CN111319627B - Driving assistance method, apparatus, computer device, and storage medium - Google Patents
Driving assistance method, apparatus, computer device, and storage medium Download PDFInfo
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- CN111319627B CN111319627B CN201811534974.2A CN201811534974A CN111319627B CN 111319627 B CN111319627 B CN 111319627B CN 201811534974 A CN201811534974 A CN 201811534974A CN 111319627 B CN111319627 B CN 111319627B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The application relates to a driving assistance method, a driving assistance device, a computer device and a storage medium. The method comprises the following steps: acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located; according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area; calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area; and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width. By adopting the method, the passable width of the vehicle can be accurately calculated, so that the overtaking safety is ensured.
Description
Technical Field
The present disclosure relates to the field of vehicle driving assistance, and in particular, to a driving assistance method, apparatus, computer device, and storage medium.
Background
With the development of the technical field of automobiles, more and more people use vehicles, when driving on a narrow street, the users often meet the bicycle which slowly drives in front, and the users riding the bicycle can shake left and right, so that whether overtaking can be safely performed can not be accurately judged even in a wider area of the road surface.
The existing driving method is carried out aiming at a main road and a wide road surface, the required overtaking target is a vehicle which runs regularly on the road surface, and whether overtaking can be carried out can be predicted only by judging the position of the vehicle, the width of the road surface and the speed of the vehicle. However, the existing cut-in method is not suitable for a moving object or a pedestrian that is on a narrow road and is traveling irregularly.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a driving assistance method, apparatus, computer device, and storage medium for safe overtaking.
A method of assisting driving, the method comprising:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
A driving assistance apparatus, the apparatus comprising:
the road width acquisition module is used for acquiring the road width of a preliminary overtaking area in the running area where the current vehicle is located;
the overtaking target estimated occupation width calculation module is used for acquiring the estimated occupation width of the overtaking target in the preparation overtaking area according to the movement track of the overtaking target in the driving area;
the vehicle passable width calculation module is used for calculating the vehicle passable width according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and the overtaking judging module is used for judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
According to the driving assisting method, the driving assisting device, the computer equipment and the storage medium, the occupation width of the overtaking target is calculated, the increase of the occupation road width caused by irregular movement of the overtaking target is comprehensively considered, the vehicle passable width is calculated according to the road width, the occupation width of the overtaking target and the preset buffer area, the vehicle passable width can be calculated more accurately, and therefore overtaking safety is guaranteed.
Drawings
FIG. 1 is an application environment diagram of a driving assistance method in one embodiment;
FIG. 2 is a flow chart of a method of assisting driving in one embodiment;
FIG. 3 is a flow chart of a method for calculating a passable width of a vehicle according to one embodiment;
FIG. 4 is a flow chart of a method for calculating the occupancy width of an overtaking target in one embodiment;
FIG. 5 is a block diagram of an auxiliary driving device in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The driving assisting method provided by the application can be applied to an application environment shown in fig. 1. In one embodiment, the vehicle 101 detects a road width and an occupied width of the overtaking target 102, and transmits the road width and the occupied width of the overtaking target 102 to the auxiliary driving device 103, and the auxiliary driving device 103 calculates a vehicle passable width according to the road width, the occupied width of the overtaking target, and a buffer width of a preset buffer area, and determines whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width. The driving assisting apparatus 103 may be various personal computers, notebook computers, smart phones, tablet computers, portable wearable apparatuses; or a device in a vehicle, such as a central control device, a vehicle machine and a navigation device; in addition, the driving assistance device 103 may be integrated in a cloud server (Online server), and the cloud server may be implemented by a stand-alone server or a server cluster formed by a plurality of servers, and is connected to the vehicle through a wireless network. The vehicle may be, but is not limited to, a vehicle such as an automobile, a motorcycle, or various modifications of the vehicle. The overtaking target may be a bicycle, a motorcycle, an Electric Personal Auxiliary Mobile Device (EPAMD), a rider, a person driving an animal powered vehicle, a pedestrian, a human powered vehicle, or other non-motorized vehicle.
In one embodiment, as shown in fig. 2, there is provided a driving assistance method including the steps of:
s210, acquiring the road width of a preliminary overtaking area in the running area where the current vehicle is located.
The road width of the driving area can be obtained through an interactive system of vehicles, namely, road condition information obtained through a front vehicle is analyzed, or obtained through a high automatic driving Map (HAD Map, highly automated driving Map) or a high definition Map, or obtained through remote measurement of the current vehicle. The road width refers to a road surface width of a preliminary cut-in area for calculating a vehicle passable width, wherein the preliminary cut-in area refers to an area where no obstacle exists in a width direction of a road between a front of a current vehicle and a cut-in target in a traveling area where the current vehicle is located.
S220, according to the movement track of the overtaking target in the driving area, the estimated occupation width of the overtaking target in the preparation overtaking area is obtained.
The overtaking target is an object or a person moving in front of the current vehicle, and the specific overtaking target can be a bicycle, a motorcycle, an Electric Personal Auxiliary Mobile Device (EPAMD), a horse riding person, a person driving an animal-powered vehicle, a pedestrian, a vehicle driven by manpower or other non-motor vehicles.
In this embodiment, since there may be a plurality of objects or persons moving ahead of the current vehicle, it is necessary to select the overtaking target as needed. In one embodiment, the obtaining, according to the movement track of the overtaking target in the driving area, the estimated occupation width of the overtaking target in the preliminary overtaking area includes: detecting a moving obstacle of the driving area; and determining the overtaking target according to the moving obstacle and a preset overtaking rule. The preset overtaking rule refers to overtaking from the left side or overtaking from the right side when overtaking according to the local running rule, so that the leftmost moving obstacle is selected as an overtaking target when overtaking from the left side, and the rightmost moving obstacle is selected as an overtaking target when overtaking from the right side.
And S230, calculating the vehicle passable width according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area.
In one embodiment, the calculating the vehicle passable width according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area includes: acquiring the buffer width of a preset buffer area at the left side and the right side of the current vehicle; and calculating the passable width of the vehicle according to the road width of the preliminary overtaking area, the expected occupation width of the overtaking target in the preliminary overtaking area and the buffer width of the preset buffer area. The buffer width of the preset buffer area on the current vehicle side can be set to any value, for example, 10-40 cm, for example, 30 cm, to ensure that the vehicle can run safely. Because the overtaking target moves irregularly, the position of the overtaking target is different from the position of the overtaking target detected currently, and the reserved vehicle passable width is also different.
In one embodiment, as shown in fig. 3, the preset buffer area includes a first buffer area and a second buffer area, where the first buffer area and the second buffer area are respectively located at the left side and the right side of the current vehicle. The calculating the vehicle passable width according to the road width of the preliminary overtaking area, the expected occupation width of the overtaking target in the preliminary overtaking area and the buffer width of the preset buffer area comprises the following steps: acquiring a first buffer width B1 of the first buffer area and a second buffer width B2 of the second buffer area; and calculating the difference value obtained by subtracting the predicted occupation width D, the first buffer width B1 and the second buffer width B2 of the overtaking target in the preliminary overtaking area from the road width W of the preliminary overtaking area to obtain the vehicle passable width R.
And S240, judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
In the process of overtaking the vehicle, the vehicle must be ensured to pass through the preliminary overtaking area, so that the passable width of the vehicle must be larger than the width of the vehicle body to overtake.
According to the auxiliary driving method, the occupied width of the overtaking target is calculated, the increase of the occupied road width caused by irregular movement of the overtaking target is comprehensively considered, and the vehicle passable width is calculated according to the road width, the occupied width of the overtaking target and the preset buffer area, so that the vehicle passable width can be calculated more accurately, and overtaking safety is ensured.
In one embodiment, as shown in fig. 4, the obtaining the predicted occupation width of the overtaking target in the preliminary overtaking area includes:
s410, obtaining the moving track of the overtaking target within a first preset time.
Wherein the first preset time may be set to five seconds. The movement track of the overtaking target may be acquired by a camera mounted on the vehicle.
S420, calculating the offset width of the overtaking target according to the moving track.
Wherein the movement track of the overtaking target is irregular, so that the offset width of the overtaking target is larger than the width of the overtaking target. In one embodiment, calculating the offset width of the overtaking target from the movement track includes: obtaining the maximum amplitude of the moving track at the left side and the maximum amplitude at the right side in the travelling direction; and calculating the sum of the maximum amplitude of the left side and the maximum amplitude of the right side to obtain the offset width of the overtaking target.
S430, calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the offset width.
Wherein the predicted occupation width of the overtaking target includes the road width occupied by the overtaking target after the position change.
In another embodiment, the obtaining the predicted occupation width of the overtaking target in the preliminary overtaking area includes: acquiring a moving track of the overtaking target within a first preset time; calculating the transverse distance between the leftmost offset point and the rightmost offset point of the moving track; and calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the transverse distance and the main body width of the overtaking target.
Wherein the predicted occupation width of the cut-in target in the preliminary cut-in region may be equal to the lateral distance or the sum of the lateral distance and the body width of the cut-in target.
In one embodiment, for overtaking safety, the current position of the overtaking target may be assumed to be at the leftmost offset point or the rightmost offset point. In this case, the estimated occupation width calculated in the above manner can be understood as the width occupied on the left or right side of the overtaking target toward the front, wherein the selection of the left or right occupied width can be determined according to a preset overtaking rule. For example, when the preset overtaking rule is to overtake from the left side of the vehicle traveling direction, the above-mentioned estimated occupation width may be set as the occupation width of the left side of the overtaking target; when the preset overtaking rule is to overtake from the right side of the vehicle running direction, the estimated occupation width can be set as the occupation width of the right side of the overtaking target. The estimated occupation width of the overtaking target in the preliminary overtaking area can also be a dynamically changing value according to the current position of the overtaking target, and the value can be estimated and determined according to the moving track of the overtaking target.
In one embodiment, the first preset time may be set to five seconds. The movement track of the overtaking target may be acquired by a camera mounted on the vehicle. The moving track of the overtaking target can be a straight line or an S-shaped curve: when the moving track is a straight line, the occupied width of the overtaking target is equal to the width of the overtaking target; when the moving track is an S-shaped curve, the leftmost position of the S-shaped curve, where the overtaking target moves, is the leftmost offset point, the rightmost position of the S-shaped curve, where the overtaking target moves, is the rightmost offset point, and the lateral distance between the leftmost offset point and the rightmost offset point refers to the distance between the leftmost offset point and the rightmost offset point in the road width direction.
In one embodiment, the determining whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width includes: judging whether the vehicle passable width is larger than the vehicle body width of the current vehicle; if the vehicle passable width is larger than the vehicle body width of the current vehicle, further judging whether the duration time of the vehicle passable width larger than the vehicle body width is larger than a second preset time under the condition that the current vehicle and/or the overtaking target continue to run; and if the duration time that the vehicle passable width is larger than the vehicle body width is larger than the second preset time, sending out prompt information for allowing overtaking.
In one embodiment, the determining whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width includes: judging whether the vehicle passable width is larger than the vehicle body width of the current vehicle; if the vehicle passable width is larger than the vehicle body width of the current vehicle, further judging whether the duration time that the vehicle passable width is larger than the vehicle body width is larger than a second preset time under the condition that the current vehicle and/or the overtaking target continue to run; detecting whether the relative speed of the current vehicle and the overtaking target is smaller than a threshold value; detecting whether an intersection exists in a preset distance range between a preliminary overtaking area in the driving area and the front of an overtaking target; and if the duration time that the vehicle passable width is larger than the vehicle body width is larger than a second preset time, the relative speed of the current vehicle and the overtaking target is smaller than a threshold value, and no intersection exists in a preset overtaking area in the driving area and a preset distance range in front of the overtaking target, sending out prompt information for allowing overtaking. The information related to the intersection can be obtained through a high-automatic driving map or a high-definition map and combining the position information of the current vehicle. In the highly automatic driving map or the high definition map, the road condition in the preset distance range between the preliminary overtaking area in the driving area and the overtaking target can be acquired according to the position information of the current vehicle, and whether the intersection exists or not can be known according to the road condition.
In one embodiment, the determining whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width further includes: and if the vehicle passable width is not larger than the vehicle body width of the current vehicle, the duration time that the vehicle passable width is larger than the vehicle body width is not larger than a second preset time, the relative speed of the current vehicle and the overtaking target is not smaller than a threshold value, or an intersection exists in a standby overtaking area in the driving area or a set distance range in front of the overtaking target, sending out prompt information for prohibiting overtaking.
Wherein the four conditions include: the vehicle passable width is greater than a body width of the current vehicle; the duration time that the vehicle passable width is larger than the vehicle body width is longer than a second preset time; the relative speed of the current vehicle and the overtaking target is smaller than a threshold value; and no intersection exists in a preset distance range between the preliminary overtaking area in the driving area and the overtaking target. In the above embodiment, the four conditions may issue a prompt message to prohibit overtaking as long as one of the four conditions is not satisfied.
Wherein the duration that the vehicle passable width is greater than the vehicle body width is obtainable by timing. For example, the time counting is started when the vehicle passable width is larger than the vehicle body width, and the duration is a counted time from the time counting start to the current time. The relative speed of the current vehicle and the overtaking target may be obtained by subtracting the speed of the overtaking target from the speed of the current vehicle. The information of whether the intersection exists in the preset distance range between the standby overtaking area and the overtaking target in the running area can be obtained through an interactive system of the vehicles, namely, road condition information obtained through the front vehicle is analyzed, or the information is obtained through a high-automatic driving map or a high-definition map, or the information is obtained through remote measurement of the current vehicle. The second preset time may be set according to a speed of the overtaking target: the faster the speed of the overtaking target is, the larger the second preset time is; the slower the speed of the overtaking target, the smaller the second preset time. The relative speed of the current vehicle and the overtaking target is smaller than a threshold value so as to avoid collision between the vehicle and the overtaking target.
In one embodiment, after determining that the current vehicle can overtake the overtaking target, a prompt message for overtaking is sent. For example, a "please wait for patience" is issued. Overtaking is prohibited for 150 meters. "text prompt message, wherein 150 meters is the distance between the current vehicle and the nearest overtaking target.
In one embodiment, if the duration of time that the vehicle passable width is greater than the vehicle body width is less than or equal to a second preset time, the relative speed of the current vehicle and the overtaking target is greater than or equal to a threshold value, or an intersection exists in the driving area, a prompt message for prohibiting overtaking is sent. For example, issue "overrun front bicycle hazard-! It may rock indefinitely-! "text prompt message. In the above embodiment, the prompt information includes at least one of text prompt information, voice prompt information and vibration prompt information.
It should be understood that, although the steps in the flowcharts of fig. 2 and 4 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2 and 4 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with at least a portion of the other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 5, there is provided a driving assistance apparatus including: a road width acquisition module 501, an overtaking target estimated occupation width calculation module 502, a vehicle passable width calculation module 503, and an overtaking judgment module 504, wherein:
the road width obtaining module 501 is configured to obtain a road width of a preliminary overtaking area in a running area where a current vehicle is located.
Wherein the travel area refers to a travel area of the current vehicle. The road width of the driving area can be obtained through an interactive system of vehicles, namely, road condition information obtained through a front vehicle is analyzed, or obtained through a high-automatic driving map or a high-definition map, or obtained through remote measurement of the current vehicle. The road width refers to a road surface width of a preliminary cut-in area for calculating a vehicle passable width, wherein the preliminary cut-in area refers to an area where no obstacle exists in a width direction of a road between a front of a current vehicle and a cut-in target in a traveling area where the current vehicle is located.
And the overtaking target estimated occupation width calculating module 502 is configured to obtain an estimated occupation width of the overtaking target in the preliminary overtaking area according to a movement track of the overtaking target in the driving area.
The overtaking target is an object or a person moving in front of the current vehicle, and the specific overtaking target can be a bicycle, a motorcycle, an Electric Personal Auxiliary Mobile Device (EPAMD), a horse riding person, a person driving an animal-powered vehicle, a pedestrian, a vehicle driven by manpower or other non-motor vehicles.
In this embodiment, since there may be a plurality of objects or persons moving ahead of the current vehicle, it is necessary to select the overtaking target as needed. In one embodiment, the target projected occupation width calculation module 502 includes: a moving obstacle acquisition unit configured to detect a moving obstacle of the travel area; and the overtaking target selecting unit is used for determining the overtaking target according to the moving obstacle and a preset overtaking rule. The preset overtaking rule refers to overtaking from the left side or overtaking from the right side when overtaking according to the local running rule, so that the leftmost moving obstacle in the running direction of the vehicle is selected as an overtaking target when overtaking from the left side, and the rightmost moving obstacle in the running direction of the vehicle is selected as an overtaking target when overtaking from the right side.
A vehicle passable width calculation module 503, configured to calculate a vehicle passable width according to the road width of the preliminary overtaking region and the expected occupation width of the overtaking target in the preliminary overtaking region.
In a preferred embodiment, the vehicle passable width calculating module 503 is configured to obtain the buffer widths of the preset buffer areas on the left and right sides of the current vehicle, and calculate the vehicle passable width according to the road width of the preliminary overtaking area, the expected occupation width of the overtaking target in the preliminary overtaking area, and the buffer width of the preset buffer area. The buffer width of the preset buffer area on the current vehicle side can be set to any value, for example, 10-40 cm, for example, 30 cm, to ensure that the vehicle can run safely. Because the overtaking target moves irregularly, the position of the overtaking target is different from the position of the overtaking target detected currently, and the reserved vehicle passable width is also different.
And an overtaking judging module 504, configured to judge whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width.
In the process of overtaking the vehicle, the vehicle must be ensured to pass through the preliminary overtaking area, so that the passable width of the vehicle must be larger than the width of the vehicle body to overtake.
In one embodiment, the target projected occupation width calculating module 502 further includes:
the track acquisition unit is used for acquiring the moving track of the overtaking target within a first preset time.
Wherein, the first preset time can be set to be five seconds. The movement track of the overtaking target may be acquired by a camera mounted on the vehicle.
And the offset width calculation unit is used for calculating the offset width of the overtaking target according to the moving track.
Wherein the movement track of the overtaking target is irregular, so that the offset width of the overtaking target is larger than the width of the overtaking target. The offset width of the overtaking target is equal to the sum of the maximum amplitude on the left side and the maximum amplitude on the right side.
And the overtaking target width calculation unit is used for calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the offset width.
In one embodiment, the occupancy width of the overtaking target is greater than or equal to one-half of the travel width and less than or equal to the travel width.
In another embodiment, the target projected occupation width calculating module 502 further includes:
the track acquisition unit is used for acquiring the moving track of the overtaking target within a first preset time.
And the transverse distance calculation unit is used for calculating the transverse distance between the leftmost offset point and the rightmost offset point of the moving track.
And the overtaking target width calculation unit is used for calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the transverse distance and the main body width of the overtaking target.
Wherein the predicted occupation width of the cut-in target in the preliminary cut-in region may be equal to the lateral distance or the sum of the lateral distance and the body width of the cut-in target. The estimated occupation width of the overtaking target in the preliminary overtaking area can also be a dynamically changing value according to the current position of the overtaking target, and the value can be estimated and determined according to the moving track of the overtaking target.
Wherein the first preset time may be set to five seconds. The movement track of the overtaking target may be acquired by a camera mounted on the vehicle. The moving track of the overtaking target can be a straight line or an S-shaped curve. When the moving track is a straight line, the occupied width of the overtaking target is equal to the width of the overtaking target; when the moving track is an S-shaped curve, the leftmost position of the S-shaped curve, where the overtaking target moves, is the leftmost offset point, the rightmost position of the S-shaped curve, where the overtaking target moves, is the rightmost offset point, and the lateral distance between the leftmost offset point and the rightmost offset point refers to the distance between the leftmost offset point and the rightmost offset point in the road width direction.
In one embodiment, the overtaking determination module 504 includes:
a first judging unit configured to judge whether the vehicle passable width is larger than a vehicle body width of the current vehicle;
a second judging unit, configured to judge whether a duration time when the vehicle passable width is greater than the vehicle body width is greater than a second preset time when the current vehicle and/or the overtaking target continue to travel if the vehicle passable width is greater than the vehicle body width;
a first detection unit, configured to detect whether a relative speed between the current vehicle and the overtaking target is less than a threshold;
the second detection unit is used for detecting whether an intersection exists in a preset distance range between a standby overtaking area in the driving area and the front of the overtaking target;
and the judging result output unit is used for judging that the current vehicle can overtake the overtaking target if the duration time that the vehicle passable width is larger than the vehicle body width is longer than the second preset time.
In one embodiment, the judging result output unit is configured to judge that the current vehicle can overtake the overtaking target if the duration of time that the vehicle passable width is greater than the vehicle body width is greater than a second preset time, the relative speed of the current vehicle and the overtaking target is less than a threshold value, and an intersection does not exist in a preliminary overtaking region in the driving region.
Wherein the four conditions include: the vehicle passable width is greater than a body width of the current vehicle; the duration time that the vehicle passable width is larger than the vehicle body width is longer than a second preset time; the relative speed of the current vehicle and the overtaking target is smaller than a threshold value; and the intersection does not exist in the preparation overtaking area in the driving area. And judging the next condition is stopped if one of the four conditions is not met, and a conclusion that the condition is not met is directly obtained.
Wherein the duration that the vehicle passable width is greater than the vehicle body width is obtainable by timing. For example, the time counting is started when the vehicle passable width is larger than the vehicle body width, and the duration is a counted time from the time counting start to the current time. The relative speed of the current vehicle and the overtaking target may be obtained by subtracting the speed of the overtaking target from the speed of the current vehicle. The information of whether the intersection exists in the preset distance range between the standby overtaking area and the overtaking target in the running area can be obtained through an interactive system of the vehicles, namely, road condition information obtained through the front vehicle is analyzed, or the information is obtained through a high-automatic driving map or a high-definition map, or the information is obtained through remote measurement of the current vehicle. The second preset time may be set according to a speed of the overtaking target: the faster the speed of the overtaking target is, the larger the second preset time is; the slower the speed of the overtaking target, the smaller the second preset time. The relative speed of the current vehicle and the overtaking target is smaller than a threshold value so as to avoid collision between the vehicle and the overtaking target.
In one embodiment, after determining that the current vehicle can overtake the overtaking target, a prompt message for overtaking is sent. For example, a "please wait for patience" is issued. Overtaking is prohibited for 150 meters. "text prompt message, wherein 150 meters is the distance between the current vehicle and the nearest overtaking target.
In one embodiment, the judging result output unit is further configured to send out a prompt message for prohibiting the overtaking if the duration time that the width of the passable vehicle is greater than the width of the vehicle body is less than or equal to the second preset time, the relative speed between the current vehicle and the overtaking target is greater than or equal to the threshold value, or the crossing exists in the driving area. For example, issue "overrun front bicycle hazard-! It may rock indefinitely-! "text prompt message. In the above embodiment, the prompt information includes at least one of text prompt information, voice prompt information and vibration prompt information.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a driving assistance method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
In one embodiment, the processor when executing the computer program further performs the steps of: detecting a moving obstacle of the driving area; and determining the overtaking target according to the moving obstacle and a preset overtaking rule.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
and judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width.
In one embodiment, the computer program when executed by the processor further performs the steps of: detecting a moving obstacle of the driving area; and determining the overtaking target according to the moving obstacle and a preset overtaking rule.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. A method of assisting driving, the method comprising:
acquiring the road width of a preliminary overtaking area in a running area where a current vehicle is located;
according to the moving track of the overtaking target in the driving area, acquiring the predicted occupation width of the overtaking target in the preliminary overtaking area;
calculating the passable width of the vehicle according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
judging whether the current vehicle is allowed to overtake the overtaking target or not at least according to the vehicle passable width,
wherein the obtaining the predicted occupation width of the overtaking target in the preliminary overtaking area includes:
acquiring a moving track of the overtaking target within a first preset time;
calculating the transverse distance between the leftmost offset point and the rightmost offset point of the moving track;
calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the transverse distance and the main body width of the overtaking target; and is also provided with
Wherein the determining whether to allow the current vehicle to overtake the overtaking target at least according to the vehicle passable width includes:
judging whether the vehicle passable width is larger than the vehicle body width of the current vehicle;
if the vehicle passable width is larger than the vehicle body width of the current vehicle, further judging whether the duration time of the vehicle passable width larger than the vehicle body width is larger than a second preset time under the condition that the current vehicle and/or the overtaking target continue to run;
and if the duration time that the vehicle passable width is larger than the vehicle body width is larger than the second preset time, sending out prompt information for allowing overtaking.
2. The method according to claim 1, wherein the method further comprises:
detecting a moving obstacle of the driving area;
determining the overtaking target according to the moving obstacle and a preset overtaking rule;
the preset overtaking rules are overtaking from the left side of the running direction of the vehicle or overtaking from the right side of the running direction of the vehicle.
3. The method of claim 1, wherein calculating a vehicle passable width based on the road width of the preliminary cut-in area and the projected occupancy width of the cut-in object in the preliminary cut-in area comprises:
acquiring the buffer width of a preset buffer area at the left side and the right side of the current vehicle;
and calculating the passable width of the vehicle according to the road width of the preliminary overtaking area, the expected occupation width of the overtaking target in the preliminary overtaking area and the buffer width of the preset buffer area.
4. The method of claim 3, wherein the predetermined buffer area comprises a first buffer area and a second buffer area, the first buffer area and the second buffer area being located on left and right sides of the current vehicle, respectively;
the calculating the vehicle passable width according to the road width of the preliminary overtaking area, the expected occupation width of the overtaking target in the preliminary overtaking area and the buffer width of the preset buffer area comprises the following steps:
acquiring a first buffer width of the first buffer area and a second buffer width of the second buffer area;
and calculating the difference value obtained by subtracting the predicted occupation width, the first buffer width and the second buffer width of the overtaking target in the preliminary overtaking area from the road width of the preliminary overtaking area, so as to obtain the vehicle passable width.
5. The method of claim 1, wherein the determining whether to allow the current vehicle to cut-in the cut-in target based at least on the vehicle passable width further comprises:
detecting whether the relative speed of the current vehicle and the overtaking target is smaller than a threshold value;
detecting whether an intersection exists in a preset distance range between a preliminary overtaking area in the driving area and the overtaking target;
and if the duration time that the vehicle passable width is larger than the vehicle body width is larger than a second preset time, the relative speed of the current vehicle and the overtaking target is smaller than a threshold value, and no intersection exists in a preset overtaking area in the driving area and a preset distance range in front of the overtaking target, sending out prompt information for allowing overtaking.
6. The method according to claim 1 or 5, characterized in that the method further comprises:
and if the vehicle passable width is not larger than the vehicle body width of the current vehicle, the duration time that the vehicle passable width is larger than the vehicle body width is not larger than a second preset time, the relative speed of the current vehicle and the overtaking target is not smaller than a threshold value, or an intersection exists in a standby overtaking area in the driving area or a set distance range in front of the overtaking target, sending out prompt information for prohibiting overtaking.
7. A driving assistance apparatus, characterized in that the apparatus comprises:
the road width acquisition module is used for acquiring the road width of a preliminary overtaking area in the running area where the current vehicle is located;
the overtaking target estimated occupation width calculation module is used for acquiring the estimated occupation width of the overtaking target in the preparation overtaking area according to the movement track of the overtaking target in the driving area;
the vehicle passable width calculation module is used for calculating the vehicle passable width according to the road width of the preliminary overtaking area and the expected occupation width of the overtaking target in the preliminary overtaking area;
an overtaking judging module for judging whether the current vehicle is allowed to overtake the overtaking target at least according to the width of the vehicles which can pass through,
wherein, the overtaking target estimated occupation width calculating module is further configured to:
acquiring a moving track of the overtaking target within a first preset time;
calculating the transverse distance between the leftmost offset point and the rightmost offset point of the moving track;
calculating the expected occupation width of the overtaking target in the preparation overtaking area according to the transverse distance and the main body width of the overtaking target; and is also provided with
Wherein, the overtaking judging module is further used for:
judging whether the vehicle passable width is larger than the vehicle body width of the current vehicle;
if the vehicle passable width is larger than the vehicle body width of the current vehicle, further judging whether the duration time of the vehicle passable width larger than the vehicle body width is larger than a second preset time under the condition that the current vehicle and/or the overtaking target continue to run;
and if the duration time that the vehicle passable width is larger than the vehicle body width is larger than the second preset time, sending out prompt information for allowing overtaking.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| US10272780B2 (en) * | 2013-09-13 | 2019-04-30 | Maxell, Ltd. | Information display system and information display device |
| WO2015068193A1 (en) * | 2013-11-05 | 2015-05-14 | 株式会社日立製作所 | Autonomous mobile system |
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