CN115257806A - Hierarchical assistance system, method, vehicle, and storage medium for automatic driving assistance system - Google Patents

Abstract

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

Description

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

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 hot automatic driving technology wave of the lower fire, the cost of the automatic driving auxiliary system, especially the L2-level automatic driving system, is gradually reduced, the technology is mature day by day, the carrying rate of mass production vehicles is increased year by year, and partial vehicle types or even whole system standard matching is realized. However, most users still have distrust to the day, and the problems of unavailability, dare to use and the like exist generally. The phenomenon is a necessary course of a new technology, and the defects of the new technology in popularization and use guidance exist.

In recent years, various measures have been taken in each 4S store and host factory to improve the degree of understanding of the method and the request of the sales personnel for use of the automatic driving support system, and the automatic driving support system has been widely popularized when a user purchases a car. However, for the complicated L2-level and L3-level automatic driving systems, the user still cannot fully grasp what scenes can use the automatic driving assistance system in the limited time during the car purchasing process, and when the control of the car needs to be taken over.

For example, patent document CN107640154B discloses a novice driver driving assistance system, which defines a method for verifying the novice driver and a method for evaluating the driving behavior of the driver, and finally realizes that the maximum driving speed of the novice driver is limited when the driver drives the vehicle, and even when the operation is not timely and correct, the driver actively intervenes. However, the verification of the novice driver needs to be based on the 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 of the driving behavior evaluation method and does not evaluate the driving style of a driver.

As a further example, reference CN111376719A discloses a driving assistance system. The system enables a user to select the type of assistance required by the system for a novice driver and prompts the type of assistance in a graphical or voice mode. However, for the novice driver, the driver is usually tense in driving the vehicle and cannot detect the graphical prompt in time.

Therefore, there is a need to develop a hierarchical assistance system, method, vehicle and storage medium for an automatic driving assistance system, so that a user can quickly and easily grasp the usage method and usage requirement of the driving assistance system, and the traffic accidents caused by abuse of the user can be reduced while the system usage rate 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 vehicle and a storage medium of an automatic driving auxiliary system, which can provide automatic adjusting methods with different control effects aiming at drivers with different driving experiences and driving styles of the drivers in the process of using the automatic driving auxiliary system.

In a first aspect, the present invention provides a hierarchical assistance system for an automatic driving assistance system, including:

the perception and cognition module is used for identifying the vehicle state, the driver operation/state, the road, the environment information and the obstacle information required by the operation of the automatic driving assistance system;

the state machine module is used for controlling whether the driving assistance system is activated or not, quitting and deciding which assistance mode the driving assistance system belongs to at present, and is connected with the perception cognition module;

the control target selection module is used for selecting corresponding longitudinal and transverse control targets from the obstacle cognition result and the road cognition result in the perception cognition module based on selection rules under different grading auxiliary modes, and presuming the grade of the driving experience of the driver and the type of the 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 an obstacle, and the control target selection module is respectively connected with the perception cognition module and the state machine module;

the planning decision module is used for planning different target accelerations and target tracks based on control rules in different grading auxiliary modes, and is respectively connected with the state machine module and the control target selection module;

the HMI module is used for providing grading 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;

and the actuator module comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, wherein the longitudinal actuator is used for controlling the vehicle to accelerate, decelerate and shift gears, the transverse actuator is used for controlling the vehicle to turn, the vehicle body actuator is used for controlling the vehicle to light and start double flashes, and the actuator module is connected with the planning decision module.

Optionally, the cognitive perception module includes:

the vehicle state perception and cognition submodule is used for identifying the vehicle state;

the driver operation/state perception cognition submodule is used for identifying the operation/state of the driver;

the road and environment perception cognition submodule is used for identifying road and environment information;

and the obstacle perception cognition submodule is used for identifying obstacle information.

Optionally, the state machine module comprises:

the driving auxiliary system state machine is used for controlling whether the driving auxiliary system is activated or quitted;

and a hierarchical assist mode state machine for deciding to which assist mode the current belongs.

Optionally, the control target selection module includes:

the longitudinal control target selection submodule selects a corresponding longitudinal target from the obstacle cognition result and the road cognition result in the perception cognition module based on the selection rules under different grading auxiliary modes;

the transverse control target selection submodule selects a corresponding transverse control target from the obstacle cognition result and the road cognition result in the perception cognition module based on selection rules under different grading auxiliary modes;

the driver experience judging submodule is used for deducing the level of the driver's driving experience according to the driver operation, the vehicle state, the road, the environment state and the obstacle state;

and a driving style determination submodule for presuming the type of the driving style of the driver based on the driver's operation, the vehicle state, the road, the environment state, and the obstacle state.

Optionally, the planning decision module comprises:

the longitudinal control target acceleration planning submodule is used for planning different target accelerations based on control rules under different hierarchical auxiliary modes;

and the transverse control target track planning submodule is used for planning different target tracks based on the control rules under different hierarchical auxiliary modes.

Optionally, the HMI module comprises:

the setting sub-module is used for providing hierarchical auxiliary mode strategy setting and automatic driving auxiliary system operation setting;

the graphic display sub-module is used for displaying related prompt and alarm information through graphics;

and the audio-video display submodule is used for displaying related prompt and alarm information through images.

In a second aspect, the present invention provides a hierarchical assistance method for an automatic driving assistance system, which employs the hierarchical assistance system for an automatic driving assistance system according to the present invention, the method comprising:

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 the coach mode is defaulted when the vehicle leaves a factory;

and 2, performing corresponding auxiliary driving according to the judged auxiliary mode.

Optionally, when the auxiliary mode is judged to be the coach mode, carrying out coach mode auxiliary driving;

the coaching mode assisted driving is configured to: the system is more sensitive to the response of other modes, a preset number of false alarms and false brakes are allowed to be generated, the number of missed brakes is less than the preset number, 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, the transverse delayed exit state is entered as early as possible under the condition that the lane line is not clear, and the like, so that the driver has enough time and can be prepared to take over the vehicle. Therefore, the safety worry 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 less than a preset value, the automatic driving auxiliary system can be activated;

in the process of using the automatic driving assistance system, the grading assistance mode state machine also refers to a system control strategy, and carries out detailed description on any action, prompt and warning made by the system through voice according to the current perception and cognition result and the target selection result, wherein the detailed description is usually before the action, the prompt and the warning are sent out; the graphic display text prompts or warning messages in the coach mode each include prompt/warning message + specific reason.

Optionally, when the auxiliary mode is judged to be a novice mode, performing the novice mode auxiliary driving;

the novice mode assisted driving is configured to: removing the limit of the highest working speed; the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target trajectory planning are calibrated according to the conservative auxiliary driving style effect; the hierarchical auxiliary mode state machine does not explain the voice driving through the audio-visual display submodule, and only when the driving auxiliary system state machine is triggered to need a driver to take over and the graphic display module is abnormal, the audio-visual display submodule outputs voice alarm;

the system assistant driving style is divided into a conservative assistant driving style, a standard assistant driving style and an aggressive assistant driving style in sequence according to the aggressive degree of the system assistant, namely the sensitivity and the intensity.

Alternatively, when it is determined that the assist mode is the proficiency mode, performing proficiency mode assist driving;

the proficiency mode assisted 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 trajectory planning are calibrated according to a standard auxiliary driving style; and only when the graphic display submodule is abnormal, the audio-visual display submodule outputs voice alarm.

Optionally, when the auxiliary mode is judged to be the professional mode, performing professional mode auxiliary driving;

the professional mode assisted driving is configured to: the sensitivity is automatically adjusted according to the driving style of the driver, namely the parameters of a driving mode are automatically selected according to the selection of a longitudinal control target, the selection of a transverse control target, the acceleration planning of the longitudinal control target and the trajectory planning of the transverse control target; only necessary prompts and alarm information for regulation and system use are reserved.

The method for judging the driving style of the driver comprises the following steps:

when a driver drives, the driving style of the driver is judged according to the set vehicle following distance, the accelerator brake switching frequency, the accelerator brake depth and the change rate thereof, the braking or direction intervention opportunity and intensity and correctness when a front vehicle decelerates, the lane changing frequency and the lane changing transverse speed, the distance between the lane changing and the surrounding vehicles, the difference between the non-congested road driving speed and the speed limit value, the collision alarm frequency, the takeover alarm frequency and the auxiliary mode;

when the automatic driving auxiliary system works, the driving style of a driver is judged according to the set following time distance, the frequency of the driver actively stepping on the accelerator, the braking or direction intervention opportunity and intensity under the emergency condition, the lane changing frequency, the lane changing transverse speed, the distance between the lane changing and the surrounding vehicles, the set cruise speed adjusting frequency and the difference between the set cruise speed adjusting frequency and the speed limit value.

Optionally, the driving style of the driver includes three grades of conservation, standard and motivation, the vehicle is defaulted to a conservation level when leaving a factory, for a vehicle type with an identity recognition function or a seat memory function, the driving style of the driver at the initial time after power-on every time is output according to a recognition/memory result, and when the identity is not recognized or no memory is available, the driving style of the driver is defaulted to a state when the power is off last time

Alternatively, the determination method of the driving experience determination may be as follows:

when a driver drives, the driving experience is judged according to the distance between a following vehicle and a nearby vehicle, the braking depth and the change rate of an accelerator, the vehicle centering effect, the braking or direction intervention opportunity and strength and correctness when a front vehicle decelerates or takes over for alarming or collision alarming, the lane changing frequency and the lane changing transverse speed, the distance between the driver and a surrounding vehicle when changing lanes, the running speed of a non-congested road and the difference of a speed limit value;

when the automatic driving auxiliary system works, the driving experience is judged according to the set following time distance, the frequency of actively cancelling or actively taking over or actively stepping on the accelerator by a driver, the opportunity and the strength of braking or direction intervention in emergency conditions, the correctness, the lane changing frequency and the lane changing transverse speed, the distance between the lane changing and the surrounding vehicles, the set cruise speed adjusting frequency and the difference between the cruise speed adjusting frequency and the speed limit value.

Alternatively, 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 levels of coaching, novice, proficiency and profession, and the vehicle is defaulted to the novice level when leaving a factory; for the vehicle type with the identity recognition or seat memory function, the driving experience at the initial time after each power-on is output according to the recognition/memory result, and when the identity is not recognized or no memory is available, the state is defaulted to be the state when the power is off last time.

Optionally, when the auxiliary mode setting result is the automatic mode:

when the judgment result of the driving experience is a coach and the judgment result of the driving style of the driver is conservative, judging that the driver is in a coach mode;

when the judgment result of the driving experience is novice and the judgment result of the driving style of the driver is conservative, judging that the mode is a novice mode;

judging as a professional mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is conservative, and the driver is not in fatigue, abnormal body and inattentive attention;

when the judgment result of the driving experience is skillful, the judgment result of the driving style of the driver is conservative, and the driver is in any one of fatigue, abnormal body and inattentive attention, the mode is judged as a novice mode;

when the driving experience judgment result is professional, the driving style judgment result of the driver is conservative, and the driver is not in fatigue, abnormal body and inattentive, judging as a professional mode;

when the driving experience judgment result is professional, the driving style judgment result of the driver is conservative, and the driver is in any one of fatigue, abnormal body and inattention, judging the driver to be in a novice mode;

when the judgment result of the driving experience is a coach and the judgment result of the driving style of the driver is standard, judging as a coach mode;

when the driving experience judgment result is a novice and the driving style judgment result of the driver is a standard, judging the mode of the novice;

judging as a proficiency mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is standard, and the driver is not in fatigue, abnormal body and inattentive attention;

judging as a novice mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is standard, and the driver is in any one of fatigue, abnormal body and inattention;

when the driving experience judgment result is professional, the driving style judgment result of the driver is standard, and the driver is not in fatigue, abnormal body and inattentive, judging as a professional mode;

when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is standard, and the driver is in any one of fatigue, abnormal body and inattention, the driver is judged to be the novice mode;

when the driving experience judgment result is a coach, the driving style judgment result of the driver is aggressive, and the driver is judged to be in a coach mode;

when the judgment result of the driving experience is a novice, the judgment result of the driving style of the driver is aggressive, and the driver is judged to be in a novice mode;

judging as a proficiency mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is aggressive, and the driver is not in fatigue, abnormal body and inattention;

judging as a novice mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is aggressive, and the driver is in any one of fatigue, abnormal body and inattention;

judging as a proficiency mode when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is aggressive, and the driver is not in fatigue, abnormal body and inattentive;

and when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is aggressive, and the driver is in any one of fatigue, abnormal body and inattentive attention, judging the mode to be the novice mode.

Alternatively, when the supplementary mode setting result is the coach mode, it is determined as the coach mode.

Alternatively, when the assist mode setting result is the proficiency mode:

judging the driver to be in a proficiency mode when the driver is not in fatigue, abnormal body and inattention;

when the driver is in any one of fatigue, physical abnormality, and inattention, it is determined as the beginner mode.

Optionally, when the auxiliary mode setting result is professional mode:

when the driver is not in fatigue, abnormal body and inattentive, judging the driver to be in the professional mode;

when the driver is in any one of fatigue, physical abnormality, and inattention, it is determined as the beginner mode.

Optionally, the method further comprises:

in the coaching assistance mode, the guidance instruction for the use of the automatic driving system specifically comprises the following steps: to explain how to activate the system, set up the system, and explain the reasons for the various prompts, alarms, and/or controls of the system.

In a third aspect, a vehicle according to the present invention employs a classification assist system of an automatic driving assist system according to the present invention.

In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, the computer readable program, when being invoked, being capable of performing the steps of the classification assistance method of an automatic driving assistance system according to the present invention.

The invention has the following advantages: the user can quickly know the use method and the use requirement of the automatic driving assistance system, and the control effect of the system can be automatically adjusted according to a coach mode, a novice mode, a proficiency mode and a professional mode respectively according to the driving experience of the driver, the driving style of the driver and the setting state of the graded assistance mode in the use process, so that the user can really use and dare to use the automatic driving assistance system.

Drawings

FIG. 1 is a block diagram of the present embodiment;

FIG. 2 is a schematic flow chart of the present embodiment;

FIG. 3 is an example of coaching mode voice guidance;

in the figure, 1, a perception cognition module, 11, a vehicle state perception cognition submodule, 12, a driver operation/state perception cognition submodule, 13, a road and environment perception cognition submodule, 14, an obstacle perception cognition submodule, 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 submodule, 32, a transverse control target selection submodule, 33, a driver experience judgment submodule, 34, a driving style judgment submodule, 4, a planning decision module, 41, a longitudinal control target acceleration planning submodule, 42, a transverse control target trajectory planning submodule, 5, an HMI module, 51, a setting submodule, 52, a graphic display submodule, 53, a video and audio display submodule, 6, an actuator module, 61, a longitudinal actuator, 62, a transverse actuator, 63 and an 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 classification assist system of an automatic driving assist system includes:

the cognitive perception module 1 is used for recognizing vehicle states (such as vehicle speed, acceleration, actual gears, light states and the like) required by the operation of the automatic driving assistance system, driver operation/states (such as opening and speed of an accelerator pedal, opening and speed of a brake pedal, rotation speed of a steering wheel, turn light switch states and the like, and whether attention is low, fatigue exists, whether hands are lost, whether physical states are abnormal and the like), roads, environment information (such as lane lines, guardrails, road edges, speed limit boards, tunnels, ramps, construction, road types, weather, illumination and the like) and obstacle information (such as vehicles, pedestrians, accident vehicles and the like).

And thestate machine module 2 is used for controlling whether the driving assistance system is activated or not, exiting the driving assistance system and deciding which assistance mode the driving assistance system currently belongs to, and thestate machine module 2 is connected with the perception cognition module 1.

The controltarget selection module 3 selects corresponding longitudinal and transverse control targets from the obstacle cognition results and the road cognition results in the perception cognition module based on selection rules in different hierarchical auxiliary modes, and presumes the level of the driving experience of the driver (the level of the driving experience of the driver comprises a novice level, a proficiency level and a professional level) and the type of the driving style of the driver (the type of the driving style of the driver comprises a conservative type, a standard type or an aggressive type) according to the operation of the driver, the vehicle state, the road, the environmental state and the obstacle state, and the controltarget selection module 3 is respectively connected with the perception cognition module 1 and thestate machine module 2.

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 thestate machine module 2 and the controltarget selection module 3.

TheHMI module 5 is used for providing grading auxiliary mode strategy setting, automatic driving auxiliary system operation setting and displaying related prompt and alarm information, and theHMI module 5 is connected with thestate machine module 2; the graphic display mode includes characters, icons, etc., but not limited to the implementation of hardware, and the audio-visual display mode includes sound, voice, animation, etc.

And theactuator module 6 comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, wherein the longitudinal actuator is used for controlling the vehicle to accelerate, decelerate and shift gears, the transverse actuator is used for controlling the vehicle to turn, the vehicle body actuator is used for controlling the vehicle to light and start double flashing, and theactuator module 6 is connected with the planning decision module 4.

In this embodiment, the cognitive perception module 1 includes:

the vehicle state perception andcognition submodule 11 is used for recognizing the vehicle state;

a driver operation/state awareness sub-module 12 for recognizing a driver operation/state;

the road and environmentperception cognition submodule 13 is used for identifying road and environment information;

and an obstacle sensingcognitive submodule 14 for recognizing obstacle information.

In this embodiment, thestate machine module 2 includes:

a driving assistancesystem state machine 21 for controlling whether the driving assistance system is activated or deactivated;

and a hierarchical assistmode state machine 22 for deciding to which assist mode currently belongs.

In this embodiment, the controltarget selection module 3 includes:

the longitudinal controltarget selection submodule 31 selects a corresponding longitudinal target from the obstacle cognition result and the road cognition result in the perception cognition module based on the selection rules in different grading auxiliary modes;

the transverse controltarget selection submodule 32 selects a corresponding transverse control target from the obstacle cognition result and the road cognition result in the perception cognition module based on the selection rules under different grading auxiliary modes;

a driverexperience judgment submodule 33 for presuming the level of the driver's driving experience based on the driver's operation, the vehicle state, the road, the environmental state, and the obstacle state;

and a drivingstyle determination submodule 34 for estimating the type of the driving style of the driver from 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 targetacceleration planning submodule 41 configured to plan different target accelerations based on control rules in different hierarchical assist modes;

and a transverse control target trajectory planning sub-module 42 for planning different target trajectories based on control rules in different hierarchical assist modes.

In this embodiment, theHMI module 5 includes:

a setting sub-module 51 for providing a hierarchical assistance mode strategy setting and an automatic driving assistance system operation setting;

thegraphic display sub-module 52 is used for displaying related prompt and alarm information through graphics;

and a video display sub-module 53 for displaying the related prompt and alarm information through images.

The system can automatically infer the driving style and experience of the driver, automatically and/or according to user settings, enable a coaching assistance mode in which the most detailed guidance for use of the automatic driving system is provided, comprising: the method comprises the following steps of detailing how to activate and set, when the set font needs to be adjusted, explaining the reasons of various prompts, alarms and/or controls of the system in detail and the like; in addition, the system control command, the prompt information and the alarm information triggering time can be automatically adjusted, the control command triggering mode (such as the target acceleration amplitude, the slope, the smoothness of a target track and the like), the alarm information presenting mode (such as a graph, a graph + sound and/or voice and the like) and the like can be automatically adapted to users with different driving styles and driving experiences of drivers, and the automatic driving assistance system can be finally used, dared and willing to be used by the users on the premise of not influencing the final use experience of the system.

In this embodiment, a classification assisting method of an automatic driving assisting system, which is implemented by the classification assisting system of the automatic driving assisting 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 may manually select any of the following modes by the settings sub-module 51: coach mode, proficiency mode, professional mode, auto mode. When the vehicle leaves a factory, the default mode is the automatic mode.

In this embodiment, the driver's driving experience is determined.

The driving experience comprises four levels of coaching (namely entrance), novice, proficiency and specialty, and the vehicle defaults to the novice level when leaving the factory. For the vehicle type with the identity recognition or seat memory function, the driving experience at the initial time after each power-on can be output according to the recognition/memory result, and when the identity is not recognized or no memory is available, the state is defaulted to be the state when the power is off last time.

The driverexperience judgment sub-module 33, in combination with the perception and cognition module 1, thestate machine module 2 and the planning decision module 4, can estimate the driver experience in the following manner.

Mode 1, the result is set according to the assist mode. When the vehicle leaves a factory, the default is the novice level; if the mode is set to the automatic mode, the estimation is performed according to themode 2, and if the mode is set to the other mode, the mode corresponds to the specific mode.

In themode 2, the operation of the driver is estimated during the driving of the driver and the assist control of the automatic driving assist system.

The method comprises the following specific steps:

2.1, when the driver drives the vehicle by himself: the distance between the following vehicles, the braking depth of an accelerator and the change rate of the accelerator, the vehicle centering effect, the braking or direction intervention opportunity and intensity and correctness when the front vehicle decelerates or takes over the alarm or the collision alarm, the lane change frequency and the lane change transverse speed, the distance between the front vehicle and the surrounding vehicle when the lane is changed, the running speed of the non-congested road and the difference of the speed limit value and the like;

2.2, when the automatic driving assistance system works: setting a following time interval, actively canceling or actively taking over or actively stepping on an accelerator by a driver, braking or direction intervention opportunity and intensity and correctness in an emergency condition, lane changing frequency and lane changing transverse speed, a distance between the lane changing frequency and a surrounding vehicle, setting cruise speed adjusting frequency and a difference between the cruise speed adjusting frequency and a speed limit 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, when the attention is distracted, the fatigue and the physical state are abnormal, the familiarity and professional level is automatically revised to be the novice level.

In this embodiment, the driver's driving style is determined.

The driving style of the driver comprises three grades of conservation, standard and aggressiveness, and the vehicle is defaulted to a conservation level when leaving a factory. For the vehicle type with 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 when the identity is not recognized or no memory is available, the state is defaulted to be the state when the power is off last time.

The drivingstyle judgment sub-module 34, in combination with the cognitive sensing module 1, thestate machine module 2 and the planning decision module 4, may infer the driving style of the driver by:

1. when the driver drives the vehicle by himself: the distance between the following vehicles, the switching frequency of the accelerator and the brake, the depth and the change rate of the accelerator and the brake, the braking or direction intervention opportunity and intensity and correctness when the front vehicle decelerates, the lane changing frequency and the lane changing transverse speed, the distance between the lane changing and the surrounding vehicles, 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 set following vehicle distance (only in an auxiliary mode) and the like;

2. when the automatic driving assistance system works: setting the following time distance, the frequency of the driver actively stepping on the accelerator, the braking or direction intervention opportunity and intensity in emergency conditions, the lane changing frequency, the lane changing transverse speed, the distance between the lane changing and the surrounding vehicles, the setting of the cruise speed adjusting frequency, the difference between the cruise speed adjusting frequency and the speed limit value and the like.

In this embodiment, the auxiliary mode determination:

the hierarchical assistmode state machine 22 determines the current assist mode based on the assist mode setting result of the settingsubmodule 51, the drivingexperience determination submodule 33, and the drivingstyle determination submodule 34. And provides more detailed voice guidance explanation for the operation state of the driving assistance system and the prompt alarm information when the driver is judged to be in the coach mode, and the detailed description is shown in fig. 3.

Meanwhile, when the output result of the drivingexperience judging submodule 33 does not accord with the setting state of the settingsubmodule 51, the driver is actively prompted whether to adjust the auxiliary mode state or not through thegraphic display submodule 52 and/or the audio-visual display submodule 53, and when the driver agrees, the setting result of themode setting submodule 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 after purchasing the vehicle, after the vehicle is ignited, the prompting information is actively sent out through thegraphic display sub-module 52 and/or the audio-visual display sub-module 53 to inquire whether the user watches the driving assistance system instruction video and enters the training mode.

In this embodiment, the coaching mode assists driving.

The coach mode system is more sensitive in response, allows certain false alarms and false brakes (namely allows a preset number of false alarms and false brakes) to be generated, but strictly controls the missed brakes of the system (namely the number of missed brakes is less than the preset number), and reduces the deceleration amplitude during the missed brakes by advancing the braking time and the like. Meanwhile, the condition of transverse control quitting needs to be reduced, the vehicle enters a transverse delay quitting state as early as possible under the condition that a lane line is not clear and the like, and an alarm is sent. To ensure the effectiveness of the coaching mode, the automatic driving assistance system can only be activated in the coaching mode in a specific road section (the lane line is clear and complete, and the traffic flow is relatively small), which can be realized by a dynamic electronic map fence or a driver can select a proper road section according to the instruction.

After entering a coach mode, when a longitudinal control target selects an oncoming lane target, the oncoming lane vehicle can be more easily selected as the longitudinal control target, and meanwhile, the longitudinal control target acceleration planning limits the maximum value of the target deceleration of the target when the target is selected in advance; the target condition for selecting and selecting the track planning is higher, namely the system is easier to quit, so that when the system cannot be controlled, 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 the process of using the automatic driving assistance system, the classification assistancemode state machine 22 will also refer to the system control strategy, and according to the current perception cognitive result and the target selection result, will perform detailed description on any actions, prompts and warnings made by the system through voice, and the detailed description is generally detailed before the actions, prompts and warnings are sent out, and is shown in fig. 3 in detail. The graphic display text prompt or warning message in the coach mode comprises: prompt message/warning message + specific reason, and highlight prompt/warning content, such as "please take over immediately, the system will quit soon", "activation fails, please tie a safety belt first".

In this embodiment, the novice mode assists driving:

1. when the hierarchical assistmode state machine 21 will remove the maximum operating speed limit;

2. the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target trajectory planning are calibrated according to the conservative auxiliary driving style effect;

3. the hierarchical auxiliary mode state machine does not explain any voice driving through the audio-visual display submodule 53 any more;

4. only when the driving assistancesystem state machine 21 is triggered and needs to be taken over by the driver and thegraphic display sub-module 52 is abnormal, the audio-visual display sub-module 53 outputs a voice alarm.

In the embodiment, the proficiency mode assists driving:

when the hierarchical assistmode state machine 22 determines that it is currently in the proficiency mode, the main differences with respect to the novice mode are:

1. the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target trajectory planning are calibrated according to a standard experience effect (namely a standard assistant driving style), namely the calibration is between two driving styles, namely a conservative assistant driving style and an aggressive assistant driving style.

2. Only when thegraphic display sub-module 52 is abnormal, the audio-visual display sub-module 53 outputs a voice alarm.

In this embodiment, the professional mode assists driving:

when the hierarchical auxiliarymode state machine 22 determines that it is currently in the professional mode, the main differences with respect to the skilled mode are:

1. the system automatically adjusts the sensitivity according to the driving style (conservative, standard and aggressive) of the driver, namely longitudinal control target selection, transverse control target selection, longitudinal control target acceleration planning and transverse control target trajectory planning, and automatically selects parameters of a conservative, standard or aggressive mode according to the driving style judgment result of the driver;

2. only necessary prompts and alarm information for regulation and system use are reserved.

In the embodiment, the current auxiliary mode is judged according to the auxiliary mode setting result, the driving experience judgment result and the driving style judgment result of the driver, and the judgment result of the auxiliary mode is corrected based on the attention, the fatigue state and the body state of the driver, wherein the specific judgment and correction conditions are shown in table 1;

table 1:

in the present embodiment, a vehicle employs the classification support system of the automatic driving support system as described in the present embodiment.

In the present embodiment, a storage medium stores therein a computer-readable program that, when called, is capable of executing the steps of the classification support method of the automatic driving support system as described in the present embodiment.

The above examples are preferred embodiments of the method of the present invention, but the method of the present invention is not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are intended to be included in the scope of the present invention.

Claims (23)

1. A hierarchical assistance system of an automatic driving assistance system, characterized in that: the method comprises the following steps:

the perception cognition module (1) is used for identifying the vehicle state, the driver operation/state, the road, the environment information and the obstacle information required by the operation of the automatic driving assistance system;

the state machine module (2) is used for controlling whether the driving assistance system is activated or not, quitting and deciding which assistance mode the driving assistance system belongs to at present, and the state machine module (2) is connected with the perception cognition module (1);

the control target selection module (3) selects corresponding longitudinal and transverse control targets from the obstacle cognition result and the road cognition result in the perception cognition module based on selection rules under different grading auxiliary modes, and presumes the grade of the driving experience of the driver and the type of the driving style 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 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 grading 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);

and the actuator module (6) comprises a longitudinal actuator, a transverse actuator and a vehicle body actuator, wherein the longitudinal actuator is used for controlling the vehicle to accelerate, decelerate and shift gears, the transverse actuator is used for controlling the vehicle to turn, the vehicle body actuator is used for controlling the vehicle to light and start double flashing, and the actuator module (6) is connected with the planning decision module (4).

2. The hierarchical assistance system of the automated driving assistance system according to claim 1, characterized in that: the perceptual-cognitive module (1) comprises:

a vehicle state perception cognition submodule (11) for recognizing a vehicle state;

a driver operation/state perception cognition submodule (12) for recognizing a driver operation/state;

the road and environment perception cognition submodule (13) is used for identifying road and environment information;

and an obstacle-sensing cognitive sub-module (14) for identifying obstacle information.

3. The hierarchical assistance system of the automated 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 assist mode state machine (22) for deciding to which assist mode currently belongs.

4. The hierarchical assistance system of the automated driving assistance system according to claim 3, characterized in that: the control target selection module (3) comprises:

the longitudinal control target selection submodule (31) selects a corresponding longitudinal target from the obstacle cognition result and the road cognition result in the perception cognition module based on selection rules under different grading auxiliary modes;

the transverse control target selection submodule (32) selects a corresponding transverse control target from the obstacle cognition result and the road cognition result in the perception cognition module based on the selection rules under different grading auxiliary modes;

a driver experience judgment sub-module (33) for presuming the level of the driver's driving experience according to the driver's operation, the vehicle state, the road, the environmental state and the obstacle state;

and a driving style determination submodule (34) for estimating the type of the 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 the automatic driving assistance system according to claim 1, 2, or 4, characterized in that: the planning decision module (4) comprises:

a longitudinal control target acceleration planning submodule (41) for planning different target accelerations based on control rules in different hierarchical assistance modes;

and a transverse control target trajectory planning sub-module (42) for planning different target trajectories based on control rules in different hierarchical assist modes.

6. The hierarchical assistance system of the automated driving assistance system according to claim 5, characterized in that: the HMI module (5) comprising:

a setting sub-module (51) for providing a hierarchical assistance mode strategy setting and an automatic driving assistance system operation setting;

the graphic display sub-module (52) is used for displaying related prompt and alarm information through graphics;

and the image and sound display submodule (53) is used for displaying related prompt and alarm information through images.

7. A hierarchical assistance method of an automatic driving assistance system is characterized in that: a classification assist system using the automatic driving assist 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 skilled mode and a professional mode;

and 2, performing corresponding auxiliary driving according to the judged auxiliary mode.

8. The hierarchical assistance method of the automatic driving assistance system according to claim 7, characterized in that: when the auxiliary mode is judged to be the coach mode, carrying out coach mode auxiliary driving;

the coaching mode driver assistance is configured to: the system is more sensitive to the reaction of other modes, a preset number of false alarms and false brakes are allowed to be generated, the number of missed brakes is less than the preset number, and the deceleration amplitude during the false brakes is reduced by advancing the braking time; simultaneously, the exit condition of the transverse control is reduced;

when the lane line of the vehicle is clear and complete and the traffic flow is less than a preset value, the automatic driving auxiliary system can be activated;

in the process of using the automatic driving assistance system, the grading assistance mode state machine also refers to a system control strategy, and carries out detailed description on any action, prompt and warning made by the system through voice according to the current perception and cognition result and the target selection result, wherein the detailed description is usually before the action, the prompt and the warning are sent out; the graphic display text prompts or warning messages in the coach mode each include prompt/warning message + specific reason.

9. The hierarchical assistance method of the automatic driving assistance system according to claim 8, characterized in that: when the auxiliary mode is judged to be the 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; the longitudinal control target selection, the transverse control target selection, the longitudinal control target acceleration planning and the transverse control target trajectory planning are calibrated according to the conservative auxiliary driving style effect; the hierarchical auxiliary mode state machine does not explain the voice driving through the audio-visual display sub-module, and only when the driving auxiliary system state machine is triggered and needs to be taken over by a driver and the graphic display module is abnormal, the audio-visual display sub-module outputs voice alarm;

the system assistant driving style is divided into a conservative assistant driving style, a standard assistant driving style and an aggressive assistant driving style in sequence according to the aggressive degree of the system assistant, namely the sensitivity and the intensity.

10. The hierarchical assistance method of the automatic driving assistance system according to claim 9, characterized in that: when the auxiliary mode is judged to be the proficiency mode, performing proficiency mode auxiliary driving;

the proficiency mode assisted 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 trajectory planning are calibrated according to a standard auxiliary driving style; and only when the graphic display submodule is abnormal, the audio-visual display submodule outputs voice alarm.

11. The hierarchical assistance method of the automatic driving assistance system according to claim 10, 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: the sensitivity is automatically adjusted according to the driving style of the driver, namely the parameters of a driving mode are automatically selected according to the selection of a longitudinal control target, the selection of a transverse control target, the acceleration planning of the longitudinal control target and the trajectory planning of the transverse control target; only necessary prompts and alarm information for regulation and system use are reserved.

12. The hierarchical assistance method of the automatic driving assistance system according to any one of claims 7 to 11, characterized in that: the method for judging the driving style of the driver comprises the following steps:

when a driver drives, the driving style of the driver is judged according to the set vehicle following distance, the accelerator-brake switching frequency, the accelerator-brake depth and the change rate thereof, the braking or direction intervention opportunity and intensity and correctness when a front vehicle decelerates, the lane changing frequency and the lane changing transverse speed, the distance between the front vehicle and the surrounding vehicle when changing the lane, the difference between the non-congestion road driving speed and the speed limit value, the collision alarm frequency, the takeover alarm frequency and the auxiliary mode;

when the automatic driving auxiliary system works, the driving style of a driver is judged according to the set following time distance, the frequency of the driver for actively stepping on the accelerator, the braking or direction intervention opportunity and intensity under an emergency condition, the lane changing frequency, the lane changing transverse speed, the distance between the driver and the surrounding vehicles during lane changing, the set cruising speed adjusting frequency and the difference between the set cruising speed adjusting frequency and the speed limit value.

13. The hierarchical assistance method of the automatic driving assistance system according to claim 12, characterized in that: the driving style of the driver comprises three grades of conservation, standard and promotion, the vehicle is defaulted to a conservation level when leaving a factory, for the vehicle type with the identity recognition or seat memory function, the driving style of the driver at the initial time after power-on every time is output according to the recognition/memory result, and when the identity is not recognized or no memory exists, the driving style of the driver is defaulted to the state when power is off last time.

14. The hierarchical assistance method of the automatic driving assistance system according to claim 13, characterized in that: the determination method of the driving experience judgment is as follows:

when a driver drives, the driving experience is judged according to the distance between a following vehicle and a nearby vehicle, the braking depth and the change rate of an accelerator, the vehicle centering effect, the braking or direction intervention opportunity and strength and correctness when a front vehicle decelerates or takes over for alarming or collision alarming, the lane changing frequency and the lane changing transverse speed, the distance between the driver and a surrounding vehicle when changing lanes, the running speed of a non-congested road and the difference of a speed limit value;

when the automatic driving auxiliary system works, the driving experience is judged according to the set following time distance, the frequency of actively canceling or actively taking over or actively stepping on the accelerator by a driver, the braking or direction intervention opportunity and intensity and correctness under the emergency working condition, the lane changing frequency and the lane changing transverse speed, the distance between the driver and the surrounding vehicle during the lane changing, the set cruising speed adjusting frequency and the difference between the cruising speed adjusting frequency and the speed limit value.

15. The hierarchical assistance method of the automatic drive assist system according to claim 13 or 14, characterized in that: the driving experience comprises four grades of coaching, novice, proficiency and specialty, and the vehicle is defaulted to be the novice level when leaving a factory; for the vehicle type with the identity recognition or seat memory function, the driving experience at the initial time after each power-on is output according to the recognition/memory result, and when the identity is not recognized or no memory is available, the state is defaulted to be the state when the power is off last time.

16. The hierarchical assistance method of the automatic driving assistance system according to claim 15, characterized in that: the determination result of the assist mode is corrected based on the driver's attention, fatigue state, and physical state.

17. The hierarchical assistance method of the automatic driving assistance system according to claim 16, characterized in that:

when the auxiliary mode setting result is the automatic mode:

when the judgment result of the driving experience is a coach and the judgment result of the driving style of the driver is conservative, judging that the driver is in a coach mode;

when the judgment result of the driving experience is novice and the judgment result of the driving style of the driver is conservative, judging that the mode is a novice mode;

judging as a professional mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is conservative, and the driver is not in fatigue, abnormal body and inattentive attention;

judging that the driver is in the novice mode when the driving experience judgment result is proficiency, the driving style judgment result of the driver is conservative, and the driver is in any one of fatigue, abnormal body and inattentive attention;

when the driving experience judgment result is professional, the driving style judgment result of the driver is conservative, and the driver is not in fatigue, abnormal body and inattentive, judging as a professional mode;

when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is conservative, and the driver is in any one of fatigue, abnormal body and inattentive attention, the mode is judged as a novice mode;

when the judgment result of the driving experience is a coach and the judgment result of the driving style of the driver is standard, judging as a coach mode;

when the driving experience judgment result is a novice and the driving style judgment result of the driver is a standard, judging the mode of the novice;

judging the driver to be in the proficiency mode when the driving experience judgment result is proficiency, the driving style judgment result of the driver is standard, and the driver is not in fatigue, abnormal body and inattention;

judging as a novice mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is standard, and the driver is in any one of fatigue, abnormal body and inattention;

when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is standard, and the driver is not in fatigue, abnormal body and inattentive, judging as a professional mode;

when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is standard, and the driver is in any one of fatigue, abnormal body and inattentive attention, the mode is judged as a novice mode;

when the judgment result of the driving experience is a coach, the judgment result of the driving style of the driver is aggressive, and the driver is judged to be in a coach mode;

when the driving experience judgment result is a novice, the driving style judgment result of the driver is aggressive, and the driver is judged to be in a novice mode;

judging as a proficiency mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is aggressive, and the driver is not in fatigue, abnormal body and inattention;

judging as a novice mode when the judgment result of the driving experience is proficiency, the judgment result of the driving style of the driver is aggressive, and the driver is in any one of fatigue, abnormal body and inattention;

judging as a proficiency mode when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is aggressive, and the driver is not in fatigue, abnormal body and inattentive;

and when the judgment result of the driving experience is professional, the judgment result of the driving style of the driver is aggressive, and the driver is in any one of fatigue, abnormal body and inattentive attention, judging the mode to be the novice mode.

18. The hierarchical assistance method of the driving assistance system according to claim 17, wherein the coaching mode is determined when the assistance mode setting result is the coaching mode.

19. The hierarchical assistance method of the automated driving assistance system according to claim 18, characterized in that, when the assistance mode setting result is a proficiency mode:

judging the driver to be in a proficiency mode when the driver is not in fatigue, abnormal body and inattention;

when the driver is in any one of fatigue, physical abnormality, and inattention, it is determined as the beginner mode.

20. The hierarchical assistance method of the automated driving assistance system according to claim 19, characterized in that, when the assistance mode setting result is a professional mode:

when the driver is not in fatigue, abnormal body and inattentive, judging the driver to be in the professional mode;

when the driver is in any one of fatigue, physical abnormality, and inattention, it is determined as the novice mode.

21. The hierarchical assistance method of the automatic driving assistance system according to claim 8, characterized by further comprising:

in the coaching assistance mode, the guidance instruction for the use of the automatic driving system specifically comprises the following steps: to explain how to activate the system, set up the system, and to explain the reasons for the various prompts, alarms, and/or controls of the system.

22. A vehicle, characterized in that: a classification assist system employing the automatic driving assist system according to any one of claims 1 to 7.

23. A storage medium, characterized by: in which a computer readable program is stored which, when invoked, is able to carry out the steps of the hierarchical assistance method of an automated driving assistance system according to any one of claims 7 to 21.

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