according to, Vehicular turn control data, vehicle gear box At least one of machine interface data.
- The event evaluation detection method 4. intelligent driving system according to claim 3 is driven a vehicle, which is characterized in that the method It specifically includes: before detecting when anti-collision warning fuction output alarm signal, described in analysis and assessment between vehicle and preceding vehicle Collide risk；Call whether camera detecting driver is in the given time absent minded；When being determined as driving Member it is absent minded when, then start record current first analysis and assessment result, the vehicle data at this time, behavioral data and Output data simultaneously marks the first current ADAS event.
- The event evaluation detection method 5. intelligent driving system according to claim 3 is driven a vehicle, which is characterized in that the method It specifically includes: when detecting the system mode standby signal exception of automatic emergency brake system, analysis and assessment automatic emergency system Dynamic system function failure situation；Judge whether radar or intelligent driving arithmetic and control unit occur mistake；If mistake occurs, save The diagnostic error code at moment, current second analysis and assessment of open record occur in mistake for radar and intelligent driving arithmetic and control unit As a result, the vehicle data, behavioral data and output data at this time simultaneously mark current second of ADAS event.
- The event evaluation detection method 6. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the method Specifically include: when detect automatic emergency brake system enter state of activation signal or automatic emergency brake system request braking When system is to the signal of brake precharge, analysis and assessment automatic emergency brake system triggering situation or automatic emergency brake system The case where requesting the protection of passive safety system pre-impact；It is divided into two kinds of situations to be judged and recorded: calls the camera shooting first Head detecting driver in the given time whether be it is absent minded, when being determined as driver attention and not concentrating, then open It is dynamic record current third analysis and assessment result, vehicle data at this time, behavioral data and output data and marking be referred to it is described The first ADAS event；If not the object for then detecting automatic emergency brake system output is known secondly, driver attention does not concentrate Whether other confidence value is lower than preset threshold within a preset period of time, and when determining lower than the preset threshold, then open record is worked as Preceding 4th analysis and assessment result, vehicle data at this time, behavioral data and output data simultaneously mark the third current ADAS event.
- The event evaluation detection method 7. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the method Further comprise: when detecting the warning message of lane shift warning function, analysis and assessment current vehicle deviates current lane Risk；Call whether the camera detecting driver is in the given time absent minded；When being determined as driver When absent minded, then start and record current 5th analysis and assessment result, vehicle data at this time, behavioral data and output number According to and mark and be referred to the first described ADAS event.
- The event evaluation detection method 8. intelligent driving system according to claim 3 is driven a vehicle, which is characterized in that the method It specifically includes: when detecting the information of system mode mistake of deviation protection system, the protection of analysis and assessment deviation The disabler situation of system；Judge whether the forward sight camera installed on vehicle or intelligent driving arithmetic and control unit occur mistake Accidentally；It determines and mistake occurs, then save the diagnosis that the moment occurs in mistake for the forward sight camera and intelligent driving arithmetic and control unit Error code, the current 6th analysis and assessment result of open record, vehicle data at this time, behavioral data and output data simultaneously mark It is classified as second of ADAS event.
- The event evaluation detection method 9. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the method Specifically include: when detect deviation protection system enter the signal of state of activation when, analysis and assessment automotive run-off-road and The case where deviation protection system function has triggered；Judge in two kinds of situation and record: it is first determined whether as driver's note Meaning power, which is not concentrated, causes vehicle to deviate current lane；If it is determined that not collecting when being determined as driver attention to be absent minded When middle, then start and record current 7th analysis and assessment result, the vehicle data, behavioral data and output data at this time and mark Note is referred to the first ADAS event；If not absent minded, then the Lane detection for detecting deviation protection system is set Whether certainty value is lower than scheduled threshold value within a preset period of time, and when determining lower than the scheduled threshold value, then open record is worked as Preceding 8th analysis and assessment result, vehicle data at this time, behavioral data and output data simultaneously mark current 4th kind of ADAS event.
- The event evaluation detection method 10. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the side Method specifically includes: when detecting that adaptive cruise function accelerates, driver initiates the information slowed down, analysis and assessment are currently driven The person of sailing revolts the case where driver is slowed down when adaptive cruise function accelerates；It is different to judge whether current adaptive cruise function occurs Often；Determine that open record simultaneously marks when being abnormal.
- The event evaluation detection method 11. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the side Method specifically includes: when detecting the information of vehicle request driver's adapter tube, analysis and assessment driver is not connect according to vehicle prompt The case where pipe vehicle drive；Call whether the camera detecting driver is in the given time absent minded；When true When being set to driver attention and not concentrating, then starts and record current 9th analysis and assessment result, vehicle data at this time, behavior number According to output data and mark and be referred to the first described ADAS event.
- The event evaluation detection method 12. intelligent driving system according to claim 4 is driven a vehicle, which is characterized in that the side Method specifically includes: when detecting the information of longitudinal acceleration exception or operator brake exception, analysis and assessment driver is urgent Brake condition；Judge the whether non-expectability activation of automatic emergency brake system；When determining the activation of non-expectability, open record is worked as Preceding tenth analysis and assessment result, vehicle data at this time, behavioral data and output data are simultaneously labeled as the 5th kind of ADAS event.
- The event evaluation detection method 13. intelligent driving system according to claim 3 is driven a vehicle, which is characterized in that the side Method specifically includes: when detecting the information of steering wheel exception, the case where analysis and assessment driver's fierceness steering operation；Judgement is It is no the case where emergency turn occur；If it is determined that there is the case where emergency turn, then the current 11st analysis and assessment knot of open record Fruit, vehicle data at this time, behavioral data and output data are simultaneously labeled as the 6th kind of ADAS event.
- The event evaluation detection method 14. intelligent driving system according to claim 3 is driven a vehicle, which is characterized in that the side Method specifically includes: when detecting that driver applies the moment information reversed with ADAS crosswise joint function to steering wheel, assessment Analyze the case where driver revolts ADAS crosswise joint function；Judge camera to the curvature and curvature in Lane detection result Whether change rate exceeds normal range (NR)；If exceeding normal range (NR), it is determined that lane centering keeps function to exceed the planning of track Practical lane, then the current 12nd analysis and assessment result of open record, vehicle data at this time, behavioral data and output data be simultaneously Labeled as the 6th kind of ADAS event.
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| CN113192362A (en) * | 2021-04-27 | 2021-07-30 | 宝能(广州)汽车研究院有限公司 | Data recording method and device, electronic equipment and vehicle |
| CN114047003A (en) * | 2021-12-22 | 2022-02-15 | 吉林大学 | Man-vehicle difference data triggering recording control method based on dynamic time warping algorithm |
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