COMPOSITE AUTONOMOUS DRIVING ASSISTANT SYSTEM FOR MAKING DECISION AND METHOD OF USING THE SAME

Abstract

A composite autonomous driving assistant system for making decision and a method of using the same is provided. A longitudinal-controlling autonomous driving assistant device and a lateral-controlling autonomous driving assistant device start to automatically assist in driving a vehicle. Then, a sensing device senses states of the vehicle and an environment and generates one sensing signal. When a controller determines that the collision period is less than a preset collision period and that a deceleration signal of the sensing signal is larger than a preset deceleration, the controller generates a turn-stopping signal. When the controller determines that a rotation angle signal of the sensing signal is larger than a preset angle, the controller generates a speed-stopping signal. The present invention establishes an excellent switching threshold condition when the plurality autonomous driving assistant device coexist.

Claims

1. A composite autonomous driving assistant system for making decision arranged on a vehicle to automatically assist in driving said vehicle, and said composite autonomous driving assistant system for making decision comprising: a longitudinal-controlling autonomous driving assistant device controlling a moving speed of said vehicle; a lateral-controlling autonomous driving assistant device controlling a rotating angle of said vehicle; a sensing device sensing states of said vehicle and an environment and generating at least one sensing signal comprising a speed signal, a distance signal, a rotation angle signal and a deceleration signal; and a controller electrically connected with said longitudinal-controlling autonomous driving assistant device, said lateral-controlling autonomous driving assistant device and said sensing device, receiving said sensing signal and figuring out a collision period according to said speed signal and said distance signal, and when said controller determines that said collision period is less than a preset collision period and that said deceleration signal is larger than a preset deceleration, said controller generates a turn-stopping signal and transmits said turn-stopping signal to said lateral-controlling autonomous driving assistant device to stop controlling said rotating angle of said vehicle, and when said controller determines that said rotation angle signal is larger than a preset angle, said controller generates a speed-stopping signal whereby said longitudinal-controlling autonomous driving assistant device stops controlling said moving speed of said vehicle.

2. The composite autonomous driving assistant system for making decision of claim 1, wherein said longitudinal-controlling autonomous driving assistant device is an autonomous emergency braking system (AEB) or an adaptive cruise control (ACC).

3. The composite autonomous driving assistant system for making decision of claim 1, wherein said lateral-controlling autonomous driving assistant device is a lane keeping system (LKS) or a lane following control (LFC).

4. The composite autonomous driving assistant system for making decision of claim 1, wherein said sensing device further comprises: a speed sensor sensing a speed of said vehicle to generate said speed signal and said deceleration signal and transmitting said speed signal and said deceleration signal to said controller; a turning sensor sensing a turning angle of said vehicle to generate said rotation angle signal and transmitting said rotation angle signal to said controller; and a ranging sensor sensing a distance to a front obstruction to generate said distance signal and transmitting said distance signal to said controller.

5. The composite autonomous driving assistant system for making decision of claim 1, wherein when said controller determines that said collision period is less than said preset collision period, said controller generates a reminding signal; when said controller determines that said collision period is less than a preset warning collision period, said controller generates a turn-stopping warning signal to warns that said lateral-controlling autonomous driving assistant device is shutting; when said controller generates said speed-stopping signal, said controller generates a speed-stopping warning signal to warn that said longitudinal-controlling autonomous driving assistant device shut.

6. The composite autonomous driving assistant system for making decision of claim 5, further comprising a warning device electrically connected with said controller, receiving said reminding signal, said turn-stopping warning signal and said speed-stopping warning signal, and correspondingly warning according to said reminding signal, said turn-stopping warning signal and said speed-stopping warning signal.

7. The composite autonomous driving assistant system for making decision of claim 1, further comprising an operation interface electrically connected with said controller and providing an automation-lifting control signal to said controller to generate said speed-stopping signal and said turn-stopping signal, so as to shut said longitudinal-controlling autonomous driving assistant device or said lateral-controlling autonomous driving assistant device.

8. A composite autonomous driving assistant method for making decision comprising: Step (A): starting a longitudinal-controlling autonomous driving assistant device and a lateral-controlling autonomous driving assistant device to automatically assist in driving a vehicle; Step (B): sensing states of said vehicle and an environment and generating at least one sensing signal comprising a speed signal, a distance signal, a rotation angle signal and a deceleration signal, wherein said speed signal and said distance signal are used to figure out a collision period; and Step (C): making decision to determine whether to shut said longitudinal-controlling autonomous driving assistant device or said lateral-controlling autonomous driving assistant device: Step (C1): determining whether said collision period is less than a preset collision period and determining whether said deceleration signal is larger than a preset deceleration: if yes, generating a turn-stopping signal and transmitting said turn-stopping signal to said lateral-controlling autonomous driving assistant device to stop controlling a rotating angle of said vehicle; and if no, returning said Step (B); Step (C2): determining whether said rotation angle signal is larger than a preset angle: if yes, generating a speed-stopping signal and transmitting said speed-stopping signal said longitudinal-controlling autonomous driving assistant device to stop controlling a moving speed of said vehicle; and if no, returning said Step (B).

9. The composite autonomous driving assistant method for making decision of claim 8, wherein said longitudinal-controlling autonomous driving assistant device is a autonomous emergency braking system (AEB) or an adaptive cruise control (ACC).

10. The composite autonomous driving assistant method for making decision of claim 8, wherein said lateral-controlling autonomous driving assistant device is a lane keeping system (LKS) or a lane following control (LFC).

11. The composite autonomous driving assistant method for making decision of claim 8, wherein said Step (C1) further comprises a Step (C12) of determining whether said collision period is less than said preset collision period: if no, returning Step (B); and if yes, determining whether said deceleration signal is larger than said preset deceleration: if yes, generating said turn-stopping signal and transmitting said turn-stopping signal to said lateral-controlling autonomous driving assistant device to stop controlling said rotating angle of said vehicle; and if no, returning Step (B).

12. The composite autonomous driving assistant method for making decision of claim 11, wherein in said Step (C12) of determining whether said collision period is less than said preset collision period, a reminding signal is generated when said collision period is less than said preset collision period.

13. The composite autonomous driving assistant method for making decision of claim 12, wherein in said Step (C12) of determining whether said collision period is less than said preset collision period, a turn-stopping warning signal is generated to warns that said lateral-controlling autonomous driving assistant device is shutting when said collision period is less than a preset warning collision period.

14. The composite autonomous driving assistant method for making decision of claim 8, wherein in Step (C2), a speed-stopping warning signal is generated to warn that said longitudinal-controlling autonomous driving assistant device shut when said speed-stopping signal is generated.

15. The composite autonomous driving assistant method for making decision of claim 12, wherein after generating said reminding signal in Step (C1), an automation-lifting control signal is inputted to generate said speed-stopping signal and said turn-stopping signal, so as to shut said longitudinal-controlling autonomous driving assistant device or said lateral-controlling autonomous driving assistant device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG. 1 is a block diagram schematically showing a composite autonomous driving assistant system for making decision according to an embodiment of the present invention;

[0015] FIG. 2 is a flowchart schematically showing a composite autonomous driving assistant method for making decision according to an embodiment of the present invention; and

[0016] FIG. 3 and FIG. 4 are diagrams schematically showing conversion for a longitudinal-controlling autonomous driving assistant device and a lateral-controlling autonomous driving assistant device according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0017] Refer to FIG. 1. FIG. 1 is a block diagram schematically showing a composite autonomous driving assistant system for making decision 1 arranged on a vehicle to automatically assist in driving the vehicle. The composite autonomous driving assistant system for making decision 1 comprises a controller 16 electrically connected with a longitudinal-controlling autonomous driving assistant device 10, a lateral-controlling autonomous driving assistant device 12, a sensing device 14, a warning device 18 and an operation interface 20. The longitudinal-controlling autonomous driving assistant device 10 is used to control a moving speed of the vehicle. The longitudinal-controlling autonomous driving assistant device 10 is an autonomous emergency braking system (AEB) or an adaptive cruise control (ACC) to control a longitudinal acceleration, a longitudinal deceleration, a speed, a relative speed, a relative acceleration and a relative deceleration of the vehicle. The lateral-controlling autonomous driving assistant device 12 is used to control a rotating angle of the vehicle. The lateral-controlling autonomous driving assistant device 12 is a lane keeping system (LKS) or a lane following control (LFC), so as to control a steering wheel angle, a heading angle, a sideslip angle, a lateral acceleration, a lateral speed and a steering wheel angular speed of the vehicle.

[0018] The sensing device 14 is used to sense states of the vehicle and an environment and generate at least one sensing signal comprising a speed signal, a distance signal, a rotation angle signal and a deceleration signal. The sensing device 14 further comprises a speed sensor 142, a turning sensor 144 and a ranging sensor 146, which are all electrically connected with the controller 16. The speed sensor 142 senses a speed of the vehicle to generate the speed signal and the deceleration signal. The turning sensor 144 senses a turning angle of the vehicle to generate the rotation angle signal. The ranging sensor 146 can emit a radar signal to a distance to a front obstruction to generate the distance signal.

[0019] The controller 16 receives the sensing signal of the sensing device 14 and figures out a collision period according to the speed signal generated by the speed sensor 142 and the distance signal generated by the ranging sensor 146, whereby the controller 16 determines whether the collision period is less than a preset collision period. Simultaneously, the controller 16 determines whether the deceleration signal generated by the speed sensor 142 is larger than a preset deceleration. When the collision period is less than the preset collision period and the deceleration signal is larger than the preset deceleration, the controller 16 generates a turn-stopping signal and transmits the turn-stopping signal to the lateral-controlling autonomous driving assistant device 12 to stop controlling the rotating angle of the vehicle. When the collision period is less than the preset collision period, the controller 16 generates a reminding signal and transmits the reminding signal to the warning device 18 to warn a driver. When the collision period is less than a preset warning collision period, the controller 16 generates a turn-stopping warning signal and transmits the turn-stopping warning signal to the warning device 18, so as to warn the driver of the fact that the lateral-controlling autonomous driving assistant device 12 is shutting whereby the driver is careful at all times.

[0020] Besides, the controller 16 simultaneously determines whether the rotation angle signal is larger than a preset angle. When the rotation angle signal is larger than the preset angle, the controller 16 generates a speed-stopping signal and transmits the speed-stopping signal to the longitudinal-controlling autonomous driving assistant device 10 whereby the longitudinal-controlling autonomous driving assistant device 10 stops controlling the moving speed of the vehicle. When the controller 16 generates the speed-stopping signal, the controller 16 generates a speed-stopping warning signal and transmits the speed-stopping warning signal to the warning device 18, so as to warn the driver of the fact that the longitudinal-controlling autonomous driving assistant device 10 shut.

[0021] The operation interface 20 provides an automation-lifting control signal to the controller 16 to generate the speed-stopping signal and the turn-stopping signal, so as to shut the longitudinal-controlling autonomous driving assistant device 10 or the lateral-controlling autonomous driving assistant device 12, whereby autonomous assistant driving shuts and the driver regains dominance of driving the vehicle at all times. When autonomous assistant driving malfunctions, manned driving dominates to serve as a safety mechanism.

[0022] After explaining the system of the present invention, the flowchart of the present invention is explained. Refer to FIG. 1 and FIG. 2. Firstly, in Step S10, the longitudinal-controlling autonomous driving assistant device 10 and the lateral-controlling autonomous driving assistant device 12 start to automatically assist in driving the Vehicle. Then, in Step S12, the sensing device 14 senses the states of the vehicle and the environment to generate at least one sensing signal which comprises a speed signal, a distance signal, a rotation angle signal and a deceleration signal, wherein the controller 16 uses the speed signal and the distance signal to figure out the collision period. Then, in Step S14, the controller 16 makes decision to determine whether to shut the longitudinal-controlling autonomous driving assistant device 10 or the lateral-controlling autonomous driving assistant device 12. Refer to FIG. 1, FIG. 2 and FIG. 3. In Step S14, Step S140 is firstly performed. In Step S140, the controller 16 determines whether the collision period is less than the preset collision period. For example, the preset collision period is 2-1.8 seconds, preferably 1.8 seconds, but the present invention is not limited thereto. When the controller 16 determines that the collision period is not less than the preset collision period, the process returns to Step S12. When the controller 16 determines that the collision period is less than the preset collision period, the process proceeds to Step S142. In Step S142, the controller 16 generates the reminding signal and transmits the reminding signal to the warning device 18 to earn the driver. Then, the process proceeds to Step 143. In Step S143, the controller 16 determines whether the collision period is less than the preset warning collision period. For example, the preset warning collision period is 1.2-1 second, preferably 1 second. When the controller 16 determines that the collision period is not less than the preset warning collision period, the process returns to Step S12. When the controller 16 determines that the collision period is less than the preset warning collision period, the process proceeds to Step S144. In Step S144, the controller 16 generates a turn-stopping warning signal and transmits the turn-stopping warning signal to the warning device 18 to warn the driver of the fact that the lateral-controlling autonomous driving assistant device 12 is shutting. Then, the process proceeds to Step S145. In Step S145, the controller 16 determines whether the deceleration signal is larger than the preset deceleration. For example, the preset deceleration is 2-4 m/s, preferably 3 m/s, but the present invention is not limited thereto. When the deceleration signal is larger than the preset deceleration, the process proceeds to Step S146. In Step S146, the controller 16 generates the turn-stopping signal and transmits the turn-stopping signal to the lateral-controlling autonomous driving assistant device 12. When the deceleration signal is not larger than the preset deceleration, the process returns to Step 12.

[0023] Then, the present invention explains Step S148. Refer to FIG. 1, FIG. 2 and FIG. 4. In Step S148, the controller 16 determines whether the rotation angle signal is larger than a preset angle ranging 15-20 degrees. For example, the preset angle is 15 degrees in the embodiment, but the present invention is not limited thereto. When the rotation angle signal is larger than the preset angle, the process proceeds to Step S149. In Step S149, the controller 16 generates the speed-stopping signal and transmits the speed-stopping signal to the longitudinal-controlling autonomous driving assistant device 10 whereby the longitudinal-controlling autonomous driving assistant device 10 stops controlling the moving speed of the vehicle. Meanwhile, the controller 16 generates the speed-stopping warning signal and transmits the speed-stopping warning signal to the warning device 18, so as to warn the driver of the fact that the longitudinal-controlling autonomous driving assistant device 10 shut. When the rotation angle signal is less than the preset angle, the process proceeds to Step S12 to sense the state of the vehicle again.

[0024] After receiving the reminding signal, the speed-stopping warning signal and the turn-stopping warning signal generated by the warning device 18, the operation interface 20 provides an automation-lifting control signal to generate the speed-stopping signal and the turn-stopping signal, so as to shut the longitudinal-controlling autonomous driving assistant device 10 or the lateral-controlling autonomous driving assistant device 12, thereby shutting autonomous assistant driving whereby the driver regains dominance of driving. The activity can serve as a safety mechanism. Certainly, the operation interface 20 provides the automation-lifting control signal at all times to shut autonomous assistant driving whereby the driver regains dominance of driving at all times.

[0025] In conclusion, the present invention efficiently makes the longitudinal-controlling autonomous driving assistant device and the lateral-controlling autonomous driving assistant device coexist, defines a threshold condition for switching two different autonomous driving assistant devices, shuts the longitudinal-controlling autonomous driving assistant device or the lateral-controlling autonomous driving assistant device according to the states of the vehicle and the environment, thereby improving autonomous driving safety. The present invention shuts or starts autonomous assistant driving according to the driver's will. When the driver observes misjudgments and danger of autonomous assistant driving, the driver can regain dominance of driving, thereby greatly improving driving safety.

[0026] The embodiments described above are only to exemplify the present invention but not to limit the scope of the present invention. Therefore, any equivalent modification or variation according to the shapes, structures, features, or spirit disclosed by the present invention is to be also included within the scope of the present invention.