TW201416274A - Instinct energy-saving driving auxiliary method and instinct energy-saving driving auxiliary system - Google Patents

Abstract

The invention provides an instinct energy-saving driving auxiliary system to be disposed on a vehicle. The instinct energy-saving driving auxiliary system comprises an input module, a control module and an output module. The control module is electrically connected to the input module and the output module, respectively. The input module is utilized to respectively obtain images ahead of the vehicle and vehicle speed signals, allowing the control module to recognize vehicle speed restriction and traffic light signals of the road ahead of the vehicle and speeds and distances of obstacles ahead of the vehicle. Energy saving instructions or driving restrictions of suitable road conditions are visually or acoustically prompted by the output module in accordance with road restriction and actual vehicle speed. Accordingly, the invention provides a simple system capable of solving problems of complexity and high cost that are occurred from energy saving improvements in conventional vehicles, and defects of high fuel consumption that are occurred from conventional techniques unable to immediately response to road conditions and to actively correct driving behavior can be improved.

Description

Intuitive energy-saving driving assistance method and system

The invention relates to an energy-saving driving assistance system, in particular to an intuitive energy-saving driving assistance system capable of directly providing a driver's energy-saving indication according to road conditions.

Existing vehicles that use fuel oil are facing the problem of high energy prices and increasingly strict regulations on fuel gas emissions. Therefore, all vehicle manufacturers are actively developing new technologies to increase fuel efficiency and reduce vehicle emissions.

In order to increase the efficiency of fuel use and reduce the pollution of vehicle exhaust emissions, the prior art can be divided into two categories for improving the manufacturing technology of the vehicle and for prompting the driver's fuel-consuming driving behavior, wherein, for the technology of vehicle manufacturing technology improvement, For example, the development of high-efficiency engine systems and low-energy shifting systems, the use of lightweight materials to manufacture the car body, the use of hybrid electric power systems and brake kinetic energy recovery systems, and STOP/START idling systems can reduce vehicle travel or Fuel consumption and exhaust emissions during idling, but if the driver's driving behavior can not cooperate with fuel-saving control, it will still affect the overall fuel consumption and exhaust pollution of the vehicle, and will increase the complexity and manufacturing cost of the vehicle system.

The technique of prompting the driver's fuel-consuming driving behavior, for example, by capturing the vehicle body signal, the engine signal, the vehicle dynamic signal, and analyzing the driving behavior pattern, prompts the driver's vehicle's instantaneous fuel consumption and alerts the high fuel consumption driving behavior. To let the driver know the fuel consumption of the vehicle However, when the fuel consumption behavior of the vehicle is prompted by the various signals of the vehicle, it is impossible to immediately and truly reflect the traffic conditions of various roads and make suggestions or adjustments, that is, the vehicle needs to consume fuel in the vehicle and the signal is transmitted. After the treatment, the warning will be obtained, so the driver of the vehicle will still have fuel-consuming driving behavior during the driving process. For example, when the vehicle accelerates overtaking, it may cause a false alarm of high fuel consumption driving behavior.

For example, the "Automotive Safety and Fuel-Saving Control Auxiliary Reminder System and Auxiliary Reminder Method" of the Chinese Patent Application No. CN200910191113 is mainly for installing a variety of vehicle sensors on the vehicle body, such as a steering angle sensor and a throttle sensor. , the brake sensor, the vehicle speed sensor, the slope sensor, the acceleration sensor, etc., and then the central processing unit receives the signals of the sensors respectively, by taking the dynamic signal of the vehicle body or performing the driving behavior Analysis to provide guidance for the driver's steering and accelerator pedaling; due to the complex structure of the vehicle due to the need to install a large number of sensors, and the steering assistance prompt system can only passively receive sensor information, can not be practical Road conditions provide fuel-efficient guidelines.

It can be seen from the above that although the existing vehicles can improve the vehicle manufacturing technology and prompt the driver's fuel-consuming driving behavior to reduce part of fuel consumption and exhaust pollution, it is necessary to provide a plurality of sensors to detect the state of the vehicle, and the system is complicated. Moreover, the problem of high cost is set, and the fuel consumption condition of the vehicle is still affected by the driving behavior of the driver, and the fuel consumption behavior prompting device can only passively provide the fuel consumption prompt according to the vehicle condition, unable to instantly reflect the road condition and correct the fuel consumption driving. Behavior, so the disadvantages of fuel consumption still occur.

As mentioned above, the fuel-saving technology of the existing vehicle can reduce the fuel consumption and exhaust emission pollution, but has the problems of complicated system and high installation cost, and is affected by the driving behavior of the driver, and the fuel consumption behavior prompt can only be Passively providing fuel consumption prompts, unable to immediately reflect the problem of fuel consumption in road conditions, the main purpose of the present invention is to provide an intuitive energy-saving driving assistance method and system, mainly using the image capturing device to obtain the road state and combined with the body signal And obstacle detection, to actively provide tips for energy-saving driving behavior, to solve the problem that existing vehicles want to carry out energy-saving improvement, system complexity and high cost, and to solve the problem of only providing fuel consumption passively, unable to instantly reflect road conditions and having fuel consumption.

The main technical means adopted to achieve the above objectives is to enable the aforementioned intuitive energy-saving driving assistance method, which comprises: obtaining images of roads and environments in front of the vehicle; identifying traffic signs in the acquired images; detecting obstacles in front of the vehicle and performing Obstacle state analysis; information based on traffic loyalty and obstacle state analysis is converted into more than one energy-saving driving behavior pattern; generating guidance messages corresponding to the provincial driving behavior pattern.

The main technical means for achieving the foregoing objective is to provide a continuous energy-saving driving assistance system, comprising: an input module comprising an image capturing unit and a body signal capturing unit, wherein the image capturing unit is configured to obtain An image of a road or environment and outputting an image signal thereof, the body signal acquisition unit for acquiring more than one vehicle speed signal of the vehicle; a control module electrically connected to the input module, the control module comprising There is a traffic identification unit, an obstacle detection and analysis unit and an energy-saving driving logic unit. The control module receives the image signal of the image capturing unit and the vehicle speed signal of the body signal capturing unit, and is identified by the traffic identification unit. The obstacle detection and analysis unit identifies the driving restriction of the road or the environment, and the energy-saving driving logic unit provides the best energy-saving indication according to the road condition according to the driving restriction of the road or the environment and the vehicle speed signal according to the preset one or more driving modes; The group is electrically connected to the control module. The output module includes a display unit and a prompting unit. The display unit and the prompting unit are used to display or audibly indicate an energy-saving indication of the energy-saving driving logic unit or a driving restriction of the road.

An intuitive energy-saving driving assistance method and system comprising the foregoing components, the image capturing unit obtains an image of a road or environment in front of the vehicle and outputs an image signal thereof, and the body signal capturing unit obtains a vehicle speed signal, and the control module obtains respectively The image signal and the speed signal identify the speed limit of the road and the traffic restriction of the traffic light through the traffic sign recognition unit, and the obstacle detection and analysis unit identifies whether there is an obstacle in front of the vehicle or the speed and distance of the preceding vehicle, and then saves energy. The driving logic unit actively provides the current road condition according to the limitation of the road or environment obtained by the traffic identification unit and the obstacle detection and analysis unit, corresponding to the preset high-speed or low-speed driving mode, and the speed signal of the vehicle itself. The best energy-saving instructions, and the output module provides visual warning or audible prompts for the appropriate energy-saving instructions or road traffic restrictions, without the need to set up expensive and complicated systems, can solve the existing vehicles to improve energy-saving and complex High cost issues and elimination of existing oils Passive behavior suggesting device can only provide fuel consumption It is suggested that it is impossible to immediately reflect the road conditions and correct the driving behavior in advance, and the problem of fuel consumption is derived.

Another object of the present invention is to provide an intuitive energy-saving driving assistance system with active control of vehicle speed, which is mainly provided with an active control unit in the output module, and the active control unit is respectively connected with the throttle and braking circuit of the vehicle, according to The energy-saving indication output by the energy-saving driving logic unit of the control module or the driving restriction of the road, the active control unit actively controls the speed of the vehicle, and avoids the problem of increased fuel consumption caused by the driver's rapid acceleration and deceleration.

According to the existing literature, the driving behavior to achieve the best energy-saving effect has the following four characteristics:

1. The vehicle runs at the same speed, without any sudden acceleration or sudden deceleration, to avoid the engine reaching the high speed zone, and the energy saving effect can reach 5~33% (US Department of Energy).

2. The driving speed is divided into high-speed driving and low-speed driving. The optimal speed is about 90 km/h when driving at high speed (such as highway), and the optimal speed is about 50 km/h when driving at low speed (such as urban area). The effect can reach 7~23% (US Department of Energy).

3. Slow acceleration to avoid the situation that the fuel consumption increases due to the rapid acceleration of the vehicle when starting, and the energy saving effect can reach 12~20% (US Environmental Protection Agency).

4. When waiting for the traffic lights, relax the throttle early, slow down the taxi, slow down and start slowly, the energy saving effect can reach 62% (Formao Plastic).

As can be seen from the above, the main feature of the driving behavior for achieving the best energy saving effect is to predetermine the traffic situation in front of the vehicle, avoid unnecessary acceleration and deceleration, and maintain the pilot speed at a low speed to reduce fuel consumption.

In order to satisfy the foregoing conditions, the present invention proposes a basic concept of the solution (see FIG. 1), which is to obtain a state image (101) of the road or environment in front of the vehicle, and a vehicle speed signal, and identify the traffic number on the road. Aim, such as speed limit and traffic light restrictions (102), and detecting and identifying obstacles (103) in front of the vehicle, and adding driving behavior conditions (104) containing the aforementioned best energy saving effects to provide current road conditions. The best energy saving indication is with the active control of the vehicle (105). According to the above method, the correct energy-saving driving behavior or habit of the vehicle driver can be provided, and the invention can be combined with the existing image security system of the vehicle, and no complicated sensor and detection system need to be provided, and the existing vehicle is needed to save energy. Improvements have complex and costly problems, and can instantly reflect road conditions to provide correct energy-saving driving behavior with fuel economy.

As shown in FIG. 2 , the intuitive energy-saving driving assistance system is disposed on a vehicle and includes an input module 10 , a control module 20 , and an output module 30 . The control module 20 is electrically connected to the input module 10 and the output module 30, wherein the input module 10 includes an image capturing unit 11 and a body signal capturing unit 12, and the image capturing unit 11 is a camera for obtaining an image of a road or environment in front of the vehicle and outputting an image signal thereof. The body signal capturing unit 12 is connected to each sensor of the vehicle for acquiring more than one vehicle speed signal of the vehicle, such as a vehicle. Speed or acceleration.

The control module 20 includes a traffic signal recognition unit 21, an obstacle detection and analysis unit 22 and an energy-saving driving logic unit 23, and controls The module 20 receives the image signal of the image capturing unit 11 and the body signal of the body signal capturing unit 12, and identifies the speed limit of the current road and the driving restriction of the traffic light, and the obstacle detection and detection by the traffic identification unit 21. The parsing unit 22 recognizes whether there is an obstacle in the lane in front of the vehicle to cause driving restriction, and the eco-driving logic unit 23 is based on the limitation of the road or environment obtained by the traffic sign recognition unit 21 and the obstacle detecting and analyzing unit 22, corresponding to the preset The high-speed or low-speed driving mode and the body signal determine the current speed of the vehicle, and after operation, provide a plurality of optimal energy-saving instructions that meet the current road conditions.

The output module 30 includes a display unit 31, a prompting unit 32 and an active control unit 33. The display unit 31 and the prompting unit 32 respectively display or audibly indicate the energy saving indication of the energy-saving driving logic unit 23 or the driving restriction of the road. The active control unit 33 is connected to the throttle and the brake circuit of the vehicle. According to the energy-saving indication signal output by the energy-saving driving logic unit 23 or the driving restriction signal of the road, the active control unit 33 controls the throttle and the vehicle of the vehicle according to the signal, and avoids the emergency. Accelerate the problem of increased fuel consumption.

The manner in which the traffic identification unit 21 recognizes the vehicle speed limit of the road on which the vehicle is currently traveling and the traffic restriction of the traffic light is as follows, but the method and type of identification thereof are not limited thereto, for example, the speed limit can be obtained by satellite navigation (GPS). The speed limit is shown in FIG. 3. In the preferred embodiment, the traffic sign recognition unit 21 distinguishes the speed limit sign and the traffic light according to the image signal of the road or environment in front of the vehicle, and the processing step includes the image ROI. Detection step (201), image edge detection step (202), circular contour detection step (203), and traffic number classification step (204) The image ROI detection step (201) and the image edge detection step (202) detect the image of the road or environment in front of the vehicle to distinguish the traffic sign on the road, and the traffic sign is mainly For the speed limit number card and the traffic light with the speed limit, the circular contour detecting step (203) is to detect the obtained speed limit number card, because the feature with the speed limit number card is a circular outer frame. Therefore, the step is to detect the circular contour of the speed limit number card, and the traffic signal classification step (204) is linked with the classification template of the traffic signal to distinguish the speed limit number card image and the traffic light image to obtain the speed limit. The highest speed limit (205) on the speed limit number card can be obtained through the digital classification template. After obtaining the traffic light image, the red light or green light displayed on the traffic light can be obtained through the HIS color template. Number status (206).

In the preferred embodiment, the obstacle detecting and analyzing unit 22 recognizes whether there is an obstacle in the lane in front of the vehicle, and the driving restriction is as follows, but is not limited thereto, for example, the front obstacle can be detected by radar or super The sound wave acquires an obstacle in front of the vehicle; as shown in FIG. 4, in the preferred embodiment, the obstacle detecting and analyzing unit 22 distinguishes whether there is an obstacle according to the image signal of the road or environment in front of the vehicle, if any The obstacles detect the number, distance and speed. The processing steps include a Sobel edge detection step (301), a continuous horizontal edge detection step (302), a continuous vertical edge step (303), and a front obstacle. a distance detecting step (304) and a front obstacle speed detecting step (305), wherein a Sobel edge detecting step (301), a continuous horizontal edge detecting step (302), and a continuous vertical edge step (303) ) is used to confirm the position of the obstacle in front of the vehicle, the front obstacle distance detection step (304) and The front obstacle speed detecting step (305) is for confirming the distance and speed of the obstacle in front of the vehicle, and the front obstacle speed detecting step (305) is connected with the vehicle speed signal to calculate the front obstacle and the vehicle. The relative speed between the two.

Please refer to the distance between the car and the front car (front obstacle) as shown in Figure 5. , the speed of the front car , where T ' is the sampling time of the next frame, d ₂ is the distance of the car in the next frame, and v is the vehicle speed.

After the obstacle detection and analysis unit 22 recognizes that there is an obstacle in the lane in front of the vehicle, it can further analyze whether there is a travelable space in front of the vehicle, so as to provide a prompt for changing the lane. Referring to FIG. 6, the figure represents an obstacle. The area of the object, ○ represents the area where the vehicle can travel, □ represents the boundary of the travelable space, as shown in the figure, the upper right is the area with obstacles, and is separated by a long border to make the area regarded as non-driving space. It can be seen from the above that by obtaining the position and distribution area of the obstacle, the obstacle detection and analysis unit 22 can estimate the travelable space area, and then calculate the travelable space image by the ratio relationship between the image column coordinates and the distance. The real space corresponding to the width of the column (column) to confirm whether there is enough space to change the lane.

Referring to FIGS. 7 and 8, the energy-saving driving logic unit 23 is based on the traffic restriction of the road or environment obtained by the traffic sign recognition unit 21 and the obstacle detection and analysis unit 22, and is divided into a high speed corresponding to the preset speed limit value. Or low-speed driving mode, and with the speed signal to judge the current speed of the vehicle, after operation, provide a plurality of best energy-saving instructions in line with the current road conditions. In the preferred embodiment, the preset speed limit is 60 km/h to distinguish between the above-mentioned best energy saving effects of 50 km/h and 90 km/h. The preset speed limit value can also be changed according to the actual road state.

The energy-saving driving logic unit 23 is divided into a high-speed driving mode (fast road mode) and a low-speed driving mode (urban road mode) according to a preset speed limit of 60 km/h, and the high-speed driving mode shown in FIG. 7 is The energy-saving driving logic unit 23 provides the best energy-saving indication according to the lane change, the gentle start, the smart follow-up and the fixed-speed cruise according to the distance and speed of the front obstacle and the area of the travelable space, as shown in FIG. The driving mode is provided by the energy-saving driving logic unit 23 according to the front obstacle distance and speed and the traffic number identification result, and provides the best energy-saving instruction for the inertial sliding, gentle start, smart following and fixed-speed cruise in accordance with the road condition, and the energy-saving driving logic unit The optimal energy saving indication generated by 23 can be converted into a signal and sent to the active control unit 33 (not shown) of the output module 30, so that the active control unit 33 controls the throttle and brake of the vehicle according to the signal.

As shown in the determination process of the high-speed driving mode shown in FIG. 7, the obstacle detecting and analyzing unit 22 of the control module 20 first detects whether there is an obstacle (401) in front of the vehicle, and provides "maintaining high speed" if the obstacle does not exist. Energy-saving indication (402) of the optimal speed of driving mode v _h km/h); if there is an obstacle in front of the vehicle, the speed of the obstacle is detected (403), if the speed of the obstacle is greater than the optimal speed v _h and the relative speed is greater than zero, provided the "cruise speed and optimum km _h to v / hr constant speed" indicative of the energy (404); if the obstacle is less than the optimum velocity V _h vehicle speed and the relative speed is less than zero, Then, according to the travelable space calculated by the obstacle detection and analysis unit 22, an energy-saving instruction of "left lane or right lane changeable lane travel and travelable route navigation" is provided, or an energy-saving instruction of "follow-up" is provided and active. Smart car with the car (405); the above preferred speed v _{h is} preferably set to 90 km / h.

Please refer to Figure 9 for the above-mentioned lane change indication. Firstly, please cooperate with the following steps to confirm whether there is space for driving. First, you need to make a D _safe estimate to confirm whether there is enough space to change the lane. Side blind spot detection, vehicle side blind spot detection can be confirmed by the camera unit located on the vehicle side or other detection methods to confirm the presence or absence of the vehicle on the side of the vehicle. When there is no vehicle on the side of the vehicle, the indicated lane is indicated. It is stipulated that the lateral maximum speed of the vehicle is 1.5m/s, the lateral change distance is the lane width W _lane = 4m, and the SAE2400 recommends a front safety distance of 1.18S × v _h , and the longitudinal safety distance can be traveled. The drivable space D _safe is D _safe = D _relative +1.18 S × V _h , and the indication of changing lane driving is provided when the calculated drivable space ( D _safe ) meets the conditions required to change lanes.

As shown in the determination flow of the low speed driving mode shown in FIG. 8, first, the obstacle detecting and analyzing unit 22 of the control module 20 detects whether there is an obstacle (501) in front of the vehicle, and if there is an obstacle in front of the vehicle, the detecting Measure the speed of the obstacle (502). If the speed of the obstacle is equal to 0 km/h, provide the energy-saving indication of “freewheeling” and perform active braking and throttle control (503); if the speed of the obstacle is less than optimal If the vehicle speed v _u and the relative speed is less than zero, the energy-saving indication of “following the car” is provided, and the active smart car is followed (504); if the speed of the obstacle is greater than the optimal speed v _u and the distance between the two is greater than the safety distance, If the relative speed is greater than zero, provide the energy-saving indication of "fixed-speed cruise and drive at the optimal speed v _u km / hour", and carry out active fixed-speed driving (505); if there is an obstacle in front of the vehicle, then proceed Traffic sign (traffic light) detection (506), if the traffic light is displayed as a travelable sign (green light), provide energy saving instructions for "fixed speed cruise and drive at the optimal speed v _u km / hour" and carry out active Travel at a fixed speed (507); If the slogan is a stop sign (red light), it will provide energy-saving instructions for "freewheeling" and perform active braking and throttle control (508). If the traffic light changes from red to green, it will provide "gentle start". Indication to avoid the problem of fuel consumption caused by rapid acceleration; the above preferred vehicle speed v _{u is} preferably set to 50 km / h.

Referring to FIG. 10 and FIG. 11, the signal connection diagram of the energy-saving driving logic unit 23 of the control module 20, the energy-saving driving logic unit 23 respectively receives the position error signal, the speed error signal and the acceleration error signal, and is integrated to output. The control signal of the throttle and the brake, wherein the position error signal selects the corresponding following distance ξ _d according to the high speed or low speed driving mode, and then performs negative feedback with the relative distance 两 _{t of the} two vehicles to generate the position error signal; the speed error signal According to the high speed or low speed driving mode, the corresponding optimal vehicle speed v _u or v _{h is selected} , and then the negative feedback is performed with the speed v _f to generate the speed error signal; the acceleration error signal is based on the preset acceleration error a _r and the speed a _f performs negative feedback to generate an acceleration error signal.

In the preferred embodiment, the control gain K of the eco-driving logic unit 23 is obtained by using a Linear Quadratic Regulator (LQR), which is K = - R ^-1 B ^T X , and R is an input parameter. , B is the output, X is , wherein the control gain K is a matrix of 2×3, and the matrix elements are respectively K ₁₁ , K ₁₂ , K ₁₃ , K ₂₁ , K ₂₂ , K ₂₃ , and the position error signals are respectively determined by K ₁₁ , K ₁₂ , and K ₁₃ , The speed error signal and the acceleration error signal generate a throttle control signal, and K ₂₁ , K ₂₂ , and K ₂₃ are control signals for generating a brake for the position error signal, the speed error signal, and the acceleration error signal, respectively.

It can be seen from the above that by acquiring the state image of the road or environment in front of the vehicle, identifying the traffic sign in the image and detecting and recognizing whether there is an obstacle in front of the vehicle, and adding the driving behavior condition including the best energy saving effect, providing the current situation. The best energy-saving indication of the road conditions and the active control of the vehicle, no need to set up a complicated system, solve the problem that the existing vehicle wants to carry out energy-saving improvement, complicated and high cost, and can only provide the fuel consumption prompt passively, and the improvement cannot be instantaneously Responding to road conditions to correct driving behavior in advance, resulting in fuel consumption shortcomings.

10‧‧‧Input module

11‧‧‧Image capture unit

12‧‧‧ Body signal acquisition unit

20‧‧‧Control Module

21‧‧‧Traffic identification unit

22‧‧‧ obstacle detection and analysis unit

23‧‧‧Energy-saving driving logic unit

30‧‧‧Output module

31‧‧‧Display unit

32‧‧‧Cue unit

33‧‧‧Active Control Unit

Figure 1: is a system flow diagram of the present invention.

Figure 2 is a diagram showing the system composition of a preferred embodiment of the present invention.

Figure 3 is a flow chart of a traffic identification unit in accordance with a preferred embodiment of the present invention.

4 is a flow chart of an obstacle detection and analysis unit in accordance with a preferred embodiment of the present invention.

Figure 5 is a schematic illustration of an obstacle detection and analysis unit in accordance with a preferred embodiment of the present invention.

Figure 6 is a schematic illustration of the travelable space detection in accordance with a preferred embodiment of the present invention.

Figure 7 is a flow chart showing the determination of the high speed driving mode of the preferred embodiment of the present invention.

Figure 8 is a flow chart for determining the low speed driving mode of the preferred embodiment of the present invention.

Figure 9 is a schematic illustration of a convertible lane in accordance with a preferred embodiment of the present invention.

Figure 10 is a signal connection diagram of an energy-saving driving logic unit in accordance with a preferred embodiment of the present invention.

Figure 11 is a signal connection diagram of a control gain K in accordance with a preferred embodiment of the present invention.

10‧‧‧Input module

11‧‧‧Image capture unit

12‧‧‧ Body signal acquisition unit

20‧‧‧Control Module

21‧‧‧Traffic identification unit

22‧‧‧ obstacle detection and analysis unit

23‧‧‧Energy-saving driving logic unit

30‧‧‧Output module

31‧‧‧Display unit

32‧‧‧Cue unit

33‧‧‧Active Control Unit

Claims (10)

An intuitive energy-saving driving assistance method includes: obtaining an image of a road and an environment in front of the vehicle; identifying a traffic sign in the acquired image; detecting an obstacle in front of the vehicle and performing an obstacle state analysis; and based on the traffic sign and obstacle The state-resolved information is converted into more than one provincial driving behavior pattern; a guide message is generated that corresponds to the provincial driving behavior pattern. The intuitive energy-saving driving assistance method according to claim 1, wherein the provincial driving behavior mode is a high-speed driving mode, and the high-speed driving mode is a lane change according to the road condition according to the distance and speed of the front obstacle and the area of the travelable space. The best energy-saving instructions for smart car and speed cruise. According to the intuitive energy-saving driving assistance method described in claim 2, the front obstacle-free object provides a cruise control instruction of "the best energy-saving speed driving to maintain the high-speed driving mode"; if there is an obstacle in front, the obstacle is detected. Speed, if the speed of the obstacle is greater than the optimal energy-saving speed and the relative speed is greater than zero, provide the energy-saving indication of "fixed-speed cruise and drive at the best energy-saving speed"; if the speed of the obstacle is less than the optimal energy-saving speed and relative speed If it is less than zero, it provides a lane change indication of "change lane driving and travelable route navigation", or a smart follow-up instruction that provides "follow-up". According to the intuitive energy-saving driving assistance method described in claim 1 or 2, the provincial driving behavior mode has various types, one of which is a low-speed driving mode, and the low-speed driving mode is based on the front obstacle distance and speed and the traffic number identification result. Provides inertial glide, gentle start, and wisdom in line with road conditions The best energy saving instructions for car and cruise control. According to the intuitive energy-saving driving assistance method described in claim 4, there is an obstacle in front, and if the speed of the obstacle is equal to 0 km/hour, the inertial sliding indication of "freewheeling" is provided; if the speed of the obstacle is less than optimal If the speed of the vehicle and the relative speed are less than zero, the "follow-up" wisdom and vehicle indication is provided; if the speed of the obstacle is greater than the optimal speed, the two distances are greater than the safety distance, and the relative speed is greater than zero, then "fixed speed cruise is provided. If you have an obstacle at the top of the vehicle, if there is an obstacle in front of the vehicle and the traffic light shows a green light, provide a cruise command with "fixed cruise and drive at the best speed"; if the traffic light shows a red light , provides the inertial coasting indication of "freewheeling"; if the traffic light changes from red to green, a "gentle start" indication is provided. An intuitive energy-saving driving assistance system includes: an input module comprising an image capturing unit and a body signal capturing unit, wherein the image capturing unit is configured to acquire an image of a road or an environment and output an image signal thereof. The vehicle body signal acquisition unit is configured to obtain more than one vehicle speed signal of the vehicle; a control module electrically connected to the input module, the control module includes a traffic signal identification unit, an obstacle detection and The analysis unit and an energy-saving driving logic unit, the control module receives the image signal of the image capturing unit and the vehicle speed signal of the body signal capturing unit, and identifies the road or environment by the traffic signal identification unit and the obstacle detection and analysis unit. The energy-saving driving logic unit provides an optimal energy-saving indication according to the road condition according to the driving restriction of the road or the environment and the vehicle speed signal according to the preset one or more driving modes; An output module is electrically connected to the control module. The output module includes a display unit and a prompting unit. The display unit and the prompting unit are used to display or audibly indicate an energy-saving indication of the energy-saving driving logic unit or a driving restriction of the road. . The intuitive energy-saving driving assistance system of claim 6, the output module further comprising an active control unit coupled to the throttle and brake circuit of the vehicle. The intuitive energy-saving driving assistance system according to claim 6 or 7, wherein the driving mode of the energy-saving driving logic unit is a high-speed driving mode, and the high-speed driving mode is provided according to an area of the front obstacle distance and speed and a travelable space. The lane change of road conditions, the best energy-saving instructions for smart car and cruise control; the presence of obstacles in front provides a cruise control indication of “the best energy-saving speed to maintain high-speed driving mode”; if there are obstacles in front, To detect the speed of obstacles, if the speed of the obstacle is greater than the optimal energy-saving speed, the two distances are greater than the safety distance, and the relative speed is greater than zero, provide the energy-saving indication of "fixed-speed cruise and drive at the best energy-saving speed"; If the speed of the obstacle is less than the optimal energy-saving speed and the relative speed is less than zero, the lane change indication of "change lane driving and travelable path navigation" is provided, or the smart follow-up instruction of "following the car" is provided. The intuitive energy-saving driving assistance system according to claim 6 or 7, wherein the energy-saving driving logic unit has a low-speed driving mode, and the low-speed driving mode is based on the front obstacle distance and speed and the traffic identification result. Provides the best energy-saving instructions for road trips, gentle start, smart car and cruise control; there are obstacles in front, and if the speed of the obstacle is equal to 0 km/h, "inertia taxi" is provided. If the speed of the obstacle is greater than the optimal speed and the relative speed is less than zero, provide the following instructions for "follow-up"; if the speed of the obstacle is greater than the optimal speed and the distance between the two is greater than the safe distance, If the relative speed is greater than zero, the cruise control instruction of "fixed speed cruise and driving at the optimal speed" is provided; if there is an obstacle in front of the vehicle and the traffic light shows a green light, "fixed speed cruise is provided and the best speed is provided. If the traffic light shows a red light, it will provide a “sliding indication” for “spinning”; if the traffic light changes from red to green, a “gentle start” indication is provided. According to the intuitive energy-saving driving assistance system described in claim 8, one of the energy-saving driving behavior modes of the energy-saving driving logic unit is a low-speed driving mode, and the low-speed driving mode is based on the front obstacle distance and speed and the traffic number identification result. Provides the best energy-saving indications for inertial taxiing, smart car and cruise control in line conditions; there are obstacles in front, and if the speed of the obstacle is equal to 0 km/h, the inertial taxiing indication of “freewheeling” is provided; If the speed of the object is smaller than the optimal speed and the relative speed is less than zero, the wisdom and vehicle indication of "following the car" is provided; if the speed of the obstacle is greater than the optimal speed, the distance between the two is greater than the safety distance, and the relative speed is greater than zero, Provide a cruise control instruction for "fixed cruise and drive at the best speed"; if there is an obstacle in front of the vehicle and the traffic light shows a green light, provide a cruise at "fixed speed cruise and drive at the best speed" Indication; if the traffic light shows a red light, provide a coasting indication of "freewheeling"; if the traffic light changes from red to green It provides "gentle start" instructions.