Driver assistance method and driver assistance apparatus

1 . A driver assistance method, comprising:

determining, based on data provided by a driver sensor system, that a driver is in an abnormal state and identifying the abnormal state of the driver, the abnormal state comprising at least one of a physiological abnormal state, a mental abnormal state, or an attention abnormal state, the driver sensor system comprising one or more driver sensors;

further determining, based on data provided by a first terminal sensor system while the driver is determined to be in the abnormal state, that a first operation performed by the driver on the first terminal is abnormal, the first terminal sensor system comprising one or more terminal sensors, wherein the first operation comprises controlling the first terminal to provide an instructed change in a motion state of a vehicle, and wherein the determining that the first operation is abnormal comprises determining that the first operation meets at least one of the following conditions:

a change rate of the first operation is greater than or equal to a first threshold,

an amplitude of the first operation is greater than or equal to a second threshold, and

a target operation indicated by an operation decision from a first assistance system is inconsistent with the first operation;

performing, as a response to determining that the first operation is abnormal while the driver is determined to be in the abnormal state, a second operation that adjusts the instructed change in the motion state to provide an adjusted change in the motion state of the vehicle, wherein the second operation is determined based on the identified abnormal state of the driver and the first operation performed by the driver; and

controlling the vehicle to implement the adjusted change in the motion state of the vehicle.

2 . The driver assistance method according to claim 1 , wherein the first operation comprises:

at least one of an operation performed on an acceleration apparatus of the first terminal, an operation performed on a braking apparatus of the first terminal, or an operation performed on a steering apparatus of the first terminal.

3 . The method according to claim 2 , wherein the driver sensor system includes a camera and a radar, wherein determining that the driver is in the abnormal state comprises analyzing camera data provided by the camera and performing a micro-Doppler analysis of radar data provided by the radar, and wherein the first terminal sensor system includes a steering wheel sensor, an accelerator pedal sensor, and/or a brake pedal sensor.

4 . The driver assistance method according to claim 1 , wherein:

the first assistance system or the second assistance system comprises at least one of an autonomous driving (AD) system, an advanced driver assistant system (ADAS), or a driver assistance system comprising at least one driver assistance function, and the driver assistance function comprises: a function of determining that the first terminal meets a preset condition, and determining, when the preset condition is met, to change a motion state of the first terminal; and/or a function of determining that the first terminal meets the preset condition, and controlling, when the preset condition is met, the first terminal to change the motion state.

5 . The driver assistance method according to claim 1 , wherein:

the target operation indicated by the operation decision from the first assistance system or the target operation indicated by the operation information from the second assistance system comprises:

one or more of an operation performed on an acceleration apparatus of the first terminal, an operation performed on a braking apparatus of the first terminal, or an operation performed on a steering apparatus of the first terminal.

6 . The driver assistance method according to claim 1 , wherein the second operation comprises:

at least one of skipping responding to the instructed change in the motion state of the vehicle or reducing the instructed change in the motion state of the vehicle.

7 . The method according to claim 1 , further comprising:

adjusting or updating an alarm trigger condition used to trigger an alarm to the driver, and/or adjusting or updating an alarm severity.

8 . The driver assistance method according to claim 7 , wherein:

the adjusting or updating the alarm trigger condition comprises:

at least one of adjusting or updating an alarm time point to be earlier than an alarm time point when the driver is in a normal state, or adjusting or updating an alarm distance to be longer than an alarm distance when the driver is in a normal state; or

the adjusting or updating the alarm severity comprises:

adjusting or updating the alarm severity to be higher than an alarm severity when the driver is in the normal state,

wherein the normal state is a state in which the driver performs a normal operation on a first terminal.

9 . An apparatus, comprising:

one or more processors, and

a non-transitory storage medium in communication with the one or more processors, the non-transitory storage medium configured to store program instructions that, responsive to being executed by the one or more processors, cause the apparatus to:

determine, based on data provided by a driver sensor system, that a driver is in an abnormal state and identifying the abnormal state of the driver, the abnormal state comprising at least one of a physiological abnormal state, a mental abnormal state, or an attention abnormal state, the driver sensor system comprising one or more driver sensors;

further determine, based on data provided by a first terminal sensor system while the driver is determined to be in the abnormal state, that a first operation performed by the driver on the first terminal is abnormal, the first terminal sensor system comprising one or more terminal sensors, wherein the first operation comprises controlling the first terminal to provide an instructed change in a motion state of a vehicle, and wherein the determining that the first operation is abnormal comprises determining that the first operation meets at least one of the following conditions:

a change rate of the first operation is greater than or equal to a first threshold,

an amplitude of the first operation is greater than or equal to a second threshold, and

a target operation indicated by an operation decision from a first assistance system is inconsistent with the first operation;

perform, as a response to determining that the first operation is abnormal while the driver is in the abnormal state, a second operation that adjusts the instructed change in the motion state to provide an adjusted change in the motion state of the vehicle, wherein the second operation is determined based on the identified abnormal state of the driver and the first operation performed by the driver; and

controlling the vehicle to implement the adjusted change in the motion state of the vehicle.

10 . The apparatus according to claim 9 , wherein the first operation comprises:

at least one of an operation performed on an acceleration apparatus of the first terminal, an operation performed on a braking apparatus of the first terminal, or an operation performed on a steering apparatus of the first terminal.

11 . The apparatus according to claim 9 , wherein:

the first assistance system or the second assistance system comprises at least one of an autonomous driving (AD) system, an advanced driver assistant system (ADAS), or a driver assistance system comprising at least one driver assistance function, and

the driver assistance function comprises:

a function of determining that the first terminal meets a preset condition, and determining, responsive to determining that the preset condition is met, to change a motion state of the first terminal; or

a function of determining that the first terminal meets the preset condition, and controlling, responsive to determining that the preset condition is met, the first terminal to change the motion state.

12 . The method according to claim 11 , wherein the second operation is determined based on the identified abnormal state of the driver and one or more of the change rate of the first operation or the amplitude of the first operation.