CN115257806B - Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium - Google Patents

Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium Download PDF

Info

Publication number
CN115257806B
CN115257806B CN202210868539.3A CN202210868539A CN115257806B CN 115257806 B CN115257806 B CN 115257806B CN 202210868539 A CN202210868539 A CN 202210868539A CN 115257806 B CN115257806 B CN 115257806B
Authority
CN
China
Prior art keywords
driver
mode
driving
module
auxiliary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210868539.3A
Other languages
Chinese (zh)
Other versions
CN115257806A (en
Inventor
任传兵
卢斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Changan Automobile Co Ltd
Original Assignee
Chongqing Changan Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Changan Automobile Co Ltd filed Critical Chongqing Changan Automobile Co Ltd
Priority to CN202210868539.3A priority Critical patent/CN115257806B/en
Publication of CN115257806A publication Critical patent/CN115257806A/en
Application granted granted Critical
Publication of CN115257806B publication Critical patent/CN115257806B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/30—Auxiliary equipments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B60W2540/106—Rate of change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a grading auxiliary system, a grading auxiliary method, a grading auxiliary vehicle and a grading auxiliary storage medium of an automatic driving auxiliary system, wherein the grading auxiliary system comprises the following components: the system comprises a perception and cognition module, a state machine module, a control target selection module, a planning decision module, an HMI module and an executor module, wherein the state machine module is connected with the perception and cognition module; the control target selection module is respectively connected with the perception and cognition module and the state machine module; the planning decision module is respectively connected with the state machine module and the control target selection module; the HMI module is connected with the state machine module; the executor module is connected with the planning decision module. The automatic adjusting method of the invention can provide different control effects for drivers with different driving experiences and different driving styles in the process of using the automatic driving auxiliary system.

Description

Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a grading auxiliary system and method of an automatic driving auxiliary system, a vehicle and a storage medium.
Background
Under the promotion of the wave of the automatic driving technology of the fire, the cost of an automatic driving auxiliary system, in particular an L2-level automatic driving system, is gradually reduced, the technology is mature, the carrying rate of mass production vehicles is increased year by year, and part of vehicle types are even fully matched. But most users still have no trust to the users until now, and the problems of no use, no dare and the like generally exist. The phenomenon is the necessary process of a new technology, and the defects of the new technology in popularization and use guidance exist.
In recent years, various measures are taken by 4S shops and host factories to improve the grasping degree of salesmen on the use method and use requirement of the automatic driving assistance system, and to greatly promote the automatic driving assistance system when users purchase vehicles. However, for the complex L2-level and L3-level automatic driving systems, the user still cannot fully grasp what scenario can use the automatic driving assistance system and when the user needs to take over the control of the vehicle in a limited time during the purchase process.
As disclosed in patent document CN107640154B, a driver driving assistance system for novice driver defines a method for verifying the driver of novice driver and a method for evaluating the driving behavior of driver, and finally, the driver is limited to the highest driving speed when driving the vehicle, even if the operation is not timely and correct, the driver is actively involved. However, the verification of the novice driver needs to be based on personal information of the driver, and the actual driving personnel may not be consistent with the verification personnel; the driving behavior evaluation method only evaluates the rationality and does not evaluate the driving style of the driver.
As another example, a driving assistance system is disclosed in the reference CN111376719 a. The system enables a user to select the auxiliary type required to be provided by the system for a novice driver, and prompts the driver in a graphical or voice mode. However, the driver of the novice driver is usually stressed in driving the vehicle, and the graphic prompt cannot be perceived in time.
Therefore, it is necessary to develop a hierarchical assistance system, a hierarchical assistance method, a hierarchical assistance vehicle and a hierarchical assistance storage medium for an automatic driving assistance system, so that a user can grasp the usage method and the usage requirement of the driving assistance system faster and more easily, and traffic accidents caused by misuse of the user can be reduced while the usage rate of the system is improved and more assistance experiences are brought to the user.
Disclosure of Invention
The invention aims to provide a grading auxiliary system, a grading auxiliary method, a grading auxiliary vehicle and a grading auxiliary storage medium of an automatic driving auxiliary system, and an automatic adjusting method with different control effects can be provided for drivers with different driving experiences and different driving styles of the drivers in the process of using the automatic driving auxiliary system.
In a first aspect, a hierarchical assistance system of an automatic driving assistance system according to the present invention includes:
The perception and cognition module is used for identifying the state of the vehicle, the operation/state of a driver, the road, the environmental information and the obstacle information required by the operation of the automatic driving auxiliary system;
the state machine module is used for controlling whether the driving auxiliary system is activated or not, exiting and deciding which auxiliary mode the driving auxiliary system belongs to currently, and is connected with the perception and cognition module;
the control target selection module is used for selecting corresponding longitudinal and transverse control targets from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes, estimating the level of driving experience of a driver and the type of driving style of the driver according to the operation of the driver, the state of a vehicle, the state of a road, the state of the environment and the state of the obstacle, and connecting the control target selection module with the perception cognition module and the state machine module respectively;
the planning decision module is used for planning different target accelerations and target tracks based on control rules in different hierarchical auxiliary modes, and is respectively connected with the state machine module and the control target selection module;
The HMI module is used for providing hierarchical auxiliary mode strategy setting, automatic driving auxiliary system operation setting and displaying related prompt and alarm information, and is connected with the state machine module;
the system comprises an actuator module, a planning decision module and a control module, wherein the actuator module comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, the longitudinal actuator is used for controlling acceleration, deceleration and gear shifting of a vehicle, the transverse actuator is used for controlling steering of the vehicle, the vehicle body actuator is used for controlling lighting and starting double flashing of the vehicle, and the actuator module is connected with the planning decision module.
Optionally, the perception cognition module includes:
The vehicle state perception and cognition sub-module is used for recognizing the vehicle state;
a driver operation/state awareness sub-module for identifying a driver operation/state;
The road and environment perception cognition sub-module is used for identifying road and environment information;
and an obstacle-aware sub-module for identifying obstacle information.
Optionally, the state machine module includes:
The driving auxiliary system state machine is used for controlling whether the driving auxiliary system is activated or not and quit;
And a hierarchical auxiliary mode state machine for deciding which auxiliary mode the current belongs to.
Optionally, the control target selection module includes:
The longitudinal control target selection sub-module is used for selecting a corresponding longitudinal target from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes;
The transverse control target selection sub-module is used for selecting a corresponding transverse control target from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes;
The driver experience judging sub-module is used for estimating the level of the driving experience of the driver according to the operation of the driver, the state of the vehicle, the state of the road, the state of the environment and the state of the obstacle;
And a driving style determination sub-module for estimating the type of driving style of the driver according to the driver's operation, the vehicle state, the road, the environment state, and the obstacle state.
Optionally, the planning decision module includes:
The longitudinal control target acceleration planning submodule is used for planning different target accelerations based on control rules in different grading auxiliary modes;
And a transverse control target track planning sub-module for planning different target tracks based on control rules in different hierarchical auxiliary modes.
Optionally, the HMI module includes:
a setting sub-module for providing a hierarchical assistance mode policy setting and an automatic driving assistance system operation setting;
The graphic display sub-module is used for displaying related prompt and alarm information through graphics;
And the video and audio display sub-module is used for displaying related prompt and alarm information through images.
In a second aspect, the present invention provides a classification support method for an automatic driving support system, which adopts the classification support system for an automatic driving support system according to the present invention, and the method includes:
Step 1, judging a current auxiliary mode according to an auxiliary mode setting result, a driving experience judging result and a driver driving style judging result, wherein the auxiliary mode comprises a training mode, a novice mode, a proficiency mode and a professional mode, and defaults to the training mode when leaving a factory;
and 2, performing corresponding auxiliary driving according to the judged auxiliary mode.
Optionally, when the auxiliary mode is determined to be the coaching mode, performing coaching mode auxiliary driving;
The coaching mode assisted driving is configured to: the system is more sensitive to the reaction of other modes, and allows the generation of false alarms and false brakes with preset quantity, the quantity of missed brakes is less than the preset quantity, and the deceleration amplitude in a deceleration scene is reduced by advancing the braking time; meanwhile, the exit condition of the transverse control is reduced, and the vehicle enters the transverse delay exit state as early as possible under the condition that the lane lines are not clear and the like, so that a driver has enough time to prepare to take over the vehicle. Therefore, the safety concern of the user on the system in the learning process is avoided, and the user is willing to try to use the driving assistance system.
When the lane line of the vehicle is clear and complete and the traffic flow is smaller than a preset value, the automatic driving auxiliary system can be activated;
In the process of using the automatic driving auxiliary system, the hierarchical auxiliary mode state machine refers to a system control strategy and makes detailed description on any action, prompt and warning made by the system according to the current perception and cognition result and the target selection result, wherein the description is usually before the action, prompt and warning are sent out; the graphic display of the text prompt or warning message in the coaching mode includes the prompt message/warning message + the specific reason.
Optionally, when the auxiliary mode is judged to be a novice mode, carrying out the novice mode auxiliary driving;
the novice mode assisted driving is configured to: removing the limit of the highest working speed; longitudinal control target selection, transverse control target selection, longitudinal control target acceleration planning and transverse control target track planning are calibrated according to the effect of the conservative auxiliary driving style; the hierarchical auxiliary mode state machine does not make explanation of voice running through the audio-visual display sub-module, and only when the driving auxiliary system state machine triggers to need a driver to take over and the graphic display module is abnormal, the audio-visual display sub-module outputs voice alarm;
The system auxiliary driving style is divided into a conservative auxiliary driving style, a standard auxiliary driving style and an aggressive auxiliary driving style in sequence according to the aggressive degree, namely sensitivity and strength, of the system auxiliary driving style.
Alternatively, when the assist mode is determined to be the proficiency mode, the proficiency mode assist driving is performed;
The proficiency mode assist driving is configured to: the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target track planning are calibrated according to the standard auxiliary driving style; only when the graphic display submodule is abnormal, the audio-visual display submodule can output audio alarm.
Optionally, performing the professional mode assisted driving when the assisted mode is determined to be the professional mode;
The professional mode assisted driving is configured to: according to the driving style of the driver, the sensitivity is automatically adjusted, namely, the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target track planning are all parameters of the driving mode automatically selected according to the driving style judging result of the driver; only the prompts and alarm information necessary for regulation and system use are reserved.
The driving style judging method of the driver comprises the following steps:
When a driver drives, the driving style of the driver is judged according to the distance between the following vehicles, the switching frequency of the accelerator and the brake, the depth of the accelerator and the brake and the change rate thereof, the time and the intensity and the accuracy of the braking or direction intervention when the front vehicle decelerates, the frequency and the transverse speed of the lane change, the distance between the road and the surrounding vehicles when the lane change is performed, the difference between the running speed of the non-congested road and the speed limit value, the collision alarm frequency, the taking over alarm frequency and the set following time interval of the auxiliary mode;
When the automatic driving auxiliary system works, the driving style of the driver is judged according to the set following time interval, the frequency of the driver actively stepping on the accelerator, the time and intensity of braking or direction intervention in emergency working conditions, the frequency and transverse speed of lane change, the distance between the lane change and surrounding vehicles, the set cruising speed adjusting frequency and the difference between the cruising speed adjusting frequency and the speed limiting value.
Optionally, the driving style of the driver includes three levels of conservation, standard and aggressive, the vehicle defaults to a conservation level when leaving the factory, and for the vehicle model with identity recognition or seat memory function, the driving style of the driver at the initial time after each power-up is output according to the recognition/memory result, and when no identity is recognized or no memory is detected, the driver defaults to the state when the power is turned off last time
Optionally, the driving experience judging method comprises the following steps:
when a driver drives, judging driving experience according to the distance between the following vehicle and the vehicle, the brake depth of an accelerator and the change rate of the accelerator, the vehicle centering effect, the braking or direction intervention time and intensity and accuracy during front vehicle deceleration or take-over alarm or collision alarm, the frequency of lane changing, the transverse speed of lane changing, the distance between the vehicle and the surrounding vehicle during lane changing, the running speed of a non-congested road and the difference of a speed limit value;
when the automatic driving auxiliary system works, driving experience is judged according to the set following time interval, the frequency of the driver actively cancelling or actively taking over or actively stepping on the accelerator, the time and intensity of braking or direction intervention in emergency working conditions, the frequency and transverse speed of lane changing, the distance between the vehicle and the surrounding vehicle in lane changing, the set cruising speed adjusting frequency and the difference between the speed adjusting frequency and the speed limiting value.
Optionally, the determination result of the assist mode is corrected based on the driver's attention, fatigue state, and physical state.
Optionally, the driving experience comprises four grades of coaches, novice, proficiency and professionals, and the vehicle defaults to the novice level when leaving the factory; for a vehicle model with an identity recognition or seat memory function, driving experience in the initial period after each power-on is output according to the recognition/memory result, and when no identity is recognized or no memory is generated, the vehicle model defaults to the state when the power-on is turned off last time.
Optionally, when the auxiliary mode setting result is the automatic mode:
When the driving experience judging result is a coach, and the driving style judging result of the driver is conservative, judging the coach mode;
When the driving experience judging result is a novice, the driving style judging result of the driver is conservative, and judging that the driver is in a novice mode;
when the driving experience judging result is skilled, the driving style judging result of the driver is conservative, and the driver is not in fatigue, abnormal body and not concentrated, judging as a professional mode;
When the driving experience judging result is skilled, the driving style judging result of the driver is conservative, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional, the driving style judging result of the driver is conservative, and the driver is not in fatigue, abnormal body and not concentrated, judging as a professional mode;
When the driving experience judging result is professional, the driving style judging result of the driver is conservative, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
when the driving experience judging result is a coach, and the driving style judging result of the driver is a standard, judging the coach mode;
When the driving experience judging result is a novice, and the driving style judging result of the driver is a standard, judging the mode as a novice mode;
when the driving experience judging result is skilled, the driving style judging result of the driver is standard, and the driver is not in fatigue, abnormal body and inattention, judging as a skilled mode;
When the driving experience judging result is skilled, the driving style judging result of the driver is standard, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional and the driving style judging result of the driver is standard and the driver is not in fatigue, abnormal body and inattention, judging as a professional mode;
when the driving experience judging result is professional and the driving style judging result of the driver is standard, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
when the driving experience judging result is a coach, the driving style judging result of the driver is a jolt, and the driver is judged to be in a coach mode;
when the driving experience judging result is a novice, the driving style judging result of the driver is a step, and the driver is judged to be a novice mode;
When the driving experience judging result is skilled, the driving style judging result is aggressive, and the driver is not in fatigue, abnormal body and not concentrated, judging as a proficiency mode;
when the driving experience judging result is skilled, the driving style judging result is aggressive, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional, the driving style judging result of the driver is aggressive, and the driver is not in fatigue, abnormal body and not concentrated, judging the driving experience judging result to be a proficiency mode;
And when the driving experience judging result is professional, the driving style judging result of the driver is aggressive, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode.
Alternatively, when the assist mode setting result is the coaching mode, it is determined that the coaching mode.
Optionally, when the auxiliary mode setting result is a proficiency mode:
When the driver is not in fatigue, abnormal body and inattention, judging as a proficiency mode;
When the driver is in any one of fatigue, physical abnormality, and inattention, a novice mode is determined.
Optionally, when the auxiliary mode setting result is the professional mode:
when the driver is not in fatigue, abnormal body and inattention, judging as a professional mode;
When the driver is in any one of fatigue, physical abnormality, and inattention, a novice mode is determined.
Optionally, the method further comprises:
In the coaching assistance mode, the guidance of the use of the autopilot system is provided, comprising: the system is described as to how to activate the system, set the system, and explain the reasons for various prompts, alarms, and/or controls of the system.
In a third aspect, the invention provides a vehicle employing a hierarchical assistance system of an autopilot assistance system according to the invention.
In a fourth aspect, the present invention provides a storage medium having a computer-readable program stored therein, the computer-readable program being capable of executing the steps of the hierarchical assistance method of the automatic driving assistance system according to the present invention when the computer-readable program is called.
The invention has the following advantages: the user can quickly know the use method and the use requirement of the automatic driving auxiliary system, and in the use process, according to the driving experience of the driver, the driving style of the driver and the setting state of the grading auxiliary mode, the control effect of the system is automatically adjusted according to the training mode, the novice mode, the proficiency mode and the professional mode respectively, so that the automatic driving auxiliary system can be really used and dared for the user.
Drawings
Fig. 1 is a block diagram of the structure of the present embodiment;
FIG. 2 is a flow chart of the present embodiment;
FIG. 3 is a coaching mode voice guidance example;
In the figure, a perception and cognition module 1, a vehicle state perception and cognition sub-module 11, a driver operation/state perception and cognition sub-module 12, a road and environment perception and cognition sub-module 13, a barrier perception and cognition sub-module 14, a state machine module 2, a state machine module 21, a driving assistance system state machine 22, a hierarchical assistance mode state machine 3, a control target selection module 31, a longitudinal control target selection sub-module 32, a transverse control target selection sub-module 33, a driver experience determination sub-module 34, a driving style determination sub-module 4, a planning decision module 41, a longitudinal control target acceleration planning sub-module 42, a transverse control target track planning sub-module 5, an HMI module 51, a setting sub-module 52, a graphic display sub-module 53, an audio-visual display sub-module 6, an actuator module 61, a longitudinal actuator 62, a transverse actuator 63 and a vehicle body actuator.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, in the present embodiment, a hierarchical assistance system of an automatic driving assistance system includes:
The perception and cognition module 1 is used for identifying vehicle states (such as vehicle speed, acceleration, actual gear, light states and the like) required by the operation of an automatic driving auxiliary system, driver operations/states (such as accelerator pedal opening and speed, brake pedal opening and speed, steering wheel rotating speed, turn signal switch states and the like, and whether attention is little, fatigue, hands are taken off, whether physical states are abnormal and the like), roads, environment information (such as lane lines, guardrails, road edges, speed limit signs, tunnels, ramps, construction, road types, weather, illumination and the like) and barrier information (such as vehicles, pedestrians, accident vehicles and the like).
And the state machine module 2 is used for controlling whether the driving auxiliary system is activated or not, exiting and deciding which auxiliary mode the driving auxiliary system belongs to currently, and the state machine module 2 is connected with the perception and cognition module 1.
The control target selection module 3 selects corresponding longitudinal and lateral control targets from the obstacle recognition results and the road recognition results in the perception recognition module based on the selection rules in the different hierarchical assistance modes, and estimates the level of the driving experience of the driver (the level of the driving experience of the driver includes a novice level, a proficiency level, a professional level) and the type of the driving style of the driver (the type of the driving style of the driver includes a conservative type, a standard type, or a aggressive type) according to the driver operation, the vehicle state, the road, the environment state, and the obstacle state, and the control target selection module 3 is connected with the perception recognition module 1 and the state machine module 2, respectively.
And the planning decision module 4 is used for planning different target accelerations and target tracks based on control rules in different hierarchical auxiliary modes, and the planning decision module 4 is respectively connected with the state machine module 2 and the control target selection module 3.
An HMI module 5 for providing hierarchical assistance mode policy settings, automatic driving assistance system operation settings, and displaying related prompts, alarm information, the HMI module 5 being connected with the state machine module 2; the graphic display mode includes characters, icons and the like, but is not limited to the implementation of a hardware scheme, and the audio-visual display mode includes sound, voice, animation and the like.
The actuator module 6 comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, wherein the longitudinal actuator is used for controlling acceleration, deceleration and gear shifting of a vehicle, the transverse actuator is used for controlling steering of the vehicle, the vehicle body actuator is used for controlling lighting and starting double flashing of the vehicle, and the actuator module 6 is connected with the planning decision module 4.
In this embodiment, the cognitive module 1 includes:
a vehicle state sensing and cognition sub-module 11 for identifying the vehicle state;
a driver operation/status awareness submodule 12 for identifying a driver operation/status;
the road and environment perception cognition sub-module 13 is used for identifying road and environment information;
and an obstacle awareness cognitive sub-module 14 for identifying obstacle information.
In this embodiment, the state machine module 2 includes:
a driving assistance system state machine 21 for controlling whether the driving assistance system is activated or deactivated;
And a hierarchical auxiliary mode state machine 22 for deciding which auxiliary mode is currently in.
In this embodiment, the control target selection module 3 includes:
The longitudinal control target selection sub-module 31 selects a corresponding longitudinal target from the obstacle recognition result and the road recognition result in the perception and recognition module based on the selection rules in different hierarchical auxiliary modes;
The lateral control target selection sub-module 32 selects a corresponding lateral control target from the obstacle recognition result and the road recognition result in the perception and recognition module based on the selection rules in different hierarchical auxiliary modes;
a driver experience judging sub-module 33 for estimating a level of driving experience of the driver based on the driver's operation, the vehicle state, the road, the environmental state, and the obstacle state;
and a driving style determination sub-module 34 for estimating the type of driving style of the driver based on the driver's operation, the vehicle state, the road, the environmental state, and the obstacle state.
In this embodiment, the planning decision module 4 includes:
A longitudinal control target acceleration planning sub-module 41 for planning different target accelerations based on control rules in different hierarchical assist modes;
and a lateral control target track planning sub-module 42 for planning different target tracks based on control rules in different hierarchical assist modes.
In this embodiment, the HMI module 5 includes:
a setting sub-module 51 for providing a hierarchical assistance mode policy setting and an automatic driving assistance system operation setting;
A graphic display sub-module 52 for displaying the related prompt and alarm information through graphics;
And an audio-visual display sub-module 53 for displaying related prompt and alarm information through images.
The system is capable of automatically predicting driver driving style, driving experience, automatically and/or based on user settings, enabling a coaching assist mode in which the most detailed autopilot system usage guidance is provided, comprising: specifying how to activate, how to set, when to adjust the set fonts, and explaining the reasons of various prompts, alarms and/or controls of the system; in addition, the system control command, the prompt information, the alarm information triggering time, the control command triggering mode (such as target acceleration amplitude, slope, smoothness of a target track and the like), the alarm information presenting mode (such as graphics, graphics+sound, voice and/or voice and the like) and the like can be automatically adjusted according to the user setting and/or automatically adapt to users with different driving styles and driving experiences of the driver, and the users can finally use, dare to use and willing to use the automatic driving auxiliary system on the premise of not influencing the final use experience of the system.
In this embodiment, a classification assistance method of an automatic driving assistance system, which adopts the classification assistance system of the automatic driving assistance system according to any one of the embodiments, includes:
Step 1, judging a current auxiliary mode according to an auxiliary mode setting result, a driving experience judging result and a driver driving style judging result, wherein the auxiliary mode comprises a coach mode, a novice mode, a proficiency mode and a professional mode;
and 2, performing corresponding auxiliary driving according to the judged auxiliary mode.
In this embodiment, the auxiliary mode is set.
The user can manually select any of the following modes by setting up the sub-module 51: coach mode, proficiency mode, professional mode, automatic mode. When the vehicle leaves the factory, the vehicle defaults to an automatic mode.
In this embodiment, the driving experience of the driver is judged.
The driving experience comprises four grades of coaches (i.e. entering doors), novices, proficiency and professionals, and the vehicle defaults to the novice level when leaving the factory. Aiming at the vehicle model with the identity recognition or seat memory function, the driving experience in the initial period after each power-on can be output according to the recognition/memory result, and the vehicle model is defaulted to the state when the power-on is turned off last time when no identity is recognized or no memory is generated.
The driver experience judging sub-module 33, in combination with the perception and cognition module 1, the state machine module 2, and the planning decision module 4, can infer the driving experience of the driver as follows.
Mode 1, setting a result according to an auxiliary mode. Default to novice level when the vehicle leaves the factory; if the automatic mode is set, the estimation is performed in accordance with the mode 2, and if the other mode is set, the specific mode is associated.
Mode 2, operation of the driver is estimated during driving of the driver himself or during assistance control of the automated driving assistance system.
The method comprises the following steps:
2.1, when the driver drives himself: the following distance, the accelerator braking depth and the change rate thereof, the vehicle centering effect, the braking or direction intervention time and intensity and accuracy during front vehicle deceleration or take-over alarm or collision alarm, the lane changing frequency and the lane changing transverse speed, the distance between the lane changing and the surrounding vehicle, the difference between the non-congestion road running speed and the speed limit value and the like;
2.2, when the automatic driving auxiliary system works: setting a following time interval, a frequency of actively cancelling or actively taking over or actively stepping on an accelerator by a driver, a time and intensity of braking or direction intervention in an emergency working condition, accuracy, a lane changing frequency, a lane changing transverse speed, a distance between the lane changing frequency and a surrounding vehicle, setting a cruising speed adjusting frequency, a speed limiting value difference between the cruising speed adjusting frequency and the speed limiting value, and the like.
Meanwhile, the judgment result is corrected based on the attention, fatigue state, physical state and the like of the driver, namely, the familiarity and professional level is automatically revised to be the novice level when the attention, fatigue and physical state are abnormal.
In this embodiment, the driving style of the driver is judged.
The driver driving style includes three classes of conservation, standard and aggressive, and the vehicle defaults to a conservation level when shipped. For the vehicle model with the identity recognition or seat memory function, the driving style of the driver at the initial time after each power-on can be output according to the recognition/memory result, and the driver defaults to the state when the power-off is last time when no identity is recognized or no memory is generated.
The driving style determination sub-module 34, in combination with the perception and cognition module 1, the state machine module 2 and the planning decision module 4, can infer the driving style of the driver by:
1. when the driver drives himself: the following distance, the throttle brake switching frequency, the throttle brake depth and the change rate thereof, the braking or direction intervention time and intensity and accuracy during the deceleration of the front vehicle, the lane changing frequency and the lane changing transverse speed, the distance between the lane changing and the surrounding vehicle, the difference between the running speed and the speed limit value of the non-congested road, the collision alarm frequency, the takeover alarm frequency, the setting of the following distance (auxiliary mode only) and the like;
2. when the automatic driving auxiliary system works: setting a following time interval, a driver actively stepping on an accelerator frequency, braking or direction intervention time and intensity in emergency working conditions, a lane changing frequency, a lane changing transverse speed, a distance between the lane changing frequency and surrounding vehicles, setting a cruising speed adjusting frequency, a speed limiting value difference between the cruising speed adjusting frequency and the speed limiting value, and the like.
In this embodiment, the auxiliary mode judgment:
The hierarchical assist mode state machine 22 determines the current assist mode based on the assist mode setting result of the setting sub-module 51, the driving experience determination sub-module 33, and the driving style determination sub-module 34. And when the driver is judged to be in the coaching mode, more detailed voice guidance explanation is provided for the running state of the driving assistance system and the prompt alarm information, and the specific details are shown in fig. 3.
Meanwhile, when the driving experience judging sub-module 33 outputs a result which is not in accordance with the setting state of the setting sub-module 51, the graphic display sub-module 52 and/or the audio-visual display sub-module 53 actively prompts the driver whether to adjust the auxiliary mode state, and when the driver agrees, the setting result of the mode setting sub-module 51 is automatically changed; when the user uses the driving assistance system for the first time, if the activation fails or the user does not use the driving assistance system all the time after purchasing the vehicle, after the vehicle is ignited, the graphic display sub-module 52 and/or the audio-visual display sub-module 53 actively send out prompt information to inquire whether the user watches the usage instruction video of the driving assistance system and enters a coaching mode.
In this embodiment, the coaching mode assists driving.
The coaching mode system is more responsive, allows certain false alarms and false brakes to be generated (i.e. allows the generation of a preset number of false alarms and false brakes), but needs to strictly control the missed brakes of the system (i.e. the number of missed brakes is less than the preset number), and reduces the deceleration amplitude during the false brakes by advancing the braking time and the like. Meanwhile, the transverse control exit condition is required to be reduced, the transverse delay exit state is early entered under the condition that the lane lines are not clear and the like as soon as possible, and an alarm is sent out. To ensure the effect of the coaching mode, the coaching mode can only activate the automatic driving assistance system in a specific road section (clear and complete lane lines, relatively small traffic flow), and the automatic driving assistance system can be realized through a dynamic electronic map fence or a driver can select a proper road section according to the description.
After entering a training mode, when a lane target is selected by the longitudinal control target selection, the lane vehicle can be more easily selected as the longitudinal control target, and meanwhile, the maximum value of target deceleration of the target is limited by the longitudinal control target acceleration planning when the target is selected in advance; the requirement of selecting the target condition for track planning by the transverse control target is higher, namely the system is easier to withdraw, so that when the system cannot control, an alarm can be sent out in time, and meanwhile, the track planning of the transverse control target can select a smoother control track on the premise of ensuring safety.
In using the automatic driving assistance system, the hierarchical assistance mode state machine 22 will also refer to the system control strategy, and details any actions, prompts, and warnings made by the system according to the current perceived cognitive result and the target selection result, and the details are generally described before the actions, prompts, and warnings are sent, and particularly refer to fig. 3. The graphic display text prompt or warning information in the coaching mode comprises: prompt/warning information + specific cause and re-highlight prompt/warning content such as "please take over immediately, system is about to exit", "activation failure, please tie up the seat belt first".
In the present embodiment, the novice mode assists driving:
1. the highest operating speed limit is released when the hierarchical assist mode state machine 21;
2. Longitudinal control target selection, transverse control target selection, longitudinal control target acceleration planning and transverse control target track planning are calibrated according to the effect of the conservative auxiliary driving style;
3. the hierarchical auxiliary mode state machine does not make any explanation of the voice running through the audio-visual display sub-module 53;
4. Only when the driving assistance system state machine 21 triggers that the driver is required to take over and the graphic display sub-module 52 is abnormal, the voice alarm is output through the audio-visual display sub-module 53.
In the present embodiment, the proficiency mode assisted driving:
When the hierarchical assist mode state machine 22 determines that it is currently in a skilled mode, the main difference with respect to the novice mode is that:
1. The longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target track planning are calibrated according to standard experience effects (namely standard auxiliary driving styles), namely, the driving styles are between the two driving styles of the conservative auxiliary driving style and the aggressive auxiliary driving style.
2. Only when the graphic display sub-module 52 is abnormal, the audio alarm is output through the audio-visual display sub-module 53.
In the present embodiment, the professional mode assists driving:
when the hierarchical assist mode state machine 22 determines that it is currently in the professional mode, the main difference with respect to the skilled mode is that:
1. The system automatically adjusts the sensitivity according to the driving style (conservation, standard and aggressive) of the driver, namely longitudinal control target selection, transverse control target selection, longitudinal control target acceleration planning and transverse control target track planning, and automatically selects parameters of conservation, standard or aggressive modes according to the driving style judging result of the driver;
2. only the prompts and alarm information necessary for regulation and system use are reserved.
In this embodiment, according to the auxiliary mode setting result, the driving experience judging result and the driving style judging result of the driver, judging the current auxiliary mode, and correcting the judging result of the auxiliary mode based on the attention, the fatigue state and the physical state of the driver, wherein the specific judging and correcting conditions are shown in table 1;
Table 1:
In the present embodiment, a vehicle employs the hierarchical assistance system of the automated driving assistance system as described in the present embodiment.
In the present embodiment, a storage medium has stored therein a computer readable program that, when called, is capable of executing the steps of the hierarchical assistance method of the automated driving assistance system as described in the present embodiment.
The above examples are preferred embodiments of the method of the present invention, but the embodiments of the method of the present invention are not limited by the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.

Claims (22)

1. A hierarchical assistance system of an automatic driving assistance system, characterized by: comprising the following steps:
A perception and cognition module (1) for identifying vehicle states, driver operations/states, roads, environmental information and obstacle information required for the operation of the automatic driving assistance system;
The state machine module (2) is used for controlling whether the driving auxiliary system is activated or not, exiting and deciding which auxiliary mode the driving auxiliary system belongs to currently, and the state machine module (2) is connected with the perception and cognition module (1);
The control target selection module (3) is used for selecting corresponding longitudinal and transverse control targets from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes, estimating the level of driving experience of a driver and the type of driving style of the driver according to the operation of the driver, the state of a vehicle, the state of a road, the state of an environment and the state of the obstacle, and the control target selection module (3) is respectively connected with the perception cognition module (1) and the state machine module (2);
The planning decision module (4) is used for planning different target accelerations and target tracks based on control rules in different hierarchical auxiliary modes, and the planning decision module (4) is respectively connected with the state machine module (2) and the control target selection module (3);
The HMI module (5) is used for providing hierarchical auxiliary mode strategy setting, automatic driving auxiliary system operation setting and displaying related prompt and alarm information, and the HMI module (5) is connected with the state machine module (2);
The actuator module (6) comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, wherein the longitudinal actuator is used for controlling acceleration, deceleration and gear shifting of a vehicle, the transverse actuator is used for controlling steering of the vehicle, the vehicle body actuator is used for controlling lighting and starting double flashing of the vehicle, and the actuator module (6) is connected with the planning decision module (4);
when the auxiliary mode is judged to be a training mode, training mode auxiliary driving is carried out;
The coaching mode assisted driving is configured to: the system is more sensitive to the reaction of other modes, and allows the generation of false alarms and false brakes with preset quantity, the quantity of missed brakes is less than the preset quantity, and the deceleration amplitude during false braking is reduced by advancing the braking time; simultaneously reducing the exit condition of the transverse control;
when the lane line of the vehicle is clear and complete and the traffic flow is smaller than a preset value, the automatic driving auxiliary system can be activated;
In the process of using the automatic driving auxiliary system, the hierarchical auxiliary mode state machine refers to a system control strategy and makes detailed description on any action, prompt and warning made by the system according to the current perception and cognition result and the target selection result, wherein the description is usually before the action, prompt and warning are sent out; the graphic display of the text prompt or warning message in the coaching mode includes the prompt message/warning message + the specific reason.
2. The hierarchical assistance system of an automatic driving assistance system according to claim 1, characterized in that: the perception and cognition module (1) comprises:
A vehicle state awareness sub-module (11) for identifying a vehicle state;
A driver operation/state awareness sub-module (12) for identifying a driver operation/state;
The road and environment perception cognition sub-module (13) is used for identifying road and environment information;
And an obstacle-aware cognitive sub-module (14) for identifying obstacle information.
3. The hierarchical assistance system of an automatic driving assistance system according to claim 1 or 2, characterized in that: the state machine module (2) comprises:
A driving assistance system state machine (21) for controlling whether the driving assistance system is activated or deactivated;
And a hierarchical auxiliary mode state machine (22) for deciding which auxiliary mode currently belongs to.
4. A hierarchical assistance system for an automatic driving assistance system according to claim 3, wherein: the control target selection module (3) includes:
A longitudinal control target selection sub-module (31) for selecting a corresponding longitudinal target from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes;
A lateral control target selection sub-module (32) for selecting a corresponding lateral control target from obstacle cognition results and road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes;
A driver experience judging sub-module (33) for estimating the level of the driver's driving experience from the driver's operation, the vehicle state, the road, the environmental state, and the obstacle state;
And a driving style determination sub-module (34) for estimating the type of driving style of the driver from the driver's operation, the vehicle state, the road, the environmental state, and the obstacle state.
5. The hierarchical assistance system of an automatic driving assistance system according to claim 1 or 2 or 4, characterized in that: the planning decision module (4) comprises:
A longitudinal control target acceleration planning sub-module (41) for planning different target accelerations based on control rules in different hierarchical assist modes;
And a lateral control target track planning sub-module (42) for planning different target tracks based on control rules in different hierarchical assist modes.
6. The hierarchical assistance system of an automatic driving assistance system according to claim 5, characterized in that: the HMI module (5) comprises:
a setting sub-module (51) for providing a hierarchical assistance mode policy setting and an automatic driving assistance system operation setting;
A graphic display sub-module (52) for displaying the relevant prompt and alarm information through a graphic;
and the video and audio display sub-module (53) is used for displaying related prompt and alarm information through images.
7. A hierarchical assistance method of an automatic driving assistance system, characterized by: a hierarchical assistance system employing an automatic driving assistance system according to any one of claims 1 to 6, the method comprising:
Step 1, judging a current auxiliary mode according to an auxiliary mode setting result, a driving experience judging result and a driving style judging result, wherein the auxiliary mode comprises a coach mode, a novice mode, a proficiency mode and a professional mode;
and 2, performing corresponding auxiliary driving according to the judged auxiliary mode.
8. The hierarchical assistance method of an automatic driving assistance system according to claim 7, characterized in that: when the auxiliary mode is judged to be a novice mode, carrying out the novice mode auxiliary driving;
the novice mode assisted driving is configured to: removing the limit of the highest working speed; longitudinal control target selection, transverse control target selection, longitudinal control target acceleration planning and transverse control target track planning are calibrated according to the effect of the conservative auxiliary driving style; the hierarchical auxiliary mode state machine does not make explanation of voice running through the audio-visual display sub-module, and only when the driving auxiliary system state machine triggers to need a driver to take over and the graphic display module is abnormal, the audio-visual display sub-module outputs voice alarm;
The system auxiliary driving style is divided into a conservative auxiliary driving style, a standard auxiliary driving style and an aggressive auxiliary driving style in sequence according to the aggressive degree, namely sensitivity and strength, of the system auxiliary driving style.
9. The hierarchical assistance method of an automatic driving assistance system according to claim 8, characterized in that: when the assist mode is determined to be a proficiency mode, performing a proficiency mode assist drive;
The proficiency mode assist driving is configured to: the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target track planning are calibrated according to the standard auxiliary driving style; only when the graphic display submodule is abnormal, the audio-visual display submodule can output audio alarm.
10. The hierarchical assistance method of an automatic driving assistance system according to claim 9, characterized in that: when the auxiliary mode is judged to be the professional mode, performing professional mode auxiliary driving;
The professional mode assisted driving is configured to: according to the driving style of the driver, the sensitivity is automatically adjusted, namely, the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target track planning are all parameters of the driving mode automatically selected according to the driving style judging result of the driver; only the prompts and alarm information necessary for regulation and system use are reserved.
11. A hierarchical assistance method of an automatic driving assistance system according to any one of claims 7 to 10, characterized in that: the driving style judging method of the driver comprises the following steps:
When a driver drives, the driving style of the driver is judged according to the distance between the following vehicles, the switching frequency of the accelerator and the brake, the depth of the accelerator and the brake and the change rate thereof, the time and the intensity and the accuracy of the braking or direction intervention when the front vehicle decelerates, the frequency and the transverse speed of the lane change, the distance between the road and the surrounding vehicles when the lane change is performed, the difference between the running speed of the non-congested road and the speed limit value, the collision alarm frequency, the taking over alarm frequency and the set following time interval of the auxiliary mode;
When the automatic driving auxiliary system works, the driving style of the driver is judged according to the set following time interval, the frequency of the driver actively stepping on the accelerator, the time and intensity of braking or direction intervention in emergency working conditions, the frequency and transverse speed of lane change, the distance between the lane change and surrounding vehicles, the set cruising speed adjusting frequency and the difference between the cruising speed adjusting frequency and the speed limiting value.
12. The hierarchical assistance method of an automatic driving assistance system according to claim 11, characterized in that: the driving style of the driver comprises three grades of conservation, standard and aggressive, the vehicle defaults to the conservation level when leaving the factory, the driving style of the driver in the initial stage is output according to the identification/memory result after each power-on for the vehicle type with the identity identification or seat memory function, and the driver defaults to the state when the power-off last time when the identity is not identified or no memory is generated.
13. The hierarchical assistance method of an automatic driving assistance system according to claim 12, characterized in that: the driving experience judging method comprises the following steps:
when a driver drives, judging driving experience according to the distance between the following vehicle and the vehicle, the brake depth of an accelerator and the change rate of the accelerator, the vehicle centering effect, the braking or direction intervention time and intensity and accuracy during front vehicle deceleration or take-over alarm or collision alarm, the frequency of lane changing, the transverse speed of lane changing, the distance between the vehicle and the surrounding vehicle during lane changing, the running speed of a non-congested road and the difference of a speed limit value;
when the automatic driving auxiliary system works, driving experience is judged according to the set following time interval, the frequency of the driver actively cancelling or actively taking over or actively stepping on the accelerator, the time and intensity of braking or direction intervention in emergency working conditions, the frequency and transverse speed of lane changing, the distance between the vehicle and the surrounding vehicle in lane changing, the set cruising speed adjusting frequency and the difference between the speed adjusting frequency and the speed limiting value.
14. A hierarchical assistance method of an automatic driving assistance system according to claim 12 or 13, characterized in that: the driving experience comprises four grades of coaches, novice, proficiency and profession, and the vehicle defaults to the level of the novice when leaving the factory; for a vehicle model with an identity recognition or seat memory function, driving experience in the initial period after each power-on is output according to the recognition/memory result, and when no identity is recognized or no memory is generated, the vehicle model defaults to the state when the power-on is turned off last time.
15. The hierarchical assistance method of an automatic driving assistance system according to claim 14, characterized in that: the determination result of the assist mode is corrected based on the driver's attention, fatigue state, and physical state.
16. The hierarchical assistance method of an automatic driving assistance system according to claim 15, characterized in that:
when the auxiliary mode setting result is the automatic mode:
When the driving experience judging result is a coach, and the driving style judging result of the driver is conservative, judging the coach mode;
When the driving experience judging result is a novice, the driving style judging result of the driver is conservative, and judging that the driver is in a novice mode;
when the driving experience judging result is skilled, the driving style judging result of the driver is conservative, and the driver is not in fatigue, abnormal body and not concentrated, judging as a professional mode;
When the driving experience judging result is skilled, the driving style judging result of the driver is conservative, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional, the driving style judging result of the driver is conservative, and the driver is not in fatigue, abnormal body and not concentrated, judging as a professional mode;
When the driving experience judging result is professional, the driving style judging result of the driver is conservative, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
when the driving experience judging result is a coach, and the driving style judging result of the driver is a standard, judging the coach mode;
When the driving experience judging result is a novice, and the driving style judging result of the driver is a standard, judging the mode as a novice mode;
when the driving experience judging result is skilled, the driving style judging result of the driver is standard, and the driver is not in fatigue, abnormal body and inattention, judging as a skilled mode;
When the driving experience judging result is skilled, the driving style judging result of the driver is standard, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional and the driving style judging result of the driver is standard and the driver is not in fatigue, abnormal body and inattention, judging as a professional mode;
when the driving experience judging result is professional and the driving style judging result of the driver is standard, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
when the driving experience judging result is a coach, the driving style judging result of the driver is a jolt, and the driver is judged to be in a coach mode;
when the driving experience judging result is a novice, the driving style judging result of the driver is a step, and the driver is judged to be a novice mode;
When the driving experience judging result is skilled, the driving style judging result is aggressive, and the driver is not in fatigue, abnormal body and not concentrated, judging as a proficiency mode;
when the driving experience judging result is skilled, the driving style judging result is aggressive, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode;
When the driving experience judging result is professional, the driving style judging result of the driver is aggressive, and the driver is not in fatigue, abnormal body and not concentrated, judging the driving experience judging result to be a proficiency mode;
And when the driving experience judging result is professional, the driving style judging result of the driver is aggressive, and the driver is in any one of fatigue, physical abnormality and inattention, judging as a novice mode.
17. The hierarchical assistance method of an automatic driving assistance system according to claim 16, wherein when the assistance mode setting result is a coaching mode, it is determined that the coaching mode is performed.
18. The hierarchical assistance method of an automatic driving assistance system according to claim 17, wherein when the assistance mode setting result is a proficiency mode:
When the driver is not in fatigue, abnormal body and inattention, judging as a proficiency mode;
When the driver is in any one of fatigue, physical abnormality, and inattention, a novice mode is determined.
19. The hierarchical assistance method of an automatic driving assistance system according to claim 18, wherein when the assistance mode setting result is a professional mode:
when the driver is not in fatigue, abnormal body and inattention, judging as a professional mode;
When the driver is in any one of fatigue, physical abnormality, and inattention, a novice mode is determined.
20. The hierarchical assistance method of an automatic driving assistance system according to claim 7, characterized by further comprising:
In the coaching assistance mode, the guidance of the use of the autopilot system is provided, comprising: the system is described as to how to activate the system, set the system, and explain the reasons for various prompts, alarms, and/or controls of the system.
21. A vehicle, characterized in that: a hierarchical assistance system employing an automatic driving assistance system according to any one of claims 1 to 7.
22. A storage medium, characterized by: a computer readable program stored therein, which when invoked, is capable of performing the steps of the hierarchical assistance method of an automatic driving assistance system according to any one of claims 7 to 20.
CN202210868539.3A 2022-07-22 2022-07-22 Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium Active CN115257806B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210868539.3A CN115257806B (en) 2022-07-22 2022-07-22 Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210868539.3A CN115257806B (en) 2022-07-22 2022-07-22 Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium

Publications (2)

Publication Number Publication Date
CN115257806A CN115257806A (en) 2022-11-01
CN115257806B true CN115257806B (en) 2024-04-26

Family

ID=83770480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210868539.3A Active CN115257806B (en) 2022-07-22 2022-07-22 Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium

Country Status (1)

Country Link
CN (1) CN115257806B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016197474A (en) * 2016-09-01 2016-11-24 三菱電機株式会社 Drive assist system and drive assist method
CN107640154A (en) * 2016-07-20 2018-01-30 大陆汽车电子（连云港）有限公司 New hand's driver driving accessory system
DE102017204603A1 (en) * 2017-03-20 2018-09-20 Conti Temic Microelectronic Gmbh Vehicle control system and method for controlling a vehicle
CN109358627A (en) * 2018-10-30 2019-02-19 百度在线网络技术（北京）有限公司 Based on unpiloted driving assistance method, device, equipment, medium and vehicle
CN109664891A (en) * 2018-12-27 2019-04-23 北京七鑫易维信息技术有限公司 Auxiliary driving method, device, equipment and storage medium
CN111572555A (en) * 2020-04-28 2020-08-25 东风汽车集团有限公司 Self-learning auxiliary driving method
DE102019112453A1 (en) * 2019-05-13 2020-11-19 Valeo Schalter Und Sensoren Gmbh Automatic selection of an assistance level for a vehicle
CN112937551A (en) * 2021-03-04 2021-06-11 北京理工大学 Vehicle control method and system considering input characteristics of driver
CN113911118A (en) * 2020-07-09 2022-01-11 奥迪股份公司 Driving assistance method and system, vehicle, and computer-readable storage medium
CN114283619A (en) * 2021-12-25 2022-04-05 重庆长安汽车股份有限公司 Vehicle obstacle avoidance system, platform framework, method and vehicle based on V2X

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012077204A1 (en) * 2010-12-08 2012-06-14 トヨタ自動車 株式会社 Driving assistance device
JP6558733B2 (en) * 2015-04-21 2019-08-14 パナソニックＩｐマネジメント株式会社 Driving support method, driving support device, driving control device, vehicle, and driving support program using the same

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107640154A (en) * 2016-07-20 2018-01-30 大陆汽车电子（连云港）有限公司 New hand's driver driving accessory system
JP2016197474A (en) * 2016-09-01 2016-11-24 三菱電機株式会社 Drive assist system and drive assist method
DE102017204603A1 (en) * 2017-03-20 2018-09-20 Conti Temic Microelectronic Gmbh Vehicle control system and method for controlling a vehicle
CN109358627A (en) * 2018-10-30 2019-02-19 百度在线网络技术（北京）有限公司 Based on unpiloted driving assistance method, device, equipment, medium and vehicle
CN109664891A (en) * 2018-12-27 2019-04-23 北京七鑫易维信息技术有限公司 Auxiliary driving method, device, equipment and storage medium
DE102019112453A1 (en) * 2019-05-13 2020-11-19 Valeo Schalter Und Sensoren Gmbh Automatic selection of an assistance level for a vehicle
CN111572555A (en) * 2020-04-28 2020-08-25 东风汽车集团有限公司 Self-learning auxiliary driving method
CN113911118A (en) * 2020-07-09 2022-01-11 奥迪股份公司 Driving assistance method and system, vehicle, and computer-readable storage medium
CN112937551A (en) * 2021-03-04 2021-06-11 北京理工大学 Vehicle control method and system considering input characteristics of driver
CN114283619A (en) * 2021-12-25 2022-04-05 重庆长安汽车股份有限公司 Vehicle obstacle avoidance system, platform framework, method and vehicle based on V2X

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
人机共驾智能车驾驶模式决策属性析取研究;严利鑫;吴超仲;贺宜;黄珍;朱敦尧;;中国公路学报;20180115(第01期);全文 *

Also Published As

Publication number Publication date
CN115257806A (en) 2022-11-01

Similar Documents

Publication Publication Date Title
US11590890B2 (en) Method and system for augmented alerting based on driver's state in hybrid driving
US10710590B2 (en) Method and system for risk based driving mode switching in hybrid driving
US10620627B2 (en) Method and system for risk control in switching driving mode
US9852625B2 (en) Method and system for providing a tutorial message to a driver of a vehicle
US10562534B2 (en) Vehicle drive assistance system and vehicle drive assistance method
CN105711441B (en) Method for controlling driving speed and system
CN111516698A (en) Driving assistance system control method, driving assistance system, vehicle, and storage medium
US10558215B2 (en) Vehicle drive assistance system
JP2007133486A (en) Driving support system
CN110072748A (en) Controller of vehicle
US20170242434A1 (en) Method and device for operating an automated motor vehicle
US9978273B2 (en) Method and system for improving a traffic participant's attention
CN110356398A (en) A kind of speed method of adjustment, device, controller and automobile
JP2003099897A (en) Curve travel assisting device
JP2010072573A (en) Driving evaluation device
CN113942519A (en) Vehicle operation assisting method and system and vehicle
EP3727984A1 (en) Method and system for risk based driving mode switching in hybrid driving
CN115257806B (en) Hierarchical assistance system for automatic driving assistance system, hierarchical assistance method for automatic driving assistance system, vehicle, and storage medium
EP3729398A1 (en) Method and system for risk control in switching driving mode
CN112477882A (en) Vehicle fault processing method and device, vehicle and medium
CN111959519B (en) Driving assistance function setting method, device, equipment and medium
EP4091897A1 (en) Vehicle control apparatus, vehicle and driving assistance method
CN118182499A (en) Vehicle control method, vehicle control device, vehicle, and storage medium
CN116215565A (en) Early warning method, early warning device, vehicle and storage medium
JP2022178809A (en) Vehicle control device and vehicle control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant