CN-121973811-A - Method and equipment for recovering auxiliary driving function

CN121973811ACN 121973811 ACN121973811 ACN 121973811ACN-121973811-A

Abstract

The embodiment of the application provides a method and equipment for recovering an auxiliary driving function, and relates to the technical field of vehicle control. The method comprises the steps of obtaining steering wheel takeover information, driver attention information and vehicle driving image information after an auxiliary driving function of a vehicle is interrupted, generating a restoration signal of the auxiliary driving function if the steering wheel takeover information, the driver attention information and the vehicle driving image information all meet preset conditions and maintain preset duration, and restoring the auxiliary driving function of the vehicle through the restoration signal. The method is used for accurately controlling the safety recovery time of the auxiliary driving function by constructing the recovery logic of the multi-dimensional information cooperative judgment and the duration constraint, reducing invalid or error recovery conditions while guaranteeing the safety of the driving process, improving the continuity, practicability and intelligent level of the use of the auxiliary driving function and optimizing the driving experience of a user.

Inventors

YANG WENXIN
REN ZIXUAN
ZHONG XIAOFAN
LIU JIFENG

Assignees

岚图汽车科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260213

Claims (10)

1. A method of restoring a driving assist function, the method comprising: After the auxiliary driving function of the vehicle is interrupted, acquiring steering wheel takeover information, driver attention information and vehicle driving image information; If the steering wheel takeover information, the driver attention information and the vehicle running image information meet preset conditions and maintain preset duration, generating a recovery signal of the auxiliary driving function; And restoring the auxiliary driving function of the vehicle through the restoring signal.
2. The method of claim 1, wherein the preset conditions include: The steering wheel is in a hand state, and the steering wheel is not subjected to steering operation by the driver; The driver is in a concentrated state of attention; The vehicle is in a safe driving state in the current lane.
3. The method according to claim 1 or 2, wherein the obtaining steering wheel takeover information comprises: Detecting a capacitance signal by a steering wheel capacitance sensor; detecting a steering torque signal acting on the steering wheel through a steering wheel torque sensor; Determining that the steering wheel take over information includes the capacitance signal and the steering torque signal.
4. A method according to claim 3, wherein said obtaining driver attention information comprises: acquiring a facial image of the driver through a camera in the cabin; identifying a head orientation, a gaze feature, and an eye feature of the driver based on the facial image; determining the driver attention information includes the head orientation, the gaze feature, and the ocular feature.
5. The method according to claim 4, wherein the method further comprises: Based on the steering wheel takeover information, determining an operating state of the steering wheel; determining whether the driver is in a concentrated state based on the driver's attention information; Based on the vehicle running image information, it is determined whether the vehicle is in a safe running state in a current lane.
6. The method of claim 5, wherein determining the operating state of the steering wheel based on the steering wheel take over information comprises: if the capacitance signal is larger than a capacitance threshold value and the absolute value of the steering torque signal is smaller than a torque threshold value, judging that the steering wheel is in a hand state and the steering wheel is not subjected to steering operation of the driver; If the capacitance signal is larger than a capacitance threshold value and the absolute value of the steering torque signal is larger than or equal to the torque threshold value, judging that the steering wheel is subjected to the active steering operation of the driver; And if the capacitance signal is smaller than or equal to the capacitance threshold value, judging that the steering wheel is in a loosening state.
7. The method of claim 5, wherein the driver attention information includes driver face images corresponding to a plurality of times, and wherein the determining whether the driver is in a focused state based on the driver attention information comprises: If the head orientation is forward, the sight feature indicates that the sight falling point is positioned in the front area of the vehicle and the eye feature indicates that the eyes of the driver are in an eye opening state and the eye closing frequency is smaller than a preset threshold value based on the driver facial images corresponding to the multiple moments, judging that the driver is in a concentration state; If any of the above conditions is not satisfied, it is determined that the driver is in a distraction state.
8. The method of claim 5, wherein the determining whether the vehicle is in a safe driving state in the current lane based on the vehicle driving image information comprises: Identifying a left lane line and a right lane line of the current lane based on the vehicle running image information; Calculating a first lateral distance between a vehicle center line of the vehicle and the left lane line and a second lateral distance between the vehicle center line and the right lane line; If the first transverse distance and the second transverse distance are both in a preset distance range, judging that the vehicle is in a safe driving state in the current lane; And if the first transverse distance or the second transverse distance exceeds the preset distance range, judging that the vehicle is in a risk driving state in the current lane.
9. The method according to claim 1 or 2, characterized in that the method further comprises: And if the steering wheel takeover information, the driver attention information and the vehicle driving image information do not meet any one of preset conditions and/or the duration of meeting the preset conditions is smaller than the preset duration during the period that the auxiliary driving function is not recovered, sending prompt information to the driver, wherein the prompt information is used for reminding the driver of making manual driving preparation.
10. An electronic device is characterized by comprising a memory and a processor; the memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-9.

Description

Method and equipment for recovering auxiliary driving function Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a method and apparatus for recovering an auxiliary driving function. Background With the rapid development of intelligent driving technology, auxiliary driving systems have gradually become standard configurations of modern vehicles. The system can automatically adjust the steering wheel rotation angle by sensing the relative position of the vehicle and the lane line so as to maintain the vehicle to stably run in the lane, thereby reducing the burden of a driver. However, when the driver's active intervention, or deterioration of the road environment, is detected by the auxiliary driving system, the auxiliary control is often temporarily interrupted and reactivation is attempted after the condition is restored. Therefore, how to safely and reliably judge the recovery time of the auxiliary driving function becomes a key technical problem affecting the practicability and safety of the auxiliary driving system. In the related art, restoration of existing assist driving control mainly depends on steering wheel state detection, and it is determined whether or not to restore assist control by determining whether or not a driver's hand is in contact with a steering wheel. However, this restoration based on the steering wheel state alone is prone to erroneously restoring the assist control in the case where the driver is not really ready to take over, thereby causing a safety hazard. Disclosure of Invention The application provides a method and equipment for recovering an auxiliary driving function, which are used for improving the safety and reliability of the recovery of the auxiliary driving function. In a first aspect, the present application provides a method for recovering a driving assistance function, the method comprising: After the auxiliary driving function of the vehicle is interrupted, acquiring steering wheel takeover information, driver attention information and vehicle driving image information; If the steering wheel takeover information, the driver attention information and the vehicle running image information meet preset conditions and maintain preset duration, generating a recovery signal of the auxiliary driving function; And restoring the auxiliary driving function of the vehicle through the restoring signal. In one possible embodiment, the preset condition includes: The steering wheel is in a hand state, and the steering wheel is not subjected to steering operation by the driver; The driver is in a concentrated state of attention; The vehicle is in a safe driving state in the current lane. In one possible implementation manner, the acquiring steering wheel takeover information includes: Detecting a capacitance signal by a steering wheel capacitance sensor; detecting a steering torque signal acting on the steering wheel through a steering wheel torque sensor; Determining that the steering wheel take over information includes the capacitance signal and the steering torque signal. In one possible embodiment, the obtaining driver attention information includes: acquiring a facial image of the driver through a camera in the cabin; identifying a head orientation, a gaze feature, and an eye feature of the driver based on the facial image; determining the driver attention information includes the head orientation, the gaze feature, and the ocular feature. In one possible embodiment, the method further comprises: Based on the steering wheel takeover information, determining an operating state of the steering wheel; determining whether the driver is in a concentrated state based on the driver's attention information; Based on the vehicle running image information, it is determined whether the vehicle is in a safe running state in a current lane. In one possible implementation manner, the determining the operation state of the steering wheel based on the steering wheel takeover information includes: if the capacitance signal is larger than a capacitance threshold value and the absolute value of the steering torque signal is smaller than a torque threshold value, judging that the steering wheel is in a hand state and the steering wheel is not subjected to steering operation of the driver; If the capacitance signal is larger than a capacitance threshold value and the absolute value of the steering torque signal is larger than or equal to the torque threshold value, judging that the steering wheel is subjected to the active steering operation of the driver; And if the capacitance signal is smaller than or equal to the capacitance threshold value, judging that the steering wheel is in a loosening state. In one possible implementation, the driver attention information includes driver face images corresponding to a plurality of moments, and the determining whether the driver is in a focused state based on the driver attention informa