CN112092807A - Driving assistance method and device, computer equipment and storage medium - Google Patents

Driving assistance method and device, computer equipment and storage medium Download PDF

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Publication number
CN112092807A
CN112092807A CN201910523024.8A CN201910523024A CN112092807A CN 112092807 A CN112092807 A CN 112092807A CN 201910523024 A CN201910523024 A CN 201910523024A CN 112092807 A CN112092807 A CN 112092807A
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China
Prior art keywords
motion
current
objects
current vehicle
target object
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CN201910523024.8A
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Chinese (zh)
Inventor
唐帅
孙铎
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Audi AG
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Audi AG
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Priority to CN201910523024.8A priority Critical patent/CN112092807A/en
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to a driving assisting method, a driving assisting device, computer equipment and a storage medium, wherein a first motion track and a second motion track are obtained by simulating motion tracks of a target object and other objects in a preset time period, then whether the target object and the other objects have collision risks or not is judged according to whether the first motion track and the second motion track are overlapped, and finally a preset driving assisting strategy is executed when the target object and the other objects have collision risks.

Description

Driving assistance method and device, computer equipment and storage medium
Technical Field
The present application relates to the field of vehicle engineering technologies, and in particular, to a driving assistance method, an apparatus, a computer device, and a storage medium.
Background
When a passenger sometimes extends his or her arms, legs, head, or other objects out of the window during the driving of the vehicle, if another vehicle is driven by the passenger, the other vehicle may easily injure the passenger or other objects.
The prior art lacks a method for reminding passengers that the safety hazard exists when the passengers stretch bodies or other objects out of the vehicle window at proper time.
Disclosure of Invention
In view of the above, there is a need to provide a driving assistance method, device, computer device and storage medium capable of reminding passengers of potential safety hazards in extending bodies or other objects out of the vehicle window at appropriate time.
A driving assistance method, the method comprising:
acquiring the current position of a target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects;
simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail;
simulating the motion trail of other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail;
and if the first motion trail is overlapped with the second motion trail, executing a preset auxiliary driving strategy.
In one embodiment, the simulating a motion trajectory of the target object within a preset time period according to a speed of a current vehicle, a driving direction of the current vehicle, and a current position of the target object to obtain a first motion trajectory includes:
acquiring the current occupied space of the target object;
and simulating the current occupied space of the target object within a preset time period, and obtaining a first motion track from the current position of the target object according to the running speed of the current vehicle and the running track of the current vehicle.
In one embodiment, the obtaining the motion speed of the other object, the motion direction of the other object, and the current position of the other object, and simulating the motion trajectory of the other object in a preset time period to obtain the second motion trajectory includes:
acquiring the current occupied space of the other objects;
and simulating the current occupied space of the other objects within a preset time period, and obtaining a second motion track from the current positions of the other objects according to the motion speeds of the other objects and the motion directions of the other objects.
In one embodiment, the method further comprises:
acquiring the current speed of the current vehicle and the current acceleration of the current vehicle;
and calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle.
In one embodiment, the method further comprises:
acquiring the current speed of the other objects and the current acceleration of the other objects;
and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
In one embodiment, if the first motion trajectory overlaps the second motion trajectory, the executing a preset driving assistance strategy includes:
outputting a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or the presence of a gas in the gas,
when the first motion trail is overlapped with the second motion trail, controlling the window of the current vehicle to lift to a target position; and/or the presence of a gas in the gas,
when the first motion track is overlapped with the second motion track, the first motion track and the second motion track are simultaneously visually output; and/or the presence of a gas in the gas,
when the first motion trail is overlapped with the second motion trail, the current vehicle is decelerated by controlling a brake system of the current vehicle; and/or
And when the first motion trail is overlapped with the second motion trail, the current vehicle is transversely avoided by controlling a steering system of the current vehicle.
In one embodiment, the method further comprises:
if the first motion track is not overlapped with the second motion track, detecting whether a target object which is out of the window of the current vehicle exists, and when the target object which is out of the window of the current vehicle exists, executing a step of acquiring the current position of the target object which is out of the window, the motion speed of other objects, the motion direction of other objects and the current position of other objects until a preset auxiliary driving strategy is executed if the first motion track is overlapped with the second motion track.
A driving assistance apparatus, the apparatus comprising:
the acquisition module is used for acquiring the current position of a target object which stretches out of a vehicle window, the movement speed of other objects, the movement direction of other objects and the current position of other objects;
the motion trail simulation module is used for simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail; simulating the motion trail of the other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail;
and the auxiliary driving module is used for executing a preset auxiliary driving strategy if the first motion trail is overlapped with the second motion trail.
In one embodiment, the obtaining module is further configured to obtain a currently occupied space of the target object;
the motion trail simulation module is specifically configured to simulate a trail of movement of the current occupied space of the target object according to the running speed of the current vehicle and the running direction of the current vehicle from the current position of the target object within a preset time period, so as to obtain a first motion trail.
In one embodiment, the obtaining module is further configured to obtain a current occupied space of the other objects;
the motion trajectory simulation module is specifically configured to simulate a trajectory of the current occupied space of the other object moving from the current position of the other object according to the motion speed of the other object and the motion direction of the other object within a preset time period, so as to obtain a second motion trajectory.
In one embodiment, the obtaining module is further configured to obtain a current speed of the current vehicle and a current acceleration of the current vehicle; calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle;
in one embodiment, the obtaining module is further configured to obtain a current speed of the other object and a current acceleration of the other object; and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
In one embodiment, the driving assistance module is specifically configured to output a collision warning when there is an overlap between the first motion trajectory and the second motion trajectory; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, simultaneously visually outputting the first motion track and the second motion track; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
In one embodiment, the obtaining module is further configured to detect whether there is a target object that protrudes out of a window of the current vehicle if there is no overlap between the first motion trajectory and the second motion trajectory.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method of any of the embodiments when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the embodiments.
According to the driving assisting method, the driving assisting device, the computer equipment and the storage medium, firstly, the motion tracks of the target object and other objects in a preset time period are simulated to obtain the first motion track and the second motion track, then whether the target object and other objects have collision risks is judged according to whether the first motion track and the second motion track are overlapped, and finally, when the target object and other objects have collision risks, a preset driving assisting strategy is executed.
Drawings
FIG. 1 is a diagram of an exemplary driving assistance method;
FIG. 2 is a flow diagram illustrating a method of assisting driving in one embodiment;
FIG. 3 is a flowchart illustrating a driving assistance method according to another embodiment;
FIG. 4 is a schematic flow chart illustrating a step of refining step S220 in one embodiment;
FIG. 5 is a schematic flow chart illustrating a step of refining step S230 in one embodiment;
FIG. 6 is a flow chart illustrating additional steps of a driving assistance method according to one embodiment;
FIG. 7 is a flowchart illustrating additional steps of a driving assistance method according to another embodiment;
FIG. 8 is a block diagram showing the structure of a driving assistance apparatus according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The driving assistance method provided by the application can be applied to the application environment shown in fig. 1. The application environment includes the driving assistance device 100, the current vehicle 200, and another object 300 (in the application environment, another vehicle is used to represent another object), where the driving assistance device 100 is configured to determine whether there is a collision risk (potential safety hazard) between a target object that is located outside a window of the current vehicle 200 and the other object 300, and output driving assistance information when there is a collision risk for the target object, so as to prevent the target object from being damaged.
Alternatively, the driving assistance apparatus 100 may be, but is not limited to, an on-vehicle computer, a personal computer, a notebook computer, a smartphone, a tablet computer, and a portable wearable device.
In one embodiment, as shown in fig. 2, a driving assistance method is provided, which is described by taking the method as an example applied to the driving assistance device in fig. 1, and includes the following steps:
step 210, obtaining the current position of the target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects.
The target object which is projected out of the window may be a part of the passenger's body, such as an arm, a leg, or a head, among others. The target object that exits the window may be other objects, such as an umbrella held in a passenger's hand, etc. The other objects may be moving objects within a preset distance from the current vehicle 200, such as other vehicles, pedestrians, etc. within a preset distance from the current vehicle 220.
Specifically, the driving assistance apparatus 100 may acquire the current position of the target object that finds out the window of the current vehicle 200, the movement speed of the other object, the movement direction of the other object, and the current position of the other object. Optionally, the current position of the target object may be a relative position with respect to a position where the target object is located later, or may be a current geographical position of the target object. It should be understood that, in this embodiment, if the current position of the target object is a relative position with respect to the position where the target object is located later, the current positions of the other objects should be relative positions with respect to the positions where the other objects are located later, which are in the same coordinate system as the current position of the target object.
Alternatively, the driving assistance apparatus 100 may acquire the movement speed of the other object and the movement direction of the other object by a sensor. The sensor may be a camera, a laser sensor, a radar sensor, an ultrasonic sensor, and the like.
Step 220, simulating a motion track of the target object within a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion track.
Specifically, the driving assistance device 100 simulates a motion trajectory of the target object within a preset time period according to the running speed of the current vehicle 200, the running direction of the current vehicle 200, and the current position of the target object, so as to obtain a first motion trajectory. Further, the driving assistance apparatus 100 first takes the traveling speed of the current vehicle 200 and the traveling direction of the current vehicle 200 as the movement speed and the movement direction of the target object, respectively, and then takes the trajectory of the target object moving from the current position of the target object in accordance with the movement speed and the movement direction of the target object within a preset time period as the first movement trajectory.
And step 230, simulating the motion trajectories of the other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trajectory.
Specifically, the driving assistance device 100 simulates the motion trajectory of the other object 300 within a preset time period according to the motion speed of the other object 300, the motion direction of the other object 300, and the current position of the other object 300, so as to obtain a second motion trajectory. Further, the driving assistance apparatus 100 sets, as the second motion trajectory, a trajectory along which the other object 300 moves from the current position of the other object in accordance with the motion speed of the other object and the motion direction of the other object within the preset time period.
Alternatively, the preset time period may be set according to an empirical value, or may be set according to an analysis result of the relevant collected data.
And 240, if the first motion track and the second motion track are overlapped, executing a preset auxiliary driving strategy.
Specifically, the driving assistance device 100 executes a preset driving assistance strategy when the first motion trajectory overlaps with the second motion trajectory. Optionally, the driving assistance strategy may include: outputting a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, simultaneously visually outputting the first motion track and the second motion track; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
According to the auxiliary driving method, firstly, motion tracks of a target object and other objects in a preset time period are simulated to obtain a first motion track and a second motion track, then whether collision risks exist between the target object and other objects is judged according to whether the first motion track and the second motion track are overlapped, and finally, when the collision risks exist between the target object and other objects, a preset auxiliary driving strategy is executed.
In one embodiment, as shown in fig. 3, the driving assistance method further includes:
step S250, if the first motion trajectory and the second motion trajectory are not overlapped, detecting whether a target object which is out of the window of the current vehicle exists, and returning to execute step S210S240 when detecting that a target object which is out of the window of the current vehicle exists.
The driving assistance apparatus 100 performs steps S210 to S240 upon detecting whether there is a target object that protrudes through the window of the current vehicle 200, and upon detecting that there is a target object that protrudes through the window of the current vehicle 200. Further, step S250 may include: the driving assistance apparatus 100 detects whether there is a target object that protrudes through a window of the current vehicle at preset time intervals.
According to the method in the embodiment, the target object which is detected out of the window of the current vehicle can be found in time.
In one embodiment, as shown in fig. 4, step S220 includes:
step S221, acquiring a currently occupied space of the target object.
Specifically, the driving assistance apparatus 100 acquires the currently occupied space of the target object. Alternatively, the driving assistance apparatus 100 acquires the currently occupied space of the target object by a sensor. Alternatively, the driving assistance apparatus 100 may first acquire an image of the target object, and then process the image of the target object to obtain the current occupied space of the target object. Alternatively, the pre-trained neural network model may be used to process the image of the target object to obtain the current occupied space of the target object.
Step S222, simulating a current occupied space of the target object within a preset time period, and obtaining a first motion trajectory from a current position of the target object according to the running speed of the current vehicle and a track of the current vehicle moving in the running direction.
Specifically, the driving assistance device 100 simulates a current occupied space of the target object, and obtains a first motion trajectory from a current position of the target object according to a travel speed of the current vehicle and a travel trajectory of the current vehicle within a preset time period.
According to the method, important characteristics such as the shape and the size of the target object are used during motion trajectory simulation of the target object, and based on the important characteristics, the first motion trajectory obtained by the method is used for evaluating whether the target object and other objects have collision risks, so that the obtained evaluation result is accurate and reliable.
In one embodiment, as shown in fig. 5, step S230 includes:
step S231, acquiring the currently occupied space of the other objects.
Specifically, the driving assistance apparatus 100 acquires the currently occupied space of the other object. Alternatively, the driving assistance apparatus 100 acquires the currently occupied space of the other object by a sensor. Alternatively, the driving assistance device 100 may first acquire images of other objects, and then process the images of the other objects to obtain the current occupied space of the other objects. Alternatively, the pre-trained neural network model may be used to process the image of the other object to obtain the current occupied space of the other object.
Step S232, simulating a moving trajectory of the current occupied space of the other object according to the moving speed of the other object and the moving direction of the other object from the current position of the other object within a preset time period, to obtain a second moving trajectory.
Specifically, the driving assistance device 100 simulates a current occupied space of the other object, and obtains a second motion trajectory from a current position of the other object according to a motion speed of the other object and a motion trajectory of the other object in a preset time period.
According to the method, the important characteristics of the shape and the size of other objects are used when the motion trail of the other objects is simulated, and based on the important characteristics, the second motion trail obtained by the method is used for evaluating whether the target object and the other objects have collision risks, so that the obtained evaluation result is accurate and reliable.
In one embodiment, as shown in fig. 6, the driving assistance method further includes:
step S260, acquiring a current speed of the current vehicle and a current acceleration of the current vehicle.
Specifically, the driving assist apparatus 100 acquires the current speed of the current vehicle and the current acceleration of the current vehicle. Alternatively, the driving assistance apparatus 100 may acquire the current speed of the current vehicle and the current acceleration of the current vehicle by a sensor or the like.
And step S270, calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle.
Specifically, the driving assistance apparatus 100 calculates the traveling speed of the current vehicle from the current speed of the current vehicle and the current acceleration of the current vehicle.
According to the method, the current speed and the current acceleration of the current vehicle are used for calculating the running speed of the current vehicle, and the obtained running speed is accurate and reliable.
In one embodiment, as shown in fig. 7, the driving assistance method further includes:
step S280, acquiring the current speed of the other object and the current acceleration of the other object.
Specifically, the driving assistance apparatus 100 acquires the current speed of the other object and the current acceleration of the other object. Alternatively, the driving assistance apparatus 100 may acquire the current speed of the other object and the current acceleration of the other object by a sensor or the like.
Step S290, calculating the movement velocity of the other object according to the current velocity of the other object and the current acceleration of the other object.
Specifically, the driving assistance apparatus 100 calculates the movement velocity of the other object from the current velocity of the other object and the current acceleration of the other object.
According to the method, the motion speeds of other objects are calculated by using the current speed and the current acceleration of other objects, and the obtained motion speeds are accurate and reliable.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a driving assistance apparatus including:
the obtaining module 810 is configured to obtain a current position of a target object that finds out a window of a current vehicle, a movement speed of another object, a movement direction of the another object, and a current position of the another object.
A motion trajectory simulation module 820, configured to simulate a motion trajectory of the target object within a preset time period according to a driving speed of a current vehicle, a driving direction of the current vehicle, and a current position of the target object, so as to obtain a first motion trajectory; and simulating the motion trail of the other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail.
And the assistant driving module 830 is configured to execute a preset assistant driving strategy if the first motion trajectory overlaps the second motion trajectory.
In one embodiment, the obtaining module 810 is further configured to obtain a current occupied space of the target object; the motion trajectory simulation module 820 is specifically configured to simulate a trajectory of a current occupied space of the target object moving according to the running speed of the current vehicle and the running direction of the current vehicle from the current position of the target object within a preset time period, to obtain a first motion trajectory,
in one embodiment, the obtaining module 810 is further configured to obtain a current occupied space of the other objects; the motion trajectory simulation module 820 is specifically configured to simulate a trajectory of the current occupied space of the other object moving according to the motion speed of the other object and the motion direction of the other object from the current position of the other object within a preset time period, so as to obtain a second motion trajectory.
In one embodiment, the obtaining module 810 is further configured to obtain a current speed of the current vehicle and a current acceleration of the current vehicle; calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle;
in one embodiment, the obtaining module 810 is further configured to obtain the current speed of the other object and the current acceleration of the other object; and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
In one embodiment, the driving assistance module 830 is specifically configured to output a collision warning when there is an overlap between the first motion trajectory and the second motion trajectory; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, the simulated first motion track and the simulated second motion track are simultaneously visually output; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
In one embodiment, the obtaining module 810 is further configured to detect whether there is a target object that protrudes through a window of the current vehicle when there is no overlap between the first motion trajectory and the second motion trajectory.
For specific limitations of the driving assistance device, reference may be made to the above limitations of the driving assistance method, which are not described in detail herein. The various modules in the driving assistance device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. 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 comprises a nonvolatile 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 an operating system and computer programs in the non-volatile storage medium. 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, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those 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 a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring the current position of a target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects; simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail; simulating the motion trail of other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail; and if the first motion trail is overlapped with the second motion trail, executing a preset auxiliary driving strategy.
In one embodiment, the processor when executing the computer program embodies the following steps: acquiring the current occupied space of the target object; and simulating the current occupied space of the target object within a preset time period, and obtaining a first motion track from the current position of the target object according to the running speed of the current vehicle and the running track of the current vehicle.
In one embodiment, the processor when executing the computer program embodies the following steps: acquiring the current occupied space of the other objects; and simulating the current occupied space of the other objects within a preset time period, and obtaining a second motion track from the current positions of the other objects according to the motion speeds of the other objects and the motion directions of the other objects.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the current speed of the current vehicle and the current acceleration of the current vehicle; and calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the current speed of the other objects and the current acceleration of the other objects; and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
In one embodiment, the processor when executing the computer program embodies the following steps: outputting a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, simultaneously visually outputting the first motion track and the second motion track; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
In one embodiment, the processor when executing the computer program embodies the following steps: if the first motion track is not overlapped with the second motion track, detecting whether a target object which is out of the window of the current vehicle exists, and when the target object which is out of the window of the current vehicle exists, executing a step of acquiring the current position of the target object which is out of the window, the motion speed of other objects, the motion direction of other objects and the current position of other objects until a preset auxiliary driving strategy is executed if the first motion track is overlapped with the second motion track.
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 current position of a target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects; simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail; simulating the motion trail of other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail; and if the first motion trail is overlapped with the second motion trail, executing a preset auxiliary driving strategy.
In one embodiment, the computer program when executed by the processor embodies the steps of: acquiring the current occupied space of the target object; and simulating the current occupied space of the target object within a preset time period, and obtaining a first motion track from the current position of the target object according to the running speed of the current vehicle and the running track of the current vehicle.
In one embodiment, the computer program when executed by the processor embodies the steps of: acquiring the current occupied space of the other objects; and simulating the current occupied space of the other objects within a preset time period, and obtaining a second motion track from the current positions of the other objects according to the motion speeds of the other objects and the motion directions of the other objects.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current speed of the current vehicle and the current acceleration of the current vehicle; and calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current speed of the other objects and the current acceleration of the other objects; and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
In one embodiment, the computer program when executed by the processor embodies the steps of: outputting a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, simultaneously visually outputting the first motion track and the second motion track; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the first motion track is not overlapped with the second motion track, detecting whether a target object which is out of the window of the current vehicle exists, and when the target object which is out of the window of the current vehicle exists, executing a step of acquiring the current position of the target object which is out of the window, the motion speed of other objects, the motion direction of other objects and the current position of other objects until a preset auxiliary driving strategy is executed if the first motion track is overlapped with the second motion track.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile 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), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (14)

1. A driving assist method, characterized by comprising:
acquiring the current position of a target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects;
simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail;
simulating the motion trail of other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail;
and if the first motion trail is overlapped with the second motion trail, executing a preset auxiliary driving strategy.
2. The method according to claim 1, wherein the simulating a motion trajectory of the target object within a preset time period according to a driving speed of a current vehicle, a driving direction of the current vehicle and a current position of the target object to obtain a first motion trajectory comprises:
acquiring the current occupied space of the target object;
and simulating the current occupied space of the target object within a preset time period, and obtaining a first motion track from the current position of the target object according to the running speed of the current vehicle and the running track of the current vehicle.
3. The method according to claim 1 or 2, wherein the obtaining the motion speed of the other object, the motion direction of the other object, and the current position of the other object, and the simulating the motion trajectory of the other object in the preset time period to obtain the second motion trajectory comprises:
acquiring the current occupied space of the other objects;
and simulating the current occupied space of the other objects within a preset time period, and obtaining a second motion track from the current positions of the other objects according to the motion speeds of the other objects and the motion directions of the other objects.
4. The method of claim 1, further comprising:
acquiring the current speed of the current vehicle and the current acceleration of the current vehicle;
and calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle.
5. The method of claim 1, further comprising:
acquiring the current speed of the other objects and the current acceleration of the other objects;
and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
6. The method of claim 1, wherein if the first motion profile overlaps the second motion profile, performing a predetermined driving assistance strategy comprises:
outputting a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or the presence of a gas in the gas,
when the first motion trail is overlapped with the second motion trail, controlling the window of the current vehicle to lift to a target position; and/or the presence of a gas in the gas,
when the first motion track is overlapped with the second motion track, the first motion track and the second motion track are simultaneously visually output; and/or the presence of a gas in the gas,
when the first motion trail is overlapped with the second motion trail, the current vehicle is decelerated by controlling a brake system of the current vehicle; and/or the presence of a gas in the gas,
and when the first motion trail is overlapped with the second motion trail, the current vehicle is transversely avoided by controlling a steering system of the current vehicle.
7. The method of claim 1, further comprising:
if the first motion track is not overlapped with the second motion track, detecting whether a target object which is out of the window of the current vehicle exists, and when the target object which is out of the window of the current vehicle exists, executing a step of acquiring the current position of the target object which is out of the window, the motion speed of other objects, the motion direction of other objects and the current position of other objects until a preset auxiliary driving strategy is executed if the first motion track is overlapped with the second motion track.
8. A driving assistance apparatus characterized by comprising:
the acquisition module is used for acquiring the current position of a target object which finds out the window of the current vehicle, the movement speed of other objects, the movement direction of other objects and the current position of other objects;
the motion trail simulation module is used for simulating the motion trail of the target object in a preset time period according to the running speed of the current vehicle, the running direction of the current vehicle and the current position of the target object to obtain a first motion trail; simulating the motion trail of the other objects in a preset time period according to the motion speeds of the other objects, the motion directions of the other objects and the current positions of the other objects to obtain a second motion trail;
and the auxiliary driving module is used for executing a preset auxiliary driving strategy if the first motion trail is overlapped with the second motion trail.
9. The apparatus of claim 8,
the acquisition module is also used for acquiring the current occupied space of the target object;
the motion trail simulation module is specifically configured to simulate a trail of movement of the current occupied space of the target object according to the running speed of the current vehicle and the running direction of the current vehicle from the current position of the target object within a preset time period to obtain a first motion trail,
further preferably, the obtaining module is further configured to obtain a current occupied space of the other objects;
the motion trajectory simulation module is specifically configured to simulate a trajectory of the current occupied space of the other object moving from the current position of the other object according to the motion speed of the other object and the motion direction of the other object within a preset time period, so as to obtain a second motion trajectory.
10. The apparatus of claim 8,
the acquisition module is further used for acquiring the current speed of the current vehicle and the current acceleration of the current vehicle; calculating the running speed of the current vehicle according to the current speed of the current vehicle and the current acceleration of the current vehicle;
further preferably, the obtaining module is further configured to obtain a current speed of the other object and a current acceleration of the other object; and calculating the movement speed of the other objects according to the current speed of the other objects and the current acceleration of the other objects.
11. The device according to any one of claims 8 to 10, characterized in that the driver assistance module is configured to output a collision warning when there is an overlap of the first motion profile and the second motion profile; and/or when the first motion track is overlapped with the second motion track, controlling the window of the current vehicle to lift to a target position; and/or, when the first motion track is overlapped with the second motion track, the simulated first motion track and the simulated second motion track are simultaneously visually output; and/or when the first motion track is overlapped with the second motion track, the current vehicle is decelerated by controlling the current vehicle braking system; and/or when the first motion trail is overlapped with the second motion trail, enabling the current vehicle to avoid transversely by controlling a steering system of the current vehicle.
12. The apparatus according to any one of claims 8 to 10, wherein the obtaining module is further configured to detect whether there is a target object that protrudes through a window of the current vehicle if there is no overlap between the first motion trajectory and the second motion trajectory.
13. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
CN201910523024.8A 2019-06-17 2019-06-17 Driving assistance method and device, computer equipment and storage medium Pending CN112092807A (en)

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