CN113272750A

CN113272750A - Traffic jam auxiliary driving method and system, vehicle-mounted equipment and storage medium

Info

Publication number: CN113272750A
Application number: CN201980002781.9A
Authority: CN
Inventors: 胡子豪; 王子涵; 刘洋
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2021-08-17
Also published as: WO2021102958A1

Abstract

A traffic jam assisted driving method, a system, a vehicle-mounted device and a storage medium are provided, and a traffic jam assisted driving function comprises a ready state, a ready-to-enter state and an on state. The method comprises the following steps: acquiring environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state (501); judging whether a traffic jam auxiliary driving function starting condition is met or not based on the environment information and the vehicle state information (502); jumping to a ready-to-enter state (503) based on the condition that the traffic jam assistant driving function starting condition is met; the function of prompting traffic jam auxiliary driving can be started (504). According to the method, the traffic jam assisted driving is carried out more reasonably by defining different states of the traffic jam assisted driving function, whether the vehicle jumps to the ready entry state or not is judged by monitoring the environmental information and the vehicle state information in the ready state, the prompt function can be started in the ready entry state, whether the function is started or not is manually determined, and the driving experience is improved.

Description

Traffic jam auxiliary driving method and system, vehicle-mounted equipment and storage medium

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent driving, in particular to a traffic jam assistant driving method, a traffic jam assistant driving system, vehicle-mounted equipment and a storage medium.

Background

With the development of intelligent driving technology, the driving experience of a driver and passengers is improved. Traffic jam working conditions belong to common and complex working conditions, and therefore, a traffic jam auxiliary driving scheme needs to be provided urgently, and driving experience under the traffic jam working conditions is improved.

The above description of the discovery process of the problems is only for the purpose of aiding understanding of the technical solutions of the present disclosure, and does not represent an admission that the above is prior art.

Disclosure of Invention

In order to solve at least one problem of the prior art, at least one embodiment of the present disclosure provides a traffic congestion assisted driving method, a traffic congestion assisted driving system, an in-vehicle device, and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a traffic congestion assistant driving method, where a traffic congestion assistant driving function includes a ready state, a ready-to-enter state, and an on state, the method includes:

acquiring environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state;

judging whether a traffic jam auxiliary driving function starting condition is met or not based on the environment information and the vehicle state information;

jumping to the ready-to-enter state based on the condition that the traffic jam assistant driving function starting condition is met;

the function of prompting traffic jam auxiliary driving can be started.

In a second aspect, an embodiment of the present disclosure further provides a traffic congestion assistant driving system, where the traffic congestion assistant driving function includes a ready state, a ready-to-enter state, and an on state, and the system includes:

an acquisition unit configured to acquire environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state;

the judging unit is used for judging whether the starting condition of the traffic jam auxiliary driving function is met or not based on the environment information and the vehicle state information;

the skipping unit is used for skipping to the ready-to-enter state based on the condition that the traffic jam assistant driving function starting condition is met;

and the prompting unit is used for prompting that the traffic jam assistant driving function can be started.

In a third aspect, an embodiment of the present disclosure further provides an on-board device, including: a processor and a memory; the processor is adapted to perform the steps of the method according to the first aspect by calling a program or instructions stored by the memory.

In a fourth aspect, the disclosed embodiments also propose a non-transitory computer-readable storage medium for storing a program or instructions for causing a computer to perform the steps of the method according to the first aspect.

Therefore, in at least one embodiment of the disclosure, traffic jam assisted driving is performed more reasonably by defining different states of traffic jam assisted driving functions, in a ready state, whether to jump to a ready-to-enter state is judged by monitoring environmental information and vehicle state information, a prompt function can be started in the ready-to-enter state, whether to start the function is determined manually, and driving experience is improved.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is an overall architecture diagram of an intelligent driving vehicle provided by an embodiment of the present disclosure;

FIG. 2 is a block diagram of an intelligent driving system provided by an embodiment of the present disclosure;

fig. 3 is a block diagram of a traffic congestion assistant driving system provided by an embodiment of the disclosure;

FIG. 4 is a block diagram of an in-vehicle device provided by an embodiment of the present disclosure;

fig. 5 is a flowchart of a traffic congestion driving assistance method provided by an embodiment of the disclosure;

fig. 6 is a state transition diagram of a traffic congestion driving assistance function according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The embodiment of the disclosure provides a traffic jam assistant driving scheme aiming at traffic jam working conditions, wherein traffic jam assistant driving is carried out more reasonably by defining different states of traffic jam assistant driving functions, in a ready state, whether to jump to a ready entry state is judged by monitoring environmental information and vehicle state information, in the ready entry state, a prompt function can be started, whether to start the function is manually determined, and driving experience is improved.

In some embodiments, the traffic jam assistant driving scheme provided by the embodiments of the present disclosure may be applied to an intelligent driving vehicle. Fig. 1 is an overall architecture diagram of an intelligent driving vehicle according to an embodiment of the present disclosure.

As shown in fig. 1, the smart driving vehicle includes: sensor groups, smart driving system 100, vehicle floor management systems, and other components that may be used to propel a vehicle and control the operation of the vehicle.

And the sensor group is used for acquiring data of the external environment of the vehicle and detecting position data of the vehicle. The sensor group includes, for example, but not limited to, at least one of a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, a GPS (Global Positioning System), and an IMU (Inertial Measurement Unit).

In some embodiments, the sensor group is further used for collecting dynamic data of the vehicle, and the sensor group further includes, for example and without limitation, at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, a steering wheel angle sensor, and a front wheel angle sensor.

The intelligent driving system 100 is used for acquiring data of a sensor group, and all sensors in the sensor group transmit data at a high frequency in the driving process of the intelligent driving vehicle.

The intelligent driving system 100 is further configured to perform environment sensing and vehicle positioning based on the data of the sensor group, perform path planning and decision making based on the environment sensing information and the vehicle positioning information, and generate a vehicle control instruction based on the planned path, so as to control the vehicle to travel according to the planned path.

In some embodiments, the intelligent driving system 100 has a traffic congestion assist driving function, and the traffic congestion assist driving function defines different states including, but not limited to: ready state, ready to enter state, and on state. The intelligent driving system 100 achieves traffic jam auxiliary driving by reasonably switching different states, and improves driving experience. In some embodiments, the intelligent driving system 100 obtains environmental information and vehicle status information around the vehicle based on the vehicle being in a ready state; judging whether the starting condition of the traffic jam auxiliary driving function is met or not based on the environmental information and the vehicle state information; therefore, jumping is in a ready-to-enter state based on the condition that the starting condition of the traffic jam assistant driving function is met; and the function of traffic jam auxiliary driving can be started.

In some embodiments, the smart driving system 100 may be a software system, a hardware system, or a combination of software and hardware. For example, the smart driving system 100 is a software system running on an operating system, and the in-vehicle hardware system is a hardware system supporting the operating system.

In some embodiments, the smart driving system 100 is further configured to wirelessly communicate with a cloud server to interact with various information. In some embodiments, the smart driving system 100 and the cloud server communicate wirelessly via a wireless communication network (e.g., a wireless communication network including, but not limited to, a GPRS network, a Zigbee network, a Wifi network, a 3G network, a 4G network, a 5G network, etc.).

In some embodiments, the cloud server is used for overall coordination and management of the intelligent driving vehicle. In some embodiments, the cloud server may be configured to interact with one or more intelligent driving vehicles, orchestrate and coordinate the scheduling of multiple intelligent driving vehicles, and the like.

In some embodiments, the cloud server is a cloud server established by a vehicle service provider, and provides cloud storage and cloud computing functions. In some embodiments, the cloud server builds the vehicle-side profile. In some embodiments, the vehicle-side profile stores various information uploaded by the intelligent driving system 100. In some embodiments, the cloud server may synchronize the driving data generated by the vehicle side in real time.

In some embodiments, the cloud server may be a server or a server group. The server group may be centralized or distributed. The distributed servers are beneficial to the distribution and optimization of tasks in a plurality of distributed servers, and the defects of resource shortage and response bottleneck of the traditional centralized server are overcome. In some embodiments, the cloud server may be local or remote.

In some embodiments, the cloud server may be used to perform parking charges, road passing charges, etc. for the vehicle end. In some embodiments, the cloud server is further configured to analyze the driving behavior of the driver and perform a safety level assessment on the driving behavior of the driver.

In some embodiments, the cloud server may be configured to obtain information about Road monitoring units (RSUs) and smart driving vehicles, and may send the information to the smart driving vehicles. In some embodiments, the cloud server may send detection information corresponding to the smart driving vehicle in the road monitoring unit to the smart driving vehicle according to information of the smart driving vehicle.

In some embodiments, a road monitoring unit may be used to collect road monitoring information. In some embodiments, the road monitoring unit may be an environmental perception sensor, such as a camera, a lidar, etc., and may also be a road device, such as a V2X device, a roadside traffic light device, etc. In some embodiments, the road monitoring units may monitor road conditions pertaining to the respective road monitoring units, e.g., by type of vehicle, speed, priority level, etc. The road monitoring unit can send the road monitoring information to the cloud server after collecting the road monitoring information, and can also send the intelligent driving vehicle through the road.

And the vehicle bottom layer execution system is used for receiving the vehicle control instruction and realizing the control of vehicle running. In some embodiments, vehicle under-floor execution systems include, but are not limited to: a steering system, a braking system and a drive system. The steering system, the braking system and the driving system belong to mature systems in the field of vehicles, and are not described in detail herein.

In some embodiments, the smart-drive vehicle may also include a vehicle CAN bus, not shown in FIG. 1, that connects to the vehicle's underlying implement system. Information interaction between the intelligent driving system 100 and the vehicle bottom layer execution system is transmitted through a vehicle CAN bus.

In some embodiments, the intelligent driving vehicle may control the vehicle to travel by both the driver and the intelligent driving system 100. In the manual driving mode, the driver drives the vehicle by operating devices for controlling the vehicle to run, such as, but not limited to, a brake pedal, a steering wheel, an accelerator pedal, and the like. The device for controlling the vehicle to run can directly operate the vehicle bottom layer execution system to control the vehicle to run.

Fig. 2 is a block diagram of an intelligent driving system 200 according to an embodiment of the present disclosure. In some embodiments, the intelligent driving system 200 may be implemented as the intelligent driving system 100 of fig. 1 or a part of the intelligent driving system 100 for controlling the vehicle to run.

As shown in FIG. 2, the smart driving system 200 may be divided into a plurality of modules or systems, which may include, for example: perception module 201, planning module 202, control module 203, traffic congestion assistance driving system 204, and other modules or systems that may be used for intelligent driving.

The sensing module 201 is used for sensing and positioning the environment. In some embodiments, the sensing module 201 is used to obtain sensor data, V2X (Vehicle to X) data, high precision maps, and the like. In some embodiments, the sensing module 201 is configured to sense and locate the environment based on at least one of acquired sensor data, V2X (Vehicle to X) data, high-precision maps, and the like.

In some embodiments, the sensing module 201 is configured to generate sensing and positioning information, so as to sense an obstacle, identify a travelable area of a camera image, position a vehicle, and the like.

Environmental awareness (Environmental awareness) may be understood as a semantic classification of data with respect to the context of the scene understanding capabilities of the environment, such as the location of obstacles, the detection of road signs/markers, the detection of pedestrians/vehicles, etc. In some embodiments, the environmental sensing may be performed by fusing data of various sensors such as a camera, a laser radar, and a millimeter wave radar.

Localization (Localization) is part of the perception, and is the ability to determine the position of an intelligent driving vehicle relative to the environment. The positioning can be as follows: GPS positioning, wherein the positioning accuracy of the GPS is in the order of tens of meters to centimeters, and the positioning accuracy is high; the positioning method combining the GPS and the Inertial Navigation System (Inertial Navigation System) can also be used for positioning. The positioning may also be performed by using a SLAM (Simultaneous Localization And Mapping), where the target of the SLAM is to construct a map And to perform positioning using the map, And the SLAM determines the position of the current vehicle And the position of the current observed feature by using the environmental features that have been observed.

The V2X is a key technology of the intelligent transportation system, so that the vehicles, the vehicles and the base stations can communicate with each other, a series of traffic information such as real-time road conditions, road information and pedestrian information can be obtained, the intelligent driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and vehicle-mounted entertainment information is provided.

The high accuracy map is the geographical map that uses in the intelligent driving field, compares with traditional map, and the difference lies in: 1) high-precision maps comprise a large amount of driving assistance information, for example by means of an accurate three-dimensional representation of the road network: including intersection places, landmark positions, and the like; 2) high-precision maps also include a large amount of semantic information, such as reporting the meaning of different colors on traffic lights, in turn, for example, indicating the speed limit of roads, and the location where left-turn lanes begin; 3) the high-precision map can reach centimeter-level precision, and the safe driving of the intelligent driving vehicle is ensured.

The planning module 202 is configured to perform path planning and decision making based on the perceptual positioning information generated by the perceptual module 201.

In some embodiments, the planning module 202 is configured to perform path planning and decision-making based on the perceptual positioning information generated by the perception module 201, in combination with at least one of V2X data, high-precision maps, and the like.

In some embodiments, the planning module 202 is used to plan a path, deciding: the planning decision information is generated based on the behavior (e.g., including but not limited to following, passing, parking, detouring, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle, etc.

The control module 203 is configured to perform path tracking and trajectory tracking based on the planning decision information generated by the planning module 202.

In some embodiments, the control module 203 is configured to generate control commands for the vehicle floor-based execution system and issue the control commands, so that the vehicle floor-based execution system controls the vehicle to travel according to a desired path, for example, controls the steering wheel, the brake, and the throttle to control the vehicle laterally and longitudinally.

In some embodiments, the control module 203 is further configured to calculate a front wheel steering angle based on a path tracking algorithm.

In some embodiments, the expected path curve in the path tracking process is independent of time parameters, and during tracking control, the intelligent driving vehicle can be assumed to advance at a constant speed at the current speed, so that the driving path approaches to the expected path according to a certain cost rule; during track tracking, the expected path curve is related to both time and space, and the intelligent driving vehicle is required to reach a certain preset reference path point within a specified time.

Path tracking differs from trajectory tracking in that it is not subject to time constraints and only requires the desired path to be tracked within a certain error range.

The traffic congestion assistant driving system 204 has a traffic congestion assistant driving function, and the traffic congestion assistant driving function defines different states, which include but are not limited to: ready state, ready to enter state, and on state. The traffic jam assistant driving system 204 reasonably switches different states to realize traffic jam assistant driving and improve driving experience. In some embodiments, the traffic congestion assistance driving system 204 obtains environmental information and vehicle status information around the vehicle based on the vehicle being in a ready state; judging whether the starting condition of the traffic jam auxiliary driving function is met or not based on the environmental information and the vehicle state information; therefore, jumping is in a ready-to-enter state based on the condition that the starting condition of the traffic jam assistant driving function is met; and the function of traffic jam auxiliary driving can be started.

In some embodiments, the functions of the traffic congestion assistant driving system 204 may be integrated into the perception module 201, the planning module 202 or the control module 203, or may be configured as a module independent from the intelligent driving system 200, and the traffic congestion assistant driving system 204 may be a software module, a hardware module or a module combining software and hardware. For example, the traffic congestion auxiliary driving system 204 is a software module running on an operating system, and the on-board hardware system is a hardware system supporting the operating system to run.

Fig. 3 is a block diagram of a traffic congestion assistant driving system 300 according to an embodiment of the disclosure. In some embodiments, the traffic congestion assisted driving system 300 may be implemented as the traffic congestion assisted driving system 204 or as part of the traffic congestion assisted driving system 204 of fig. 2.

As shown in fig. 3, the traffic congestion assisted driving system 300 may include, but is not limited to, the following elements: an acquisition unit 301, a judgment unit 302, a jump unit 303 and a prompt unit 304. In this embodiment, the traffic congestion driving assistance function defines different states, which include but are not limited to: ready state, ready to enter state, and on state. The traffic jam assistant driving system 300 is used for realizing a traffic jam assistant driving function.

An acquisition unit 301 for acquiring environmental information around the vehicle and vehicle state information based on the vehicle being in a ready state. The vehicle is in the ready state, which can be understood as the traffic congestion driving assistance system 300 entering the ready state. The traffic congestion driving assistance system 300 acquires environmental information around the vehicle and vehicle state information in a ready state.

In some embodiments, the environmental information surrounding the vehicle includes, but is not limited to, lane lines and target vehicles ahead of the self-lane. Vehicle status information includes, but is not limited to: vehicle speed, gear, braking state, steering state, and Human-Machine interaction (HM) system state.

In some embodiments, the traffic congestion driving assistance function may define the state further comprising: an off state. The traffic jam assistant driving system 300 enters the ready state after detecting that the vehicle assistant driving switch is turned on, otherwise, the traffic jam assistant driving system 300 enters the off state after detecting that the vehicle assistant driving switch is turned off. The traffic jam assistant driving system 300 detects the state of the vehicle assistant driving switch in any state, and enters a ready state after detecting the turning-on of the vehicle assistant driving switch in a turning-off state; and in the non-closed state, after the vehicle auxiliary driving switch is detected to be closed, the vehicle auxiliary driving switch enters the closed state. In some embodiments, the jumping unit 303 detects a state of a vehicle driving assistance switch. After the skipping unit 303 detects that the vehicle auxiliary driving switch is turned off, skipping is turned off; and after the vehicle auxiliary driving switch is detected to be turned on, the vehicle auxiliary driving switch is turned to a ready state from a turned-off state.

A determining unit 302, configured to determine whether a traffic jam assistant driving function starting condition is satisfied based on the environment information and the vehicle state information. In this embodiment, the determining unit 302 determines whether the opening condition of the traffic congestion assistant driving function is satisfied in the ready state, that is, the traffic congestion assistant driving system 300 not only obtains the environmental information and the vehicle state information around the vehicle, but also determines the opening condition of the traffic congestion assistant driving function in the ready state.

In some embodiments, the traffic congestion assist driving function enabling conditions include, but are not limited to: the vehicle state information includes: the vehicle speed is lower than the preset vehicle speed, the preset gear is met, the braking is available, the steering is available, and the human-computer interaction system is started. The preset vehicle speed and the preset gear can be set based on actual needs, and specific values are not limited in the embodiment.

In some embodiments, the traffic congestion assist driving function enabling conditions include, but are not limited to: the environment information includes: the lane line at least on one side or the target vehicle in front of the self lane exists, wherein the relative distance between the lane line at least on one side and the self vehicle is in a preset first distance interval, and the relative angle is in a preset angle interval; the relative transverse distance between the target vehicle and the self vehicle is in a preset second distance interval. The preset first distance interval, the preset angle interval and the preset second distance interval can be set based on actual needs, and specific values are not limited in the embodiment.

And the skipping unit 303 is configured to skip to a ready-to-enter state based on the condition that the traffic congestion assistant driving function starting condition is met. In this embodiment, the skipping unit 303 skips from the ready state to the ready-to-enter state after the determining unit 302 determines that the traffic congestion assistant driving function starting condition is satisfied. In some embodiments, in the ready-to-enter state, the skipping unit 303 skips from the ready-to-enter state to the ready state after the determination unit 302 determines that the traffic congestion assist driving function starting condition is not satisfied.

And the prompting unit 304 is used for prompting that the traffic jam assistant driving function can be started. In this embodiment, after the skipping unit 303 skips to the ready-to-enter state, the prompting unit 304 prompts that the traffic congestion assistant driving function is enabled, that is, the traffic congestion assistant driving system 300 realizes the prompt that the traffic congestion assistant driving function is enabled in the ready-to-enter state. In some embodiments, the manner of prompting may be voice prompting; or a text prompt, for example, a Human-Machine Interface (HMI) is used for prompting that the traffic jam assistant driving function can be started.

In some embodiments, after receiving the prompt, the driver may determine whether to start the traffic congestion driving assistance function, where the receiving may be by receiving a voice prompt audibly or by viewing a text prompt visually. After the driver decides to turn on, the traffic jam assistant driving function can be turned on by changing the state of the traffic jam assistant driving function switch to be turned on.

In some embodiments, the traffic congestion driving assist function switch may be a soft switch, such as a touchable switch displayed in the HMI; it may also be a hard switch, such as a button configured in the driver's seat or within reach of the driver, which may be pressed or toggled.

In some embodiments, the traffic congestion assistant driving system 300 not only prompts that the traffic congestion assistant driving function is enabled, but also detects the state of the traffic congestion assistant driving function switch in real time in the ready-to-enter state. The traffic jam assistant driving system 300 enters an on state after detecting that the traffic jam assistant driving function switch is turned on. In some embodiments, the jumping unit 303 detects a state of a traffic congestion driving assist function switch in real time. After the skipping unit 303 detects that the traffic jam assistant driving function switch is turned on, skipping is turned to an on state. In some embodiments, the traffic congestion assist driving system 300 performs traffic congestion assist driving in an on state. In some embodiments, in the on state, the skipping unit 303 skips from the on state to the ready state after the determination unit 302 determines that the traffic congestion driving assistance function on condition is not satisfied.

In some embodiments, the on state includes: an active substate and a suspended substate. In some embodiments, the traffic congestion driving assistance system 300 enters the activated state of the activated state after detecting that the traffic congestion driving assistance function switch is activated in the ready-to-enter state. In some embodiments, the skipping unit 303 detects the state of the traffic jam assistant driving function switch in real time in the ready-to-enter state, and skips to the activated sub-state based on the turning-on of the traffic jam assistant driving function switch.

In some embodiments, the traffic congestion driving assistance system 300 takes over the lateral control and the longitudinal control of the vehicle in the activated sub-state, so as to realize the complete control of the vehicle. In some embodiments, the algorithm for the lateral control and the longitudinal control of the vehicle may follow the existing algorithm for the lateral control and the longitudinal control in the traffic congestion assistant driving function, and will not be described in detail herein.

In some embodiments, the traffic congestion assist driving system 300 displays the environmental information and the vehicle status information in the activated sub-state. In some embodiments, the environmental information and the vehicle state information can be displayed through the HMI, so that a driver can know the environmental information and the vehicle state information under the traffic jam condition in time.

In some embodiments, the traffic congestion assist driving system 300 monitors whether there is a manual control, such as a driver operating a steering wheel, in the activated sub-state. In some embodiments, the traffic congestion assisted driving system 300 monitors for manual control and enters a suspend substate. In some embodiments, the jumping unit 303 monitors whether there is manual control in the active sub-state, and jumps to the screwdriver state based on the presence of manual control. The starting state is divided into the activating sub-state and the suspending sub-state, so that the operation of a driver and the auxiliary driving of the vehicle are effectively balanced, and the safe driving of the vehicle under the traffic jam working condition is further met.

In some embodiments, the traffic congestion assistance driving system 300 exits the lateral control of the vehicle and maintains the longitudinal control of the vehicle in the suspend substate, enabling partial control of the vehicle, only the longitudinal control, the lateral control being taken care of by the driver. Due to the design of the suspended sub-state, after the driver intervenes, the traffic jam auxiliary driving function is not directly closed but is in the suspended state, and the function closing times are reduced.

In some embodiments, the traffic congestion assist driving system 300 displays the manual control state in the suspend substate. In some embodiments, the manual control state can be displayed through the HMI, so that a driver can know the manual control state under the traffic jam working condition in time.

In some embodiments, the traffic congestion driving assistance system 300 monitors the manual control state, the environmental information around the vehicle, and the vehicle state information in real time in the suspended sub-state. And then the traffic jam assistant driving system 300 automatically activates the traffic jam assistant driving function based on the condition that the manual control state is interrupted and the environmental information and the vehicle state information satisfy the starting condition of the traffic jam assistant driving function. In some embodiments, the manual control state interrupt may be understood as: the steering system does not detect that the torque is applied by the driver, or the deviation value of the current state and the return state of the steering system is within a preset deviation interval. The deviation area can be set according to actual needs, and specific values are not limited in this embodiment.

In some embodiments, the process of automatically activating the traffic congestion assistant driving function in the suspended sub-state of the traffic congestion assistant driving system 300 is specifically as follows: displaying the automatic activation progress of the traffic jam assistant driving function and prompting whether to quit the automatic activation; and when the automatic activation progress is completed, jumping to an activation sub-state. In some embodiments, the traffic congestion assistance driving function automatic activation schedule may be displayed via the HMI. In this embodiment, through showing the automatic activation progress of function, the driver of being convenient for knows that traffic jam assists the driving function and is recovering, promotes driver's experience. In some embodiments, when the HMI is used for displaying the automatic activation progress of the traffic jam assistant driving function, the default automatic activation of the traffic jam assistant driving function is further prompted after the automatic activation progress is finished, whether the automatic activation exits or not is prompted, a driver can actively select to exit the automatic activation, and the driver experience is improved. In some embodiments, the jumping unit 303 jumps from the suspended substate to the active substate upon completion of the auto-active progress.

In some embodiments, the traffic congestion driving assistance function may also include a fault condition. The traffic congestion driving assistance system 300 detects whether a vehicle is in a fault state in a ready state, a ready-to-enter state, or an on state, and then enters a fault state after detecting that the vehicle is in a fault state. In some embodiments, the jumping unit 303 detects whether the vehicle is out of order in a ready state, a ready-to-enter state, or an on state, and further jumps from the corresponding state to the failure state after detecting the failure of the vehicle. In some embodiments, vehicle faults include, but are not limited to: at least one of a perception module, a planning module, a control module, a man-machine interaction system, a vehicle bottom layer execution system (comprising a transverse actuator and a longitudinal actuator) and the like of the intelligent driving system has faults.

In some embodiments, the traffic congestion assistance driving system 300 prompts the driver to take over the vehicle and display the fault information, for example, through the HMI, in the fault state, so that the driver can know the fault location in time and perform fault handling accordingly.

Fig. 6 shows a state transition diagram of a traffic congestion assist driving function, the state of which includes: an off state, a ready-to-enter state, an on state, and a fault state, wherein the on state includes an active sub-state and a suspended sub-state. Transitions between states are described as follows:

and after the vehicle auxiliary driving switch is turned off, the current state is changed into the off state. Wherein the current state may be any one of a ready state, a ready-to-enter state, an on state, and a fault state.

And after the vehicle auxiliary driving switch is turned on, the vehicle auxiliary driving switch jumps to a ready state from an off state.

Vehicle assisted driving functions include, but are not limited to: a traffic congestion Assist driving function, an Adaptive Cruise Control (ACC) function, a Highway Assist (HWA) function, and a Lane Keeping Assist (LKS) function. And in a ready state, monitoring environmental information and vehicle state information around the vehicle in real time, and entering a corresponding function if the environmental information and the vehicle state information meet the entering conditions of the ACC function, the HWA function or the LKS function, wherein the entering conditions of the ACC function, the HWA function and the LKS function can continue to use the prior art and are not repeated.

And in the ready state, monitoring environmental information and vehicle state information around the vehicle in real time, judging whether the environmental information and the vehicle state information meet the starting condition of the traffic jam assistant driving function, and if so, jumping from the ready state to a ready-to-enter state.

And in the ready-to-enter state, if the environment information and the vehicle state information do not meet the starting condition of the traffic jam assistant driving function, jumping from the ready-to-enter state to a ready state. And prompting that the traffic jam assistant driving function can be started when the vehicle is ready to enter, determining whether to start by a driver, and realizing function starting or stopping by operating the traffic jam assistant driving function switch by the driver. And in the ready-to-enter state, after the traffic jam auxiliary driving function switch is turned on, jumping from the ready-to-enter state to an activated sub-state in the turned-on state.

And in the starting state, if the environment information and the vehicle state information do not meet the starting condition of the traffic jam assistant driving function, the starting state is converted into the ready state.

In the activated sub-state, lateral control and longitudinal control of the vehicle are taken over, and environmental information and vehicle state information are displayed. And in the activated sub-state, monitoring whether manual control exists or not, monitoring whether manual control exists, and entering a suspended sub-state.

In the suspend substate, the lateral control of the vehicle is exited and the longitudinal control of the vehicle is maintained, and the manual control state is displayed. And under the suspended sub-state, monitoring the manual control state, the environmental information around the vehicle and the vehicle state information in real time, further automatically activating the traffic jam assistant driving function based on the interruption of the manual control state and the condition that the environmental information and the vehicle state information meet the starting condition of the traffic jam assistant driving function, displaying the automatic activation progress of the traffic jam assistant driving function, and prompting whether to quit the automatic activation. In the suspend substate, when the auto-active progress is completed, a jump is made to the active substate.

And detecting whether the vehicle has a fault or not in a ready state, a ready-to-enter state or an open state, and then entering a fault state after detecting that the vehicle has a fault. And under the fault state, prompting a driver to take over the vehicle and displaying fault information.

In some embodiments, the division of each unit in the traffic congestion assistant driving system 300 is only one logical function division, and there may be another division manner when the actual implementation is performed, for example, the obtaining unit 301, the judging unit 302, the jumping unit 303, and the prompting unit 304 may be implemented as one unit; the acquiring unit 301, the determining unit 302, the jumping unit 303, or the prompting unit 304 may also be divided into a plurality of sub-units. It will be understood that the various units or sub-units may be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application.

Fig. 4 is a schematic structural diagram of an in-vehicle device provided in an embodiment of the present disclosure. The vehicle-mounted equipment can support the operation of the intelligent driving system.

As shown in fig. 4, the vehicle-mounted apparatus includes: at least one processor 401, at least one memory 402, and at least one communication interface 403. The various components in the in-vehicle device are coupled together by a bus system 404. A communication interface 403 for information transmission with an external device. Understandably, the bus system 404 is operative to enable connective communication between these components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 404 in fig. 4.

It will be appreciated that the memory 402 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.

In some embodiments, memory 402 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.

The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs, including various application programs such as a Media Player (Media Player), a Browser (Browser), etc., are used to implement various application services. The program for implementing the traffic congestion driving assistance method provided by the embodiment of the disclosure may be included in an application program.

In the embodiment of the present disclosure, the processor 401 is configured to execute the steps of the embodiments of the traffic congestion aided driving method provided by the embodiment of the present disclosure by calling a program or an instruction stored in the memory 402, specifically, a program or an instruction stored in an application program.

The traffic congestion driving assistance method provided by the embodiment of the disclosure may be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the traffic congestion driving assistance method provided by the embodiment of the disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 402, and the processor 401 reads information in the memory 402 and performs the steps of the method in combination with its hardware.

Fig. 5 is a flowchart of a traffic congestion driving assistance method according to an embodiment of the disclosure. The execution subject of the method is the vehicle-mounted equipment, and in some embodiments, the execution subject of the method is an intelligent driving system supported by the vehicle-mounted equipment. In this embodiment, the traffic congestion driving assistance function defines different states, which include but are not limited to: ready state, ready to enter state, and on state.

As shown in fig. 5, the traffic congestion auxiliary driving method may include the following steps 501 to 504:

501. based on the vehicle being in the ready state, environmental information and vehicle state information around the vehicle are acquired. The vehicle is in the ready state, which can be understood as that the traffic jam assistant driving function enters the ready state. The traffic jam auxiliary driving function realizes the acquisition of the environmental information and the vehicle state information around the vehicle in a ready state.

In some embodiments, the traffic congestion driving assistance function may define the state further comprising: an off state. And after the vehicle auxiliary driving switch is detected to be turned on, the vehicle enters a ready state, otherwise, after the vehicle auxiliary driving switch is detected to be turned off, the vehicle enters a turned-off state. In any state, the state of the vehicle auxiliary driving switch is detected, and in the off state, the vehicle auxiliary driving switch enters a ready state after being turned on; and in the non-closed state, after the vehicle auxiliary driving switch is detected to be closed, the vehicle auxiliary driving switch enters the closed state. In some embodiments, after the vehicle auxiliary driving switch is detected to be turned off, the vehicle auxiliary driving switch jumps to be in an off state; and after the vehicle auxiliary driving switch is detected to be turned on, the vehicle auxiliary driving switch is turned to a ready state from a turned-off state.

502. And judging whether the starting condition of the traffic jam auxiliary driving function is met or not based on the environmental information and the vehicle state information. In this embodiment, whether the opening condition of the traffic congestion assistant driving function is satisfied is determined in the ready state, that is, in the ready state, not only is the acquisition of the environmental information and the vehicle state information around the vehicle achieved, but also the determination of the opening condition of the traffic congestion assistant driving function is achieved.

503. And jumping to a ready-to-enter state based on the condition that the starting condition of the traffic jam assistant driving function is met. In this embodiment, after the condition that the traffic jam assistant driving function starting condition is satisfied is judged, the ready state is changed into the ready-to-enter state. In some embodiments, in the ready-to-enter state, after determining that the traffic congestion auxiliary driving function starting condition is not satisfied, the ready-to-enter state is skipped to.

504. The function of prompting traffic jam auxiliary driving can be started. In this embodiment, after the jump is in the ready-to-enter state, it is prompted that the traffic congestion assistant driving function can be started, that is, in the ready-to-enter state, the prompt that the traffic congestion assistant driving function can be started is realized. In some embodiments, the manner of prompting may be voice prompting; or a text prompt, for example, a Human-Machine Interface (HMI) is used for prompting that the traffic jam assistant driving function can be started.

In some embodiments, in the ready-to-enter state, not only is the traffic congestion assistant driving function prompted to be enabled, but also the state of the traffic congestion assistant driving function switch is detected in real time. And after the traffic jam assistant driving function switch is detected to be turned on, the vehicle enters an on state. In some embodiments, the state of the traffic jam assistant driving function switch is detected in real time, and after the traffic jam assistant driving function switch is turned on, the state is changed to the on state. In some embodiments, in the on state, traffic congestion assistance driving is performed. In some embodiments, in the on state, after determining that the traffic jam assistant driving function on condition is not satisfied, the vehicle jumps from the on state to the ready state.

In some embodiments, the on state includes: an active substate and a suspended substate. In some embodiments, in the ready-to-enter state, after the traffic jam assistant driving function switch is detected to be turned on, an activation sub-state of the on state is entered. In some embodiments, in the ready-to-enter state, the state of the traffic jam assistant driving function switch is detected in real time, and the jump is made to the activated sub-state based on the turning-on of the traffic jam assistant driving function switch.

In some embodiments, in the activated sub-state, lateral control and longitudinal control of the vehicle are taken over, enabling full control of the vehicle. In some embodiments, the algorithm for the lateral control and the longitudinal control of the vehicle may follow the existing algorithm for the lateral control and the longitudinal control in the traffic congestion assistant driving function, and will not be described in detail herein.

In some embodiments, in the activated sub-state, environmental information and vehicle state information are displayed. In some embodiments, the environmental information and the vehicle state information can be displayed through the HMI, so that a driver can know the environmental information and the vehicle state information under the traffic jam condition in time.

In some embodiments, in the activated sub-state, it is monitored whether there is a manual control, for example the driver operating the steering wheel. In some embodiments, the monitoring is manually controlled, entering a suspend substate. In some embodiments, in the active substate, it is monitored whether there is manual control, and based on the presence of manual control, a jump is made to the hang-screw state. The starting state is divided into the activating sub-state and the suspending sub-state, so that the operation of a driver and the auxiliary driving of the vehicle are effectively balanced, and the safe driving of the vehicle under the traffic jam working condition is further met.

In some embodiments, in the suspend substate, the lateral control of the vehicle is exited and the longitudinal control of the vehicle is maintained, enabling partial control of the vehicle, only the longitudinal, lateral control being taken care of by the driver. Due to the design of the suspended sub-state, after the driver intervenes, the traffic jam auxiliary driving function is not directly closed but is in the suspended state, and the function closing times are reduced.

In some embodiments, in the suspend substate, the manual control state is displayed. In some embodiments, the manual control state can be displayed through the HMI, so that a driver can know the manual control state under the traffic jam working condition in time.

In some embodiments, in the suspend substate, the manual control state, the environmental information around the vehicle, and the vehicle state information are monitored in real time. And then the traffic jam assistant driving function is automatically activated based on the condition that the manual control state is interrupted and the environmental information and the vehicle state information meet the starting condition of the traffic jam assistant driving function. In some embodiments, the manual control state interrupt may be understood as: the steering system does not detect that the torque is applied by the driver, or the deviation value of the current state and the return state of the steering system is within a preset deviation interval. The deviation area can be set according to actual needs, and specific values are not limited in this embodiment.

In some embodiments, in the suspend sub-state, the process of automatically activating the traffic congestion driving assistance function specifically includes: displaying the automatic activation progress of the traffic jam assistant driving function and prompting whether to quit the automatic activation; and when the automatic activation progress is completed, jumping to an activation sub-state. In some embodiments, the traffic congestion assistance driving function automatic activation schedule may be displayed via the HMI. In this embodiment, through showing the automatic activation progress of function, the driver of being convenient for knows that traffic jam assists the driving function and is recovering, promotes driver's experience. In some embodiments, when the HMI is used for displaying the automatic activation progress of the traffic jam assistant driving function, the default automatic activation of the traffic jam assistant driving function is further prompted after the automatic activation progress is finished, whether the automatic activation exits or not is prompted, a driver can actively select to exit the automatic activation, and the driver experience is improved. In some embodiments, the transition from the suspended substate to the active substate occurs upon completion of the auto-active schedule.

In some embodiments, the traffic congestion driving assistance function may also include a fault condition. And detecting whether the vehicle has a fault or not in a ready state, a ready-to-enter state or an open state, and then entering a fault state after detecting that the vehicle has a fault. In some embodiments, whether the vehicle is in fault is detected in the ready state, ready-to-enter state or on state, and then after the vehicle fault is detected, the corresponding state is jumped to the fault state. In some embodiments, vehicle faults include, but are not limited to: at least one of a perception module, a planning module, a control module, a man-machine interaction system, a vehicle bottom layer execution system (comprising a transverse actuator and a longitudinal actuator) and the like of the intelligent driving system has faults.

In some embodiments, in the fault state, the driver is prompted to take over the vehicle and fault information is displayed, for example via the HMI, so that the driver knows the location of the fault in time and takes care of the fault accordingly.

It is noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the disclosed embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the disclosed embodiments. In addition, those skilled in the art can appreciate that the embodiments described in the specification all belong to alternative embodiments.

The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores a program or an instruction, where the program or the instruction causes a computer to execute steps of various embodiments of a method for assisting driving in traffic congestion, and details are not repeated herein in order to avoid repeated descriptions.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.

Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.

Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the disclosure, and such modifications and variations fall within the scope defined by the appended claims.

Industrial applicability

In the embodiment of the disclosure, traffic jam assisted driving is carried out more reasonably by defining different states of traffic jam assisted driving functions, in a ready state, whether the vehicle jumps to a ready entry state is judged by monitoring environmental information and vehicle state information, a prompt function can be started in the ready entry state, and whether the function is started is manually determined, so that driving experience is improved.

Claims

A traffic jam assisted driving method is characterized in that a traffic jam assisted driving function comprises a ready state, a ready-to-enter state and an on state, and the method comprises the following steps:

acquiring environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state;

judging whether a traffic jam auxiliary driving function starting condition is met or not based on the environment information and the vehicle state information;

jumping to the ready-to-enter state based on the condition that the traffic jam assistant driving function starting condition is met;

the function of prompting traffic jam auxiliary driving can be started.
The method of claim 1, wherein the traffic congestion driving assistance function further comprises an off state; the method further comprises the following steps:

after the auxiliary driving switch of the vehicle is detected to be turned off, jumping to the off state;

and after the vehicle auxiliary driving switch is detected to be turned on, the vehicle auxiliary driving switch is turned to the ready state from the off state.
The method according to claim 1, wherein the traffic congestion driving assistance function enabling condition comprises:

the vehicle state information includes: the speed is lower than the preset speed, the preset gear is met, the braking is available, the steering is available, and the man-machine interaction system is started;

the environment information includes: the lane line at least on one side or a target vehicle in front of the self lane exists, wherein the relative distance between the lane line at least on one side and the self vehicle is within a preset first distance interval, and the relative angle is within a preset angle interval; and the relative transverse distance between the target vehicle and the self vehicle is within a preset second distance interval.
The method of claim 1, further comprising:

detecting the state of a traffic jam assistant driving function switch in real time in the ready-to-enter state;

and jumping to the starting state based on the turning-on of the traffic jam assistant driving function switch.
The method of claim 1, wherein the on state comprises: an active substate and a suspended substate; the method further comprises the following steps:

detecting the state of a traffic jam assistant driving function switch in real time in the ready-to-enter state;

jumping to the activated sub-state based on the turn-on of the traffic jam auxiliary driving function switch;

monitoring whether manual control exists;

and jumping to the suspended sub-state based on manual control.
The method of claim 5,

in the activated sub-state, taking over lateral control and longitudinal control of the vehicle;

in the suspend substate, lateral control of the vehicle is exited and longitudinal control of the vehicle is maintained.
The method of claim 5,

displaying environmental information and vehicle state information in the activated sub-state;

and displaying a manual control state in the suspended sub-state.
The method of claim 5, further comprising:

monitoring a manual control state, environmental information around the vehicle and vehicle state information in real time in the suspended sub-state;

and automatically activating the traffic jam assistant driving function based on the condition that the manual control state is interrupted and the environmental information and the vehicle state information meet the starting condition of the traffic jam assistant driving function.
The method of claim 8, wherein the automatically activating a traffic congestion assist driving function comprises:

displaying the automatic activation progress of the traffic jam assistant driving function and prompting whether to quit the automatic activation;

and when the automatic activation progress is completed, jumping to the activation sub-state.
The method of claim 1, wherein the traffic congestion driving assistance function further comprises a fault condition; the method further comprises the following steps:

and jumping to the fault state after detecting the vehicle fault in the ready state, the ready-to-enter state or the starting state.
The method of claim 10, further comprising: and prompting a driver to take over the vehicle and displaying fault information in the fault state.
The method of claim 1, further comprising: and in the ready-to-enter state or the starting state, after judging that the starting condition of the traffic jam auxiliary driving function is not met based on the environmental information and the vehicle state information, jumping to the ready state.
A traffic congestion driving assist system, wherein the traffic congestion driving assist function includes a ready state, a ready-to-enter state, and an on state, the system comprising:

an acquisition unit configured to acquire environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state;

the judging unit is used for judging whether the starting condition of the traffic jam auxiliary driving function is met or not based on the environment information and the vehicle state information;

the skipping unit is used for skipping to the ready-to-enter state based on the condition that the traffic jam assistant driving function starting condition is met;

and the prompting unit is used for prompting that the traffic jam assistant driving function can be started.
An in-vehicle apparatus, characterized by comprising: a processor and a memory;

the processor is adapted to perform the steps of the method of any one of claims 1 to 12 by calling a program or instructions stored in the memory.
A non-transitory computer-readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 12.