CN113299099A - Driving assisting method and device - Google Patents
Driving assisting method and device Download PDFInfo
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- CN113299099A CN113299099A CN202110559433.0A CN202110559433A CN113299099A CN 113299099 A CN113299099 A CN 113299099A CN 202110559433 A CN202110559433 A CN 202110559433A CN 113299099 A CN113299099 A CN 113299099A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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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
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The embodiment of the invention provides a driving assisting method and a driving assisting device, which are applied to a vehicle, wherein the vehicle is communicated with a server, and the method comprises the following steps: acquiring current driving road condition information of the vehicle from the server, wherein the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position; starting a preset driving auxiliary function of the vehicle according to the current driving road condition information of the vehicle; under the condition that the preset driving auxiliary function is started, identifying the current driving intention of the user; and performing corresponding running control on the vehicle according to the current running intention of the user. Through drawing the real-time driving scene of the whole road in the place ahead based on GPS positioning, and based on the driveability of road condition information automatically regulated vehicle, its automatically regulated driving assistance function can help the driver to control the vehicle better and go, and under the traffic congestion scene, can reduce some because the driver drives the accident that causes improperly, improves driving safety.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a driving assistance method and a driving assistance device.
Background
Along with the improvement of the living standard of residents, the automobile keeping quantity is more and more, and the problem of road congestion is deepened rapidly due to the increase of the automobile keeping quantity. On a road where vehicles pass, the road is often jammed due to various traffic accidents, multiple vehicles passing and other reasons, and the phenomenon of serious traffic jam is caused. When a driver encounters a long-distance traffic jam, the driver cannot change the lane in time due to the fact that the road condition in front of the vehicle is unknown, and the driver may encounter the driving behavior that the driver behind the driven vehicle cannot avoid the vehicle needing to change the lane in the driving process, so that the driver is more difficult to drive in the jam state, and vehicle accidents can be caused by improper driving of the driver.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a driving assistance method and a corresponding driving assistance device that overcome or at least partially solve the above-mentioned problems.
The embodiment of the invention discloses a driving assisting method, which is applied to a vehicle, wherein the vehicle is communicated with a server, and the method comprises the following steps:
acquiring current driving road condition information of the vehicle from the server, wherein the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position;
starting a preset driving auxiliary function of the vehicle according to the current driving road condition information of the vehicle;
under the condition that the preset driving auxiliary function is started, identifying the current driving intention of the user;
and performing corresponding running control on the vehicle according to the current running intention of the user.
Optionally, the method further comprises:
acquiring the current vehicle position of the vehicle, and acquiring vehicle information of the vehicle in a preset range based on the current vehicle position; the vehicle information comprises coordinate positioning information of the vehicle in the preset range;
uploading coordinate positioning information of the vehicle in a preset range based on the current vehicle position to the server; and the uploaded coordinate positioning information is used for the server to generate the current driving road condition information of the vehicle.
Optionally, the starting of the preset driving assistance function of the vehicle according to the current driving road condition information of the vehicle includes:
when the current driving road condition information of the vehicle meets a preset road condition, receiving prompt information which is sent by the server and aims at starting a driving auxiliary function;
and if the confirmation operation aiming at the prompt information is detected, starting a preset driving auxiliary function of the vehicle according to the confirmation operation.
Optionally, the performing corresponding driving control on the vehicle according to the current driving intention of the user includes:
under the condition that the preset driving auxiliary function is started, entering a preset driving auxiliary mode corresponding to the preset driving auxiliary function;
controlling the vehicle to execute a pre-established control logic according to the current driving intention of the user so as to control the vehicle to run; the pre-established control logic comprises control logic associated with the preset driving assistance mode.
Optionally, the controlling the vehicle to execute a pre-established control logic according to the current driving intention of the user includes:
detecting the current driving state of the vehicle, and identifying the current driving intention of a user according to the current driving state of the vehicle;
and adjusting the torque parameter and/or the coasting energy recovery intensity of the vehicle according to the current driving intention of the user.
Optionally, the current driving intention of the user comprises one of a normal driving intention, an acceleration intention and a lane change intention; the torque parameters include torque and torque change slope;
the adjusting the torque parameter and/or the intensity of the coasting energy recovery of the vehicle according to the current driving intention of the user comprises:
if the current driving intention of the user is identified as a normal driving intention, keeping the torque parameter of the vehicle and the coasting energy recovery intensity;
or if the current driving intention of the user is identified as an acceleration intention, reducing the torque and the torque change slope, and increasing the coasting energy recovery strength;
or if the current driving intention of the user is identified as lane change intention, the torque and the torque change slope are improved.
Optionally, the vehicle includes a vehicle-mounted terminal, and the current driving road condition information of the vehicle includes image information synthesized by coordinate positioning information of the vehicle within a preset range;
the obtaining of the current driving road condition information of the vehicle from the server includes:
downloading image information aiming at the current driving road condition information of the vehicle from the server through the vehicle-mounted terminal;
the method further comprises the following steps:
responding to the interactive operation acting on the image information, and displaying the image information based on the interactive operation; the interactive operation is used for indicating the display intention of the user on the image information.
The embodiment of the invention also discloses a driving auxiliary device, which is applied to a vehicle, wherein the vehicle is communicated with the server, and the device comprises:
the driving road condition information acquisition module is used for acquiring current driving road condition information of the vehicle from the server, and the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position;
the driving auxiliary function starting module is used for starting a preset driving auxiliary function of the vehicle according to the current driving road condition information of the vehicle;
the driving intention identification module is used for identifying the current driving intention of the user under the condition that the preset driving auxiliary function is started;
and the vehicle running control module is used for carrying out corresponding running control on the vehicle according to the current running intention of the user.
Optionally, the apparatus further comprises:
the vehicle information acquisition module is used for acquiring the current vehicle position of the vehicle and acquiring the vehicle information of the vehicle in a preset range based on the current vehicle position; the vehicle information comprises coordinate positioning information of the vehicle in the preset range;
the coordinate positioning information uploading module is used for uploading coordinate positioning information of the vehicle in the preset range based on the current vehicle position to the server; and the uploaded coordinate positioning information is used for the server to generate the current driving road condition information of the vehicle.
Optionally, the driving assistance function starting module includes:
the prompt information receiving submodule is used for receiving prompt information which is sent by the server and aims at starting the driving auxiliary function when the current driving road condition information of the vehicle meets the preset road condition;
and the driving auxiliary function starting submodule is used for starting a preset driving auxiliary function of the vehicle according to the confirmation operation if the confirmation operation aiming at the prompt information is detected.
Optionally, the vehicle travel control module includes:
a driving assistance mode entering submodule for entering a preset driving assistance mode corresponding to the preset driving assistance function when the preset driving assistance function is started;
the vehicle running control submodule is used for controlling the vehicle to execute a pre-established control logic according to the current running intention of the user so as to control the vehicle to run; the pre-established control logic comprises control logic associated with the preset driving assistance mode.
Optionally, the vehicle travel control sub-module includes:
the driving intention identification unit is used for detecting the current driving state of the vehicle and identifying the current driving intention of the user according to the current driving state of the vehicle;
and the vehicle running control unit is used for adjusting the torque parameter and/or the coasting energy recovery intensity of the vehicle according to the current running intention of the user.
Optionally, the current driving intention of the user comprises one of a normal driving intention, an acceleration intention and a lane change intention; the torque parameters include torque and torque change slope;
the vehicle travel control unit includes:
the first vehicle running control subunit is used for keeping the torque parameter and the sliding energy recovery intensity of the vehicle if the current running intention of the user is identified as a normal running intention;
the second vehicle running control subunit is used for reducing the torque and the torque change slope and increasing the coasting energy recovery intensity if the current running intention of the user is identified as an acceleration intention;
and the third vehicle running control subunit is used for increasing the torque and the torque change slope if the current running intention of the user is identified as the lane change intention.
Optionally, the vehicle includes a vehicle-mounted terminal, and the current driving road condition information of the vehicle includes image information synthesized by coordinate positioning information of the vehicle within a preset range; the driving road condition information acquisition module comprises:
the image information acquisition submodule is used for downloading image information aiming at the current driving road condition information of the vehicle from the server through the vehicle-mounted terminal;
the driving road condition information acquisition module further comprises:
the image information display sub-module is used for responding to the interactive operation of the image information and displaying the image information based on the interactive operation; the interactive operation is used for indicating the display intention of the user on the image information.
The embodiment of the invention also discloses a vehicle, which comprises: the driving assistance device, the processor, the memory and the computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of any driving assistance method when being executed by the processor.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when being executed by a processor, the computer program realizes the steps of any driving assistance method.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the current driving road condition information generated by coordinate positioning information of the vehicle in the preset range based on the position of the previous vehicle is acquired from the server, the preset driving auxiliary function is started according to the acquired current driving road condition information, the current driving intention of the user is identified under the condition that the driving auxiliary function is started, and corresponding driving control can be performed on the vehicle based on the identified driving intention of the user. Through drawing the real-time driving scene of the whole road in the place ahead based on the location to based on the driveability of road conditions information automatically regulated vehicle, its automatically regulated driving auxiliary function can help the driver to control the vehicle better and go, and under the traffic congestion scene, can reduce some because the driver drives the accident that the mistake caused, improves driving safety.
Drawings
FIG. 1 is a flow chart of steps of an embodiment of a driving assistance method of the present invention;
FIG. 2 is a flow chart of steps in another embodiment of a method of driving assistance in accordance with the present invention;
FIG. 3 is a diagram of a driving assistance application scenario in the implementation of the present invention;
FIG. 4 is a flow chart of steps of yet another embodiment of a method of driving assistance in accordance with the present invention;
fig. 5 is a block diagram of a driving assistance device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Under the condition that the passing road of the vehicle is congested, the driver is difficult to change the road in time based on the road condition in front of the vehicle, so that the driving difficulty under the congestion state is caused.
One of the core ideas of the embodiment of the present invention is to automatically adjust the drivability of a vehicle based on the driving road condition information located by a Global Positioning System (GPS), specifically to automatically adjust the acceleration performance and the deceleration performance of the vehicle according to the information such as the shared real-time image data of the road, the GPS location, and the driving intention of the driver, so that the present invention can better help the driver to control the vehicle, perform driving control such as acceleration, deceleration, lane change, and the like in the application scene of road congestion and unknown road conditions, and improve driving safety.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a driving assistance method according to the present invention is shown, and the method is applied to a vehicle, where the vehicle communicates with a server, and specifically includes the following steps:
in one embodiment of the present invention, the vehicle may communicate with the server to obtain the current driving traffic information of the vehicle from the server, so as to determine the congestion condition of the road section ahead based on the obtained current driving traffic information.
The acquired current driving road condition information may refer to a road condition on which the vehicle is currently walking, which includes a condition of a lane on which the vehicle is currently walking and a condition of a surrounding lane in the same direction as the lane on which the vehicle is currently walking.
In practical applications, the current driving traffic information obtained from the server by the vehicle may be generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position, and specifically, the current driving traffic information is generated by the server. It should be noted that the information form of the current driving road condition information generated by the server may be a data information form or an image information form, and the embodiment of the present invention is not limited thereto.
after the current driving road condition information generated based on the coordinate positioning information is acquired from the server, the congestion condition of the road section ahead of the vehicle walking road can be judged according to the acquired current driving road condition information, the preset driving assistance function of the vehicle is started according to the judgment result, and the starting operation of the driving assistance by the driving road condition information based on the GPS positioning is realized.
Specifically, the congestion condition of the road section ahead can be comprehensively judged and realized based on the information such as the traffic flow, the speed and the like of the current vehicle traveling lane.
As for the determination result, in one case, if it is determined that the road section ahead of the vehicle walking road is in a congestion state, the preset driving assistance function of the vehicle may be started; in another case, if it is determined that the section ahead of the vehicle driving road is clear, the driving assistance function of the vehicle is not activated.
The driving assistance function of the vehicle refers to an assistance function capable of automatically adjusting the driving performance of the vehicle when the current driving road condition information meets the preset condition. In practical application, before the preset driving assistance function of the vehicle is started, the driving assistance function can be started according to the starting intention of the driver for the driving assistance function, that is, the driving assistance function can be started based on the confirmation operation of the driver for starting the driving assistance function.
It should be noted that the starting operation for the preset driving assistance function may be a non-touch operation or a touch operation, where the non-touch operation may refer to a voice operation of the driver, for example, when a vehicle (referring to a vehicle-mounted terminal) receives a voice instruction of "start driving assistance" sent by the driver, the voice of the user may be recognized as the starting operation of the driving assistance function, or when the vehicle-mounted terminal recognizes a preset gesture for the driving assistance function, the starting operation of the driving assistance function for the vehicle may be responded; the touch operation may refer to a function key that may have a driving assistance function on the vehicle-mounted terminal, and may also have a pre-defined enable key for the driving assistance function of the vehicle, so as to perform the touch operation on the function key or the enable key to trigger the start of the driving assistance function of the vehicle, and then the embodiment of the present invention is not limited in terms of the start operation of the driving assistance function of the vehicle.
103, identifying the current driving intention of the user under the condition that the preset driving auxiliary function is started;
in an embodiment of the present invention, after it is detected that the preset driving assistance function for the vehicle is started, in a case that the driving assistance function is started, that is, it is detected that a driving assistance function key or an enable key of the vehicle-mounted terminal is triggered to be started, or a voice or gesture recognition trigger is triggered, or a condition is met and an automatic trigger is triggered, a current driving intention of the user is recognized, so as to perform corresponding driving control on the vehicle according to the current driving intention.
In practical applications, the identification of the current driving intention of the user may be represented by identifying the current driving state of the vehicle, i.e., comprehensively determining the current driving intention via the current driving state of the vehicle, for example, when an accelerator pedal signal is detected, the current driving state of the vehicle may be represented as acceleration driving, i.e., the current driving intention of the user may be determined to have an acceleration intention.
And 104, performing corresponding running control on the vehicle according to the current running intention of the user.
After the current driving intention of the user is identified, the vehicle can be correspondingly controlled according to the identified driving intention of the user, so that the driving performance of the vehicle can be automatically adjusted after the driving auxiliary function is started based on the driving road condition information positioned by the GPS.
As an example, the driving assistance function is activated, which indicates that a road section ahead of a current road on which the vehicle is traveling satisfies a preset condition (for example, a road section ahead is congested), and if it is recognized that a current driving intention of the user is an intention to accelerate in the case of the road section ahead, driving control performed on the vehicle may be represented by reducing a torque and simultaneously reducing a gradient of a torque change, so as to prevent the driver from deeply stepping on the accelerator, so as to avoid a situation that rapid acceleration occurs in the congested road section.
In the embodiment of the invention, the current driving road condition information generated by coordinate positioning information of the vehicle in the preset range based on the position of the previous vehicle is acquired from the server, the preset driving auxiliary function is started according to the acquired current driving road condition information, the current driving intention of the user is identified under the condition that the driving auxiliary function is started, and corresponding driving control can be performed on the vehicle based on the identified driving intention of the user. Through drawing the real-time driving scene of the whole road in the place ahead based on the location to based on the driveability of road conditions information automatically regulated vehicle, its automatically regulated driving auxiliary function can help the driver to control the vehicle better and go, and under the traffic congestion scene, can reduce some because the driver drives the accident that the mistake caused, improves driving safety.
Referring to fig. 2, a flow chart showing steps of another embodiment of the driving assistance method of the present invention is shown, and the method is applied to a vehicle, where the vehicle may communicate with a server, and in the embodiment of the present invention, the method focuses on a process of acquiring driving traffic information by the vehicle, and specifically may include the following steps:
step 201, acquiring a current vehicle position of a vehicle, and collecting vehicle information of the vehicle in a preset range based on the current vehicle position;
in an embodiment of the present invention, in order to ensure that the driveability of the vehicle can be automatically adjusted based on the road condition information generated by the GPS positioning information, an information source for generating the road condition information, that is, the GPS positioning information, needs to be acquired first, so that the server can generate the current driving road condition information of the vehicle based on the acquired GPS positioning information.
In a specific implementation, the collected vehicle may include coordinate positioning information of a vehicle within a preset range, where the vehicle within the preset range may refer to a vehicle within the preset range based on a current vehicle position of the vehicle driven by the user, and the preset range may be defined based on a recognizable distance of a camera of the vehicle, which is not limited in the embodiment of the present invention.
In practical application, the novel vehicle that possesses intellectuality and practicality is generally equipped with a plurality of cameras in meeting mark, and the camera has functions such as discernment surrounding environment, shooting, and it can distribute in positions such as roof, automobile body both sides, and vehicle self has GPS locate function, 5G networking function, and the coordinate positioning information of vehicle in predetermineeing the within range so can be based on the configuration realization of vehicle self. Specifically, the collection can be realized by a GPS positioning function and a 5G (5th-Generation, fifth Generation mobile communication technology) networking function of the vehicle itself and by a camera of the vehicle itself.
the 5G networking function can be realized by that the vehicle uploads the collected coordinate positioning information of the vehicle in a preset range to the server, the server realizes real-time road map real-time display based on the coordinate positioning information uploaded by the vehicle, and the uploaded coordinate positioning information can be used for the server to generate the current driving road condition information of the vehicle.
In an embodiment of the present invention, the uploaded coordinate locating information may be expressed as coordinate locating information in the form of image information.
In practical application, vehicles running on a walking road can shoot the conditions of surrounding vehicles by using a camera of the vehicles, and then shot pictures are uploaded to a cloud server through a 5G network, wherein the shot pictures can contain coordinate positioning information of a GPS; after the cloud server acquires the uploaded image information of the vehicle in real time, images uploaded by the vehicle can be synthesized according to the positioning coordinates of the GPS through cloud algorithms such as image processing, image registration and image synthesis, the real scene of the whole road driving is restored, and real-time road map display is achieved.
And step 203, downloading the image information aiming at the current driving road condition information of the vehicle from the server through the vehicle-mounted terminal.
In an embodiment of the present invention, what is actually communicated with the cloud server is the vehicle-mounted terminal, and the uploaded coordinate positioning information may be represented as coordinate positioning information in the form of image information, so that the current driving road condition information downloaded by the vehicle-mounted terminal from the server may also be represented as current driving road condition information for the vehicle in the form of image information.
In specific implementation, the downloaded current driving road condition information in the form of image information is a picture obtained by performing cloud algorithms such as image processing, coordinate calculation, image synthesis and the like on a server and synthesizing pictures uploaded by a vehicle according to positioning coordinates of a GPS.
In a preferred embodiment, after the vehicle-mounted terminal downloads the synthesized picture from the server, the vehicle-mounted terminal can respond to the interactive operation on the image information (namely, the synthesized picture) and present the image information based on the interactive operation on the vehicle-mounted terminal, wherein the interactive operation can be used for indicating the display intention of the user on the image information.
As an example, a driver may obtain a road real situation (i.e. a synthesized picture) processed by the server through an entertainment system of the vehicle-mounted terminal connected to the server, and at this time, may perform operations such as zooming in, zooming out, obtaining forward, obtaining backward, and the like on the synthesized picture, so as to browse real situations of different positions of the road and identify a congestion situation ahead.
Referring to fig. 3, an application scene diagram of driving assistance in the implementation of the present invention is shown, which relates to a communication process between a vehicle end and a cloud server end, and assuming that a vehicle 1, a vehicle 2, and a vehicle 3 exist on a certain walking road, all the vehicles 1 to 3 may communicate with the cloud server end, a specific communication process may be that the vehicle 1, the vehicle 2, and the vehicle 3 upload an image acquired in real time to a cloud server, the cloud server end may receive and process the uploaded image, the processed image may be a picture synthesized based on GPS positioning coordinates, and at this time, the vehicle 1, the vehicle 2, and the vehicle 3 may also download the picture processed by the server from the cloud server, so as to realize that the vehicle automatically captures a scene around the position where the vehicle is located and update the uploaded image in real time, and synchronously update the downloaded image in real time, and display a road map in real.
In practical application, it is difficult to restore a driving scene of an entire road only by using a camera currently driving a vehicle, at this time, all vehicles (for example, the vehicle 1, the vehicle 2, and the vehicle 3 shown in fig. 3, and other vehicles (assumed to be a vehicle n, where n is greater than or equal to 3 and is a positive integer)) traveling on the driving road may automatically capture a surrounding scene where their respective vehicles are located by using their own cameras, and upload an image including GPS coordinate positioning information to a cloud server, as an example, at this time, the cloud server may place images uploaded by the vehicle 1, the vehicle 2, and the vehicle 3 in the same coordinate system for coordinate calculation, and splice the uploaded images according to the calculated coordinates, so as to realize real-time display of a local road map; as another example, at this time, the cloud server may place the images uploaded by the vehicles 1, 2, 3, and n in the same coordinate system to perform coordinate calculation, and splice the uploaded pictures according to the calculated coordinates, so as to implement real-time display of the global road map.
The cloud server can perform coordinate calculation on images uploaded by the vehicles according to the same coordinate system, namely, the images uploaded by all the vehicles need to recalculate coordinates and converted coordinates, and can splice and synthesize the uploaded images according to the calculated and converted coordinates.
When the images uploaded by the vehicles are spliced, the cloud server needs to perform coordinate calculation according to the GPS coordinate positioning information included in the uploaded images, and in addition to performing coordinate calculation by placing the uploaded images in the same coordinate system (for example, a virtual world coordinate system or a virtual area coordinate system of a road where the vehicles travel), the cloud server may also perform coordinate calculation by placing the uploaded images in a coordinate system established around the uploaded vehicles. The embodiments of the present invention are not limited thereto.
In a preferred embodiment, the cloud server may place the images uploaded by the vehicles 1, 2, and 3 in coordinate systems established based on the vehicles 1, 2, and 3 as centers, respectively, and convert and calculate GPS coordinate positioning information included in the uploaded images with the vehicles 1, 2, and 3 as centers, respectively, to splice and synthesize the uploaded images.
Specifically, it is assumed that the vehicle 1 uploads a group a image to the cloud server, the vehicle 2 uploads a group B image to the cloud server, and the vehicle 3 uploads a group C image to the cloud server, at this time, a coordinate system 1 may be established with the vehicle 1 as a center (i.e., an origin of the coordinate system), at this time, since the group a image is acquired by the vehicle 1, that is, the group a image is centered on the vehicle 1, at this time, coordinate calculation may be performed on the group a image without coordinate conversion, and corresponding coordinate calculation and conversion are performed on the group B image and the group C image in the established coordinate system 1, and then image stitching with the vehicle 1 as the origin is implemented according to the calculated coordinates, so that the stitched image is returned to the vehicle 1, at this time, the stitched image received by the vehicle may be a real-time map of a road with the vehicle 1 as the center; and assuming that the vehicle 1 downloads the current road real-time map to the cloud server, and at the same time, the vehicle 2 also requests the cloud server to download the current road real-time map, at this time, the cloud server may establish a coordinate system 2 with the vehicle 2 as a center (i.e., an origin of the coordinate system), perform coordinate calculation and conversion on the uploaded a group image and C group image, and stitch and combine the a group image and C group image after the coordinate calculation and conversion with a B group image that does not need to perform coordinate conversion, at this time, the stitched image returned to the vehicle 2 is a road real-time map with the vehicle 2 as a center, that is, the stitched images received by the vehicle 1 and the vehicle 2 are not subjected to coordinate calculation according to the same coordinate system. For all vehicles traveling on the traveling road, a coordinate system centered on the vehicle may be established and a real-time road map centered on the vehicle may be received.
It should be noted that, in the process of shooting the surrounding scene by the vehicle traveling on the traveling road, each time point may have an influence, that is, the current positions of the vehicle and the surrounding vehicle are in a real-time dynamic state, and specifically, the following cases may be considered: (1) the position of the current vehicle is dynamically changed, and the surrounding vehicles are not moved; (2) the current vehicle is not moved, and the positions of surrounding vehicles are dynamically changed; (3) in the process, the cloud server may continuously synthesize the picture based on real-time shooting and uploading, or synthesize a changed part of the picture according to the GPS coordinate positioning information and the time point determination included in the uploaded picture, which is not limited in the embodiment of the present invention.
In the embodiment of the invention, the real-time driving scene of the whole front road is drawn based on GPS positioning, the driving performance of the vehicle is automatically adjusted based on the road condition information, the automatically adjusted driving auxiliary function can help the driver to better control the driving of the vehicle, and in the traffic jam scene, accidents caused by improper driving of the driver can be reduced, and the driving safety is improved.
Referring to fig. 4, a flowchart of steps of another embodiment of the driving assistance method of the present invention is shown, and is applied to a vehicle, in fact, a vehicle-mounted terminal communicates with a server, and in the embodiment of the present invention, the method focuses on a control process of the vehicle on acquired driving traffic information, and specifically may include the following steps:
in an embodiment of the present invention, after the current driving road condition information generated based on the coordinate positioning information is acquired from the server, the congestion condition of the road section ahead of the vehicle driving road can be determined according to the acquired current driving road condition information, and the preset driving assistance function of the vehicle is started according to the determination result, so as to implement the start operation of the driving assistance based on the driving road condition information of the GPS positioning.
When the current driving road condition information of the vehicle meets the preset road condition, for example, the front road section is jammed, the preset driving auxiliary function of the vehicle can be started, before the preset driving auxiliary function is started, the prompt information aiming at starting the driving auxiliary function and sent by the server can be received, and if the confirmation operation aiming at the prompt information is detected, the preset driving auxiliary function of the vehicle can be started according to the confirmation operation.
As an example, the received prompt message may be in a form of voice, and after the vehicle-mounted terminal receives the traffic jam image in front, the vehicle-mounted terminal may prompt the driver with a prompt, for example, a voice prompt message of "the traffic jam in front, whether to enable the driving assistance system", and if the driver confirms to start the function, the drivability of the vehicle may be automatically adjusted.
And 402, performing corresponding running control on the vehicle according to the current driving intention of the user under the condition that the preset driving auxiliary function is started.
In one embodiment of the invention, after the preset driving assistance function for the vehicle is detected to be started, the current driving intention of the user can be identified, so that the vehicle is correspondingly controlled to drive according to the current driving intention.
Specifically, in the case where the preset driving assistance function is activated, a preset driving assistance mode corresponding to the preset driving assistance function may be entered; at this time, the vehicle can be controlled to execute the pre-established control logic according to the identified current driving intention of the user, so as to realize the control of the driving of the vehicle.
The pre-established control logic may include control logic associated with a preset driving assistance mode, and the vehicle may have a vehicle controller and a motor controller, so the control logic associated with the established driving assistance mode may refer to control logic pre-established between the started driving assistance function and the vehicle controller.
In one embodiment of the invention, the current driving state of the vehicle can be detected, the current driving intention of the user can be identified according to the current driving state of the vehicle, and then the torque coefficient and/or the sliding energy recovery intensity of the vehicle can be adjusted according to the identified current driving intention of the user.
In practical applications, the identified current driving intention of the user may include one of a normal driving intention, an acceleration intention and a lane change intention, and the torque parameter may include a torque and a torque change slope.
Based on the control of the vehicle travel by the user's current travel intention, there may be cases in which:
in the first case, in the case where the road section ahead of the vehicle traveling road is congested, if it is recognized that the current driving intention of the user is a normal driving intention, the torque parameter and the coasting energy recovery strength of the vehicle may be maintained, for example, the torque at the time of normal driving is maintained at T1, the torque variation slope is R1, and the recovery strength is g 1; in the second case, if the current driving intention of the user is identified as an acceleration intention when the road segment ahead of the vehicle is congested, in order to avoid that the vehicle speed of the user is too fast during acceleration, the torque and the torque change gradient may be decreased, and the coasting energy recovery strength may be increased, for example, the adjustment torque is changed from T1 to T2, the adjustment torque change gradient is changed from R1 to R2, and the adjustment recovery strength is changed from g1 to g2, where T2< T1, R2< R1, and g1< g 2; in the third case, if it is recognized that the current driving intention of the user is a lane change intention when the road ahead of the road on which the vehicle is traveling is congested, in order to enable the current vehicle to realize a quick lane change, the torque and the torque change slope may be increased, for example, the adjustment torque is changed from T1 to T3, and the adjustment torque change slope is changed from R1 to R3, where T3> T1, and R3> R1.
In practical application, the started driving assistance function and the vehicle control unit have a pre-established control logic, the vehicle control unit can send an instruction to the motor controller to realize control on torque and sliding energy recovery intensity, and specifically, the vehicle control unit can generate a control instruction according to the current driving state and send a corresponding control instruction to the motor controller to realize control on the torque and the sliding energy recovery intensity.
As an example, the driving road condition information positioned by the GPS can be determined, if the congestion condition of the road section ahead of the driving road ahead is serious, when an acceleration signal of the vehicle is detected, it can be determined that the current driving intention of the user at this time is an acceleration intention, a first control instruction for reducing the torque and the torque change slope can be generated by the vehicle controller, the first control instruction is executed by the motor controller, a rapid acceleration phenomenon caused by the driver stepping on the accelerator deeply is prevented, and the driving comfort is ensured; in this case, a second control instruction for increasing the intensity of the recovered coasting energy can be generated by the vehicle control unit, and the second control instruction is executed by the motor controller, so that the intensity of the recovered coasting energy is increased while the torque is reduced and the gradient of the torque change is reduced, and the braking distance of the vehicle is reduced in the process of coasting and deceleration.
If the road section positioned by the GPS is identified to have no serious congestion, the vehicle can be adjusted back to the normal acceleration mode and the recovery mode, and the vehicle driving performance can be automatically adjusted by executing a control instruction generated by the vehicle controller based on the motor controller.
As another example, when the current driving road condition information is a congested road condition, if the vehicle detects a turn signal and an accelerator pedal signal at this time, it may be determined that the current driving intention of the user is a lane change intention at this time, the vehicle controller may generate a third control instruction for raising a torque and a change slope of the torque, and execute the third control instruction by the motor controller to increase an acceleration of the vehicle, so as to implement a fast lane change of the vehicle.
In the embodiment of the invention, the real-time driving scene of the whole front road is drawn based on GPS positioning, the driving performance of the vehicle is automatically adjusted based on the road condition information, the automatically adjusted driving auxiliary function can help the driver to better control the driving of the vehicle, and in the traffic jam scene, accidents caused by improper driving of the driver can be reduced, and the driving safety is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a block diagram of an embodiment of a driving assistance device of the present invention is shown, and is applied to a vehicle, where the vehicle may communicate with a server, and specifically, the following modules may be included:
a driving road condition information obtaining module 501, configured to obtain current driving road condition information of a vehicle from the server, where the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of a current vehicle position;
a driving assistance function starting module 502, configured to start a preset driving assistance function of the vehicle according to the current driving road condition information of the vehicle;
a driving intention recognition module 503, configured to recognize a current driving intention of the user when the preset driving assistance function is activated;
and a vehicle running control module 504, configured to perform corresponding running control on the vehicle according to the current running intention of the user.
In an embodiment of the present invention, the apparatus may further include the following modules:
the vehicle information acquisition module is used for acquiring the current vehicle position of the vehicle and acquiring the vehicle information of the vehicle in a preset range based on the current vehicle position; the vehicle information comprises coordinate positioning information of the vehicle in the preset range;
the coordinate positioning information uploading module is used for uploading coordinate positioning information of the vehicle in the preset range based on the current vehicle position to the server; and the uploaded coordinate positioning information is used for the server to generate the current driving road condition information of the vehicle.
In one embodiment of the present invention, the driving assistance function starting module 502 may include the following sub-modules:
the prompt information receiving submodule is used for receiving prompt information which is sent by the server and aims at starting the driving auxiliary function when the current driving road condition information of the vehicle meets the preset road condition;
and the driving auxiliary function starting submodule is used for starting a preset driving auxiliary function of the vehicle according to the confirmation operation if the confirmation operation aiming at the prompt information is detected.
In one embodiment of the invention, the vehicle travel control module 504 may include the following sub-modules:
a driving assistance mode entering submodule for entering a preset driving assistance mode corresponding to the preset driving assistance function when the preset driving assistance function is started;
the vehicle running control submodule is used for controlling the vehicle to execute a pre-established control logic according to the current running intention of the user so as to control the vehicle to run; the pre-established control logic comprises control logic associated with the preset driving assistance mode.
In one embodiment of the present invention, the vehicle travel control sub-module may include the following units:
the driving intention identification unit is used for detecting the current driving state of the vehicle and identifying the current driving intention of the user according to the current driving state of the vehicle;
and the vehicle running control unit is used for adjusting the torque parameter and/or the coasting energy recovery intensity of the vehicle according to the current running intention of the user.
In one embodiment of the invention, the current driving intention of the user comprises one of a normal driving intention, an acceleration intention and a lane change intention; the torque parameters include torque and torque change slope;
the vehicle travel control unit may include the following sub-units:
the first vehicle running control subunit is used for keeping the torque parameter and the sliding energy recovery intensity of the vehicle if the current running intention of the user is identified as a normal running intention;
the second vehicle running control subunit is used for reducing the torque and the torque change slope and increasing the coasting energy recovery intensity if the current running intention of the user is identified as an acceleration intention;
and the third vehicle running control subunit is used for increasing the torque and the torque change slope if the current running intention of the user is identified as the lane change intention.
In one embodiment of the invention, the vehicle comprises a vehicle-mounted terminal, and the current driving road condition information of the vehicle comprises image information synthesized by coordinate positioning information of the vehicle within a preset range; the driving traffic information obtaining module 501 may include the following sub-modules:
the image information acquisition submodule is used for downloading image information aiming at the current driving road condition information of the vehicle from the server through the vehicle-mounted terminal;
the driving traffic information obtaining module 501 may further include the following sub-modules:
the image information display sub-module is used for responding to the interactive operation of the image information and displaying the image information based on the interactive operation; the interactive operation is used for indicating the display intention of the user on the image information.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
the driving assistance method comprises the driving assistance device, a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the driving assistance method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements each process of the driving assistance method embodiment, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The driving assistance method and the driving assistance device provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A driving assistance method applied to a vehicle, the vehicle communicating with a server, the method comprising:
acquiring current driving road condition information of the vehicle from the server, wherein the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position;
starting a preset driving auxiliary function of the vehicle according to the current driving road condition information of the vehicle;
under the condition that the preset driving auxiliary function is started, identifying the current driving intention of the user;
and performing corresponding running control on the vehicle according to the current running intention of the user.
2. The method of claim 1, further comprising:
acquiring the current vehicle position of the vehicle, and acquiring vehicle information of the vehicle in a preset range based on the current vehicle position; the vehicle information comprises coordinate positioning information of the vehicle in the preset range;
uploading coordinate positioning information of the vehicle in a preset range based on the current vehicle position to the server; and the uploaded coordinate positioning information is used for the server to generate the current driving road condition information of the vehicle.
3. The method according to claim 1, wherein the starting of the preset driving assistance function of the vehicle according to the current driving road condition information of the vehicle comprises:
when the current driving road condition information of the vehicle meets a preset road condition, receiving prompt information which is sent by the server and aims at starting a driving auxiliary function;
and if the confirmation operation aiming at the prompt information is detected, starting a preset driving auxiliary function of the vehicle according to the confirmation operation.
4. The method according to claim 1, wherein the performing the corresponding driving control on the vehicle according to the current driving intention of the user comprises:
under the condition that the preset driving auxiliary function is started, entering a preset driving auxiliary mode corresponding to the preset driving auxiliary function;
controlling the vehicle to execute a pre-established control logic according to the current driving intention of the user so as to control the vehicle to run; the pre-established control logic comprises control logic associated with the preset driving assistance mode.
5. The method of claim 4, wherein said controlling the vehicle to execute pre-established control logic based on the user's current driving intent comprises:
detecting the current driving state of the vehicle, and identifying the current driving intention of a user according to the current driving state of the vehicle;
and adjusting the torque parameter and/or the coasting energy recovery intensity of the vehicle according to the current driving intention of the user.
6. The method of claim 5, wherein the user's current driving intent comprises one of a normal driving intent, an acceleration intent, and a lane change intent; the torque parameters include torque and torque change slope;
the adjusting the torque parameter and/or the intensity of the coasting energy recovery of the vehicle according to the current driving intention of the user comprises:
if the current driving intention of the user is identified as a normal driving intention, keeping the torque parameter of the vehicle and the coasting energy recovery intensity;
or if the current driving intention of the user is identified as an acceleration intention, reducing the torque and the torque change slope, and increasing the coasting energy recovery strength;
or if the current driving intention of the user is identified as lane change intention, the torque and the torque change slope are improved.
7. The method according to claim 1, wherein the vehicle comprises a vehicle-mounted terminal, and the current driving road condition information of the vehicle comprises image information synthesized by coordinate positioning information of the vehicle within a preset range;
the obtaining of the current driving road condition information of the vehicle from the server includes:
downloading image information aiming at the current driving road condition information of the vehicle from the server through the vehicle-mounted terminal;
the method further comprises the following steps:
responding to the interactive operation acting on the image information, and displaying the image information based on the interactive operation; the interactive operation is used for indicating the display intention of the user on the image information.
8. A driving assistance apparatus for a vehicle, the vehicle being in communication with a server, the apparatus comprising:
the driving road condition information acquisition module is used for acquiring current driving road condition information of the vehicle from the server, and the current driving road condition information is generated based on coordinate positioning information of the vehicle within a preset range of the current vehicle position;
the driving auxiliary function starting module is used for starting a preset driving auxiliary function of the vehicle according to the current driving road condition information of the vehicle;
the driving intention identification module is used for identifying the current driving intention of the user under the condition that the preset driving auxiliary function is started;
and the vehicle running control module is used for carrying out corresponding running control on the vehicle according to the current running intention of the user.
9. A vehicle, characterized by comprising: driving assistance device according to claim 8, a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when being executed by the processor, carries out the steps of the driving assistance method according to one of the claims 1 to 7.
10. 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 driving assistance method according to one of claims 1 to 7.
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