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CN-121989993-A - Steering wheel take-over strategy method and system based on automatic driving and vehicle

CN121989993ACN 121989993 ACN121989993 ACN 121989993ACN-121989993-A

Abstract

The invention discloses a steering wheel taking-over strategy method, a steering wheel taking-over strategy system and a vehicle based on automatic driving, which comprise the steps of identifying road condition information and taking the road condition information; the method comprises the steps of monitoring the attention state of a driver, determining the self-driving level of the vehicle, detecting the contact state of the hand of the driver and a steering wheel, allowing the driving level to be switched to the high-level self-driving level and reducing the sensitivity of a hands-off detection system in response to the condition that the road condition information is low-risk road condition and the attention state is concentration state, prohibiting the driving level from being switched to the high-level self-driving level in response to the condition that the road condition information is high-risk road condition and the attention state is relaxation state, and improving the sensitivity of the hands-off detection system. Based on road condition information, attention state and driving grade, a linkage control mechanism is established to adjust the sensitivity of the hand-off detection system, so that a driver does not need to grip the steering wheel in the whole course, driving experience is greatly improved, fatigue of hands and arms is reduced, and driving safety is improved.

Inventors

  • CHEN XIN
  • GUO FENGYU

Assignees

  • 优华劳斯汽车设计(上海)有限公司

Dates

Publication Date
20260508
Application Date
20260319

Claims (11)

  1. 1. Steering wheel takeover method based on automatic driving, characterized by comprising the following steps: identifying road condition information through a vehicle-mounted sensor arranged on the outer side of the vehicle, and dividing the road condition information into a high-risk road condition and a low-risk road condition; monitoring the attentiveness state of a driver through a fatigue monitoring system arranged in the vehicle, and dividing the attentiveness state into an attentive state and a relaxed state; the driving grade of the vehicle is obtained through the vehicle controller so as to determine whether the vehicle is at a low-grade self-driving grade or a high-grade self-driving grade; Detecting the contact state of the hand of a driver and the steering wheel through a steering wheel hand-off detection system; Based on the road condition information, the attention state and the driving level, a linkage control mechanism is established to adjust the sensitivity of the hands-off detection system, the driving level is allowed to be switched to a high-level self-driving level in response to the road condition information being a low-risk road condition and the attention state being an attention state, and the sensitivity of the hands-off detection system is reduced; and in response to the road condition information being a high-risk road condition and the attention state being a relaxed state, the driving level is forbidden to be switched to the advanced self-driving level, and the sensitivity of the hands-off detection system is improved.
  2. 2. The steering wheel takeover method based on automatic driving according to claim 1, wherein in the step of identifying road condition information by a vehicle-mounted sensor provided outside a vehicle, the vehicle-mounted sensor includes a vehicle-mounted camera and a vehicle-mounted radar, the vehicle-mounted camera can acquire first road condition information, the vehicle-mounted radar can acquire second road condition information, and the road condition information is obtained after the first road condition information and the second road condition information are fused.
  3. 3. The automated steering wheel takeover method of claim 1 wherein the steps of monitoring the driver's attentiveness status by a fatigue monitoring system disposed in the vehicle interior and dividing the attentiveness status into an attentive status and a relaxed status further comprise: Acquiring a face image of a driver through an infrared camera; Extracting eye key feature points of a driver, including an upper eyelid, a lower eyelid and pupils, based on a 68-point face key point model, and calculating eyelid opening and closing degree and blink frequency; in response to eyelid opening and closing being greater than 50% and blink frequency being greater than 8 blinks per minute, classifying the attentive state as an attentive state; The attention state is classified as a relaxed state in response to eyelid opening and closing being less than or equal to 50% and blink frequency being less than or equal to 8 blinks per minute.
  4. 4. The steering wheel takeover method based on automatic driving according to claim 1, wherein the step of detecting the contact state of the driver's hand with the steering wheel by the steering wheel shake-out detection system includes: The hand contact detection of the driver is realized through the capacitive sensor arranged on the steering wheel, and the capacitance value of the capacitive sensor is increased when the capacitive sensor is in contact with the hand of the driver; the sensitivity of the hand-free detection system is adjusted by adjusting the capacitance threshold value when the hand contact is determined, when the sensitivity of the hand-free detection system needs to be improved, the capacitance threshold value when the hand contact is determined is increased, and when the sensitivity of the hand-free detection system needs to be reduced, the capacitance threshold value when the hand contact is determined is reduced.
  5. 5. The autopilot-based steering wheel takeover method of claim 1 further comprising: Judging whether taking over is needed or not based on the road condition information, the attention state, the driving level and the contact state, and sending out taking over reminding in a mode of combining voice and characters when taking over is needed.
  6. 6. Steering wheel takeover system based on autopilot, characterized by comprising: the road condition identification unit is used for identifying road condition information through a vehicle-mounted sensor arranged on the outer side of the vehicle and dividing the road condition information into a high-risk road condition and a low-risk road condition; the fatigue monitoring system is used for monitoring the attention state of the driver and dividing the attention state into a concentration state and a relaxation state; the driving level detection unit is used for obtaining the driving level of the vehicle through the vehicle controller so as to determine whether the vehicle is at a low-level self-driving level or a high-level self-driving level; The steering wheel hand-off detection system is used for detecting the contact state of the hand of a driver and the steering wheel; The linkage control unit is used for establishing a linkage control mechanism to adjust the sensitivity of the hands-free detection system based on the road condition information, the attention state and the driving level, allowing the driving level to be switched to the high-level self-driving level and reducing the sensitivity of the hands-free detection system in response to the road condition information being a low-risk road condition and the attention state being the attention state, prohibiting the driving level from being switched to the high-level self-driving level in response to the road condition information being a high-risk road condition and the attention state being the relaxation state, and improving the sensitivity of the hands-free detection system.
  7. 7. The steering wheel take over system based on automatic driving of claim 6, wherein the vehicle-mounted sensor comprises a vehicle-mounted camera and a vehicle-mounted radar, the vehicle-mounted camera can acquire first road condition information, the vehicle-mounted radar can acquire second road condition information, and the road condition information is obtained after the first road condition information and the second road condition information are fused.
  8. 8. The autopilot-based steering wheel take over system of claim 6 wherein the fatigue monitoring system is further configured to: Acquiring a face image of a driver through an infrared camera; Extracting eye key feature points of a driver, including an upper eyelid, a lower eyelid and pupils, based on a 68-point face key point model, and calculating eyelid opening and closing degree and blink frequency; in response to eyelid opening and closing being greater than 50% and blink frequency being greater than 8 blinks per minute, classifying the attentive state as an attentive state; The attention state is classified as a relaxed state in response to eyelid opening and closing being less than or equal to 50% and blink frequency being less than or equal to 8 blinks per minute.
  9. 9. The autopilot-based steering wheel take over system of claim 6 wherein the steering wheel hands-off detection system is configured to: The hand contact detection of the driver is realized through the capacitive sensor arranged on the steering wheel, and the capacitance value of the capacitive sensor is increased when the capacitive sensor is in contact with the hand of the driver; the sensitivity of the hand-free detection system is adjusted by adjusting the capacitance threshold value when the hand contact is determined, when the sensitivity of the hand-free detection system needs to be improved, the capacitance threshold value when the hand contact is determined is increased, and when the sensitivity of the hand-free detection system needs to be reduced, the capacitance threshold value when the hand contact is determined is reduced.
  10. 10. The steering wheel takeover system based on automatic driving according to claim 6, further comprising a takeover reminding unit for judging whether takeover is required or not based on the road condition information, the attention state, the driving level and the contact state, and sending out a takeover reminder in a voice and text combined manner when takeover is required.
  11. 11. Vehicle, characterized by comprising an autopilot-based steering wheel take over system according to any one of claims 6 to 10.

Description

Steering wheel take-over strategy method and system based on automatic driving and vehicle Technical Field The invention relates to the field of automatic driving, in particular to a steering wheel taking-over strategy method and system based on automatic driving and a vehicle. Background The automatic driving technology is one of the important directions of the current development of the automobile industry, and realizes the autonomous control of the vehicle by combining sensor equipment such as computer vision, radar, laser radar and the like with an artificial intelligence algorithm, thereby reducing the workload of a driver and improving the driving safety. In the autopilot technology, the vehicle control system is the core of the vehicle control system, which is responsible for receiving and processing various sensor data and making corresponding control decisions based on these data. In addition, artificial intelligence application is also an important component of automatic driving technology, and can continuously improve the intelligent level of an automatic driving system through technologies such as machine learning, deep learning and the like. In the conventional automatic driving technology, the operation mode of the automatic driving system is generally switched according to the attentiveness state of the driver and the traveling state of the vehicle. For example, when the driver is distracted, the autopilot system may automatically slow down the vehicle speed, or even exit the autopilot mode, to be manually driven by the driver. Meanwhile, to prevent the driver from excessively relying on the system in the automatic driving mode, the existing automatic driving system generally requires the driver to put his hand on the steering wheel for a certain time to ensure that the vehicle can be taken over in time when needed. Since the driver needs to put his hand on the steering wheel for a certain period of time, this may lead to fatigue of his hand and arm, affecting driving safety. The existing automatic driving system often has inaccurate judgment on the attention state of a driver, and sometimes misjudgment occurs, so that the driving mode is not switched timely. The existing automatic driving system is not strong enough in adaptability to different road conditions, and sometimes cannot make an optimal driving decision according to actual road conditions. Disclosure of Invention Aiming at the technical problems, the invention aims to provide a steering wheel taking-over strategy method and system based on automatic driving and a vehicle, and a coordinated control mechanism is established to adjust the sensitivity of a hand-off detection system based on road condition information, attention state and driving grade, so that a driver does not need to grip the steering wheel in the whole course, the driving experience is greatly improved, the fatigue of hands and arms is reduced, and the driving safety is improved. In order to achieve the above object, an object of the present invention is to provide an autopilot-based steering wheel takeover method including: identifying road condition information through a vehicle-mounted sensor arranged on the outer side of the vehicle, and dividing the road condition information into a high-risk road condition and a low-risk road condition; monitoring the attentiveness state of a driver through a fatigue monitoring system arranged in the vehicle, and dividing the attentiveness state into an attentive state and a relaxed state; the driving grade of the vehicle is obtained through the vehicle controller so as to determine whether the vehicle is at a low-grade self-driving grade or a high-grade self-driving grade; Detecting the contact state of the hand of a driver and the steering wheel through a steering wheel hand-off detection system; Based on the road condition information, the attention state and the driving level, a linkage control mechanism is established to adjust the sensitivity of the hands-off detection system, the driving level is allowed to be switched to a high-level self-driving level in response to the road condition information being a low-risk road condition and the attention state being an attention state, and the sensitivity of the hands-off detection system is reduced; and in response to the road condition information being a high-risk road condition and the attention state being a relaxed state, the driving level is forbidden to be switched to the advanced self-driving level, and the sensitivity of the hands-off detection system is improved. In some embodiments, in the step of identifying the road condition information through a vehicle-mounted sensor disposed outside the vehicle, the vehicle-mounted sensor includes a vehicle-mounted camera and a vehicle-mounted radar, the vehicle-mounted camera can acquire first road condition information, the vehicle-mounted radar can acquire second road condition information, and the road condition informat