CN107571869A - Driving assistance method and system - Google Patents
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- CN107571869A CN107571869A CN201610519211.5A CN201610519211A CN107571869A CN 107571869 A CN107571869 A CN 107571869A CN 201610519211 A CN201610519211 A CN 201610519211A CN 107571869 A CN107571869 A CN 107571869A
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Abstract
The invention provides a kind of driving assistance method and system.The driving assistance method includes：Based on the visual signature on any vehicle around autonomous vehicle, determine whether the vehicle is the vehicle for undertaking social function；And in the case where the vehicle is to undertake the vehicle of social function, the transport condition of the operating parameter for adjusting autonomous vehicle and/or the driver's adjustment autonomous vehicle for reminding autonomous vehicle.Driving assistance method according to embodiments of the present invention and system can identify these vehicles based on the visual signature undertaken on the vehicle of social function of such as police car, school bus or ambulance around autonomous vehicle etc, and the operating parameter for correspondingly adjusting autonomous vehicle and/or the driver for reminding autonomous vehicle adjust the transport condition of autonomous vehicle, so that these vehicles for undertaking social function can be safer, comfortable and easily travelled.
Description
Technical field
The present invention relates to automotive field, relates more specifically to a kind of driving assistance method and system.
Background technology
At present, it is mounted with increasing vehicle such as, track keeps accessory system, parking assisting system, brake auxiliary
The drive assist system of auxiliary system, reversing aid system and driving accessory system etc.These drive assist systems are certain
The convenience and security for driving vehicle are improved in degree, is even more not enough such as the people of consummation particularly with driving technology
This.
The content of the invention
However, current drive assist system None- identified is mounted with its around the autonomous vehicle of the drive assist system
Whether he is the vehicle for undertaking social function of such as police car, school bus or ambulance etc by vehicle, and provides corresponding drive
Miscellaneous function.In consideration of it, the invention provides a kind of novel driving assistance method and system.
Driving assistance method according to embodiments of the present invention, including：Based on all on any vehicle around autonomous vehicle
Such as the visual signature of word, icon, striped and image etc, determine whether the vehicle is the vehicle for undertaking social function；With
And in the case where the vehicle is to undertake the vehicle of social function, adjusts the operating parameter of autonomous vehicle and/or remind autonomous
The driver of vehicle adjusts the transport condition of autonomous vehicle.
Drive assist system according to embodiments of the present invention, including：Determining unit, it is configured as based on around autonomous vehicle
Any vehicle on such as word, icon, striped and image etc visual signature, determine whether the vehicle is to undertake society
The vehicle of meeting function；And adjustment unit, it is configured as in the case where the vehicle is to undertake the vehicle of social function, adjusts
The operating parameter of autonomous vehicle and/or the driver of prompting autonomous vehicle adjust the transport condition of autonomous vehicle.
Driving assistance method according to embodiments of the present invention and system can be based on such as police cars, school around autonomous vehicle
The vision of such as word, icon, striped and the image that undertake on the vehicle of social function of car or ambulance etc etc is special
Sign identifies these vehicles, and correspondingly adjusts the operating parameter of autonomous vehicle and/or remind the driver of autonomous vehicle to adjust
The transport condition of whole autonomous vehicle, so that these vehicles for undertaking social function can be safer, comfortable and easily gone
Sail.
Brief description of the drawings
From the description to the embodiment of the present invention below in conjunction with the accompanying drawings, the present invention may be better understood, its
In：
Fig. 1 is the block diagram for showing drive assist system according to embodiments of the present invention；
Fig. 2 is the flow chart for showing driving assistance method according to embodiments of the present invention；
Fig. 3 is the schematic diagram for showing the situation that autonomous vehicle travels with another vehicle on identical track with car；
Fig. 4 a and 4b are the schematic diagrames for showing another vehicle to the situation of the track doubling traveling where autonomous vehicle；
Fig. 5 is the schematic diagram for the situation that autonomous vehicle travels to the lane where another vehicle；
Fig. 6 is to show that the computing device of driving assistance method according to an embodiment of the invention and system can be being realized
The structure chart of exemplary hardware architecture.
Embodiment
The feature and exemplary embodiment of various aspects of the present invention is described more fully below.Following description covers many
Detail, to provide complete understanding of the present invention.It will be apparent, however, to one skilled in the art that
The present invention can be implemented in the case of some details in not needing these details.Description to embodiment below is only
It is to be provided by showing the example of the present invention to the clearer understanding of the present invention.The present invention is not limited to set forth below
Any concrete configuration, but cover coherent element under the premise of without departing from the spirit of the present invention or any of part repaiies
Change, replace and improve.
The present invention proposes a kind of novel driving assistance method and system, with based on such as alert around autonomous vehicle
Such as word, icon, striped and the image that undertake on the vehicle of social function of car, school bus or ambulance etc etc
Visual signature identifies these vehicles, and correspondingly adjusts the operating parameter of autonomous vehicle and/or remind driving for autonomous vehicle
The person of sailing adjusts the transport condition of autonomous vehicle, so that these vehicles for undertaking social function can be safer, comfortable and square
Just travel.Below in conjunction with the accompanying drawings, driving assistance method according to embodiments of the present invention and system is described in detail.
Fig. 1 is the block diagram for showing drive assist system according to embodiments of the present invention.Fig. 2 is to show to be implemented according to the present invention
The flow chart of the driving assistance method of example.
As shown in figure 1, drive assist system 100 according to embodiments of the present invention includes determining unit 102 and adjustment unit
104.Wherein it is determined that unit 102 is based on all on any vehicle (for convenience, hereinafter referred to as vehicle T) around autonomous vehicle
Visual signature such as word, icon, striped and image etc determines whether vehicle T is that the vehicle for undertaking social function (that is, performs
Step S202)；Adjustment unit 104 adjusts the manipulation ginseng of autonomous vehicle in the case where vehicle T is to undertake the vehicle of social function
The driver of number and/or prompting autonomous vehicle adjusts the transport condition (that is, performing step S204) of autonomous vehicle.
In certain embodiments, the vehicle for undertaking social function can be for example, police car, school bus, ambulance, fire fighting truck,
Or " baby on board (having baby on car) " or " mama on board (having pregnant woman on car) " etc. on vehicle body be present
Vehicle of special sign etc..
In certain embodiments, sensor is installed at the head of autonomous vehicle, afterbody and left and right rearview mirror, these
Sensor can obtain visual signature on any vehicle of autonomous vehicle periphery, detect between these vehicles and autonomous vehicle
Distance and detect transport condition including travel direction, travel speed of these vehicles etc..What these sensors obtained
Information can be used to realize driving assistance method according to embodiments of the present invention and system.
In certain embodiments, the sensor on autonomous vehicle can include camera, radar sensor, laser
One or more of sensor.For example, the camera on autonomous vehicle can obtain any of autonomous vehicle periphery
Visual signature on vehicle, and acquired visual signature is supplied to determining unit 102.When determining unit 102 utilizes calculating
Machine image recognition technology identify on vehicle V exist for example, " mama on board " mark, " baby on board " mark,
Word " 110 ", word " 999 ", word " 120 ", word " 119 ", " fire extinguisher " icon, " baby " icon and " police " figure
During one or more of mark etc., it is the vehicle for undertaking social function to determine vehicle T.
In certain embodiments, when it is the vehicle for undertaking social function that determining unit 102, which determines vehicle T, adjustment unit
104 can based on for example, between vehicle T and autonomous vehicle position relationship adjustment autonomous vehicle operating parameter and/or prompting
The driver of autonomous vehicle adjusts the transport condition of autonomous vehicle.Here, the operating parameter of autonomous vehicle can include Autonomous Vehicles
The brake hard time, pre-impact time of fire alarming, doubling tolerance threshold and lane change enable one or more of threshold value.
The transport condition of autonomous vehicle can at least include both travel directions and travel speed of autonomous vehicle.
In certain embodiments, drive assist system 100 according to embodiments of the present invention can also include manipulation unit 106
(not shown), the manipulation unit 106 can manipulate autonomous vehicle based on the operating parameter of autonomous vehicle.Here, independently
The pre-impact time of fire alarming of vehicle refers to that manipulation unit 106 will collide to autonomous vehicle with the vehicle in front of it and carries out early warning
Threshold time；The brake hard time of autonomous vehicle refer to manipulate unit 106 autonomous vehicle is actively taken brake measure with
The threshold time for avoiding autonomous vehicle from being collided with the vehicle in front of it；The doubling tolerance threshold of autonomous vehicle refers to that manipulation is single
The metric threshold in track where another vehicle of the tolerance of member 106 is incorporated to autonomous vehicle；The lane change of autonomous vehicle enables threshold value and refers to grasp
Control unit 106 enables autonomous vehicle lane change into the metric threshold in track where another vehicle.
Below in conjunction with the accompanying drawings, adjustment unit 104 is described in detail to adjust the operating parameter of autonomous vehicle and/or remind Autonomous Vehicles
Driver adjust autonomous vehicle transport condition and manipulation unit 106 based on autonomous vehicle operating parameter manipulation from
The detailed process of main vehicle.
Fig. 3 is the schematic diagram for showing the situation that autonomous vehicle travels with another vehicle on identical track with car.Here, it is false
If vehicle 301 is the autonomous vehicle for being provided with drive assist system 100 according to embodiments of the present invention, the following vehicle of vehicle 301
302 travel on the b of track.In the situation with car traveling shown in Fig. 3, when determining unit 102 determines that vehicle 302 does not undertake
During the vehicle of social function, the operating parameter of the uncomfortable vehicle 301 of adjustment unit 104 and the driver of vehicle 301 is not reminded to adjust
The transport condition of vehicle 301；When it is the vehicle for undertaking social function that determining unit 102, which determines vehicle 302, adjustment unit
The brake hard time of 104 adjustment vehicles 301 and/or pre-impact time of fire alarming, and/or remind driver's adjustment of vehicle 301
The transport condition of vehicle 301.
For example, the pre-impact time of fire alarming of vehicle 301 and brake hard time are t1 and t2 respectively, t1 ＞ t2；When it is determined that
When the determination vehicle 302 of unit 102 is ambulance, pre-impact time of fire alarming t1 is adjusted to t1 ' and will be urgent by adjustment unit 104
Braking time t2 is adjusted to t2 ', t1 ' ＞ t1, t2 ' ＞ t2, t2 ' ＞ t1 '；Manipulate traveling speed of the unit 106 based on vehicle 301
The distance between degree, the travel speed of vehicle 302 and vehicle 301 and 302, estimation vehicle 301 will touch with vehicle 302
The collision time t hit；When collision time t reaches t1 ', the driver to vehicle 301 is sent pre-impact report by manipulation unit 106
It is alert；If the driver of vehicle 301 does not take vehicle 301 brake measure, manipulation list after pre-impact alarm is received
Member 106 actively takes brake measure when collision time t reaches t2 ' to vehicle 301.
Here, due to t1 ' ＞ t1, so the driver of vehicle 301 can receive pre-impact alarm earlier so as to have
More plenty of time takes brake measure to vehicle 301；Due to t2 ' ＞ t2, so even if the driver of vehicle 301 is not to car
301 take brake measure, and manipulation unit 106 actively can also take brake measure to vehicle 301 earlier so that vehicle
301 have more plenty of time to complete braking procedure, so that vehicle 302 can be safer, comfortable and easily travelled.
For another example, when it is ambulance that determining unit 102, which determines vehicle 302, adjustment unit 104 can also remind vehicle 301
Driver reduce vehicle 301 travel speed, or remind vehicle 301 driver reduce vehicle 301 travel speed it is same
When adjust vehicle 301 travel direction, to avoid vehicle 301 from causing to knock into the back to vehicle 302, so that vehicle 302 can be more
It is safety, comfortable and easily travel.
Fig. 4 a and 4b are the schematic diagrames for showing another vehicle to the situation of the track doubling traveling where autonomous vehicle.This
In, it is assumed that vehicle 401 is the autonomous vehicle for being provided with drive assist system 100 according to embodiments of the present invention, and vehicle 402 is in car
Travelled on road c and attempt to be incorporated to the track b where vehicle 401.In the situation of the doubling traveling shown in Fig. 4 a and 4b, when true
When the determination vehicle 402 of order member 102 is not the vehicle for undertaking social function, the doubling of the uncomfortable vehicle 401 of adjustment unit 104 is held
Bear threshold value, pre-impact time of fire alarming and any one in the brake hard time, and do not remind the driver of vehicle 401 to adjust
The transport condition of vehicle 401；When it is the vehicle for undertaking social function that determining unit 102, which determines vehicle 402, adjustment unit
The doubling tolerance threshold of 104 adjustment vehicles 401, and/or remind the driver of vehicle 401 to adjust the transport condition of vehicle 401.
In the situation of the doubling traveling shown in Fig. 4 a, the doubling tolerance threshold of vehicle 401 is that vehicle 402 crosses track b
Center line F between the c of track and the area threshold fallen into the b of track；When vehicle 402 is crossed between track b and track c
Center line F and the area that falls into the b of track when being more than or equal to doubling tolerance threshold, manipulation unit 106 can reduce vehicle
401 travel speed is to tolerate that vehicle 402 is incorporated to track b.
In the situation of the doubling traveling shown in Fig. 4 b, the doubling tolerance threshold of vehicle 401 can be that vehicle 402 falls into peace
Area threshold in the monitoring range of sensor on vehicle 401；When vehicle 402 falls into the sensing installed in vehicle 401
When area in the detection range of device is more than or equal to doubling tolerance threshold, manipulation unit 106 can reduce the traveling speed of vehicle 401
Spend to tolerate that vehicle 402 is incorporated to track b.
For example, in the situation of the doubling traveling shown in Fig. 4 a, the doubling tolerance threshold of vehicle 401 is S；Work as determining unit
When 102 determination vehicles 402 are school buses, doubling tolerance threshold S is adjusted to S ', S ＞ S ' by adjustment unit 104；Shown in Fig. 4 b
In the situation of doubling traveling, the doubling tolerance threshold of vehicle 401 is A；When it is school bus that determining unit 102, which determines vehicle 402, adjust
Doubling tolerance threshold A is adjusted to A ', A ＞ A ' by whole unit 104.
Here, due to doubling tolerance threshold S ' ＜ S or A ' ＜ A, so manipulation unit 106 can reduce vehicle earlier
401 travel speed is to tolerate that vehicle 402 is incorporated to track b, so that vehicle 402 can be safer, comfortable and easily gone
Sail.
For another example, when it is school bus that determining unit 102, which determines vehicle 402, adjustment unit 104 can also remind vehicle 401
Driver reduce vehicle 401 travel speed to tolerate that vehicle 402 is incorporated to track b so that vehicle 402 can it is safer,
Travel comfortably and easily.
Fig. 5 is the schematic diagram for the situation that autonomous vehicle travels to the lane where another vehicle.Here, suppose that vehicle
501 be the autonomous vehicle for being provided with drive assist system 100 according to embodiments of the present invention, and vehicle 501 travels simultaneously on the b of track
And attempt the track c where lane change into vehicle 502.In the situation of the lane change traveling shown in Fig. 5, when determining unit 102 is true
When to determine vehicle 502 be not the vehicle for undertaking social function, the lane change of the uncomfortable vehicle 501 of adjustment unit 104 enables threshold value, touched in advance
Time of fire alarming and any one in the brake hard time are hit, and does not remind the driver of vehicle 501 to adjust vehicle 501
Transport condition；When it is the vehicle for undertaking social function that determining unit 102, which determines vehicle 502, adjustment unit 104 adjusts vehicle
501 lane change enables threshold value and pre-impact time of fire alarming, and/or reminds the driver of vehicle 501 to adjust the traveling shape of vehicle 501
State.
In the situation of the doubling traveling shown in Fig. 5, it is vehicle 502 apart from vehicle 501 that the lane change of vehicle 501, which enables threshold value,
Travel speed threshold value during preset distance (for example, 70 meters).
For example, in the situation of the doubling traveling shown in Fig. 5, it is v that the lane change of vehicle 501, which enables threshold value, vehicle 501 it is pre-
The collision warning time is t1；When it is fire fighting truck that determining unit 102, which determines vehicle 502, lane change is enabled threshold value by adjustment unit 104
V is adjusted to v ' and pre-impact time of fire alarming t1 is adjusted into t1 ', v ＞ v ', t1 ' ＞ t1；If the travel speed of vehicle 502 is big
It can adjust the travel direction of vehicle 501 in equal to v ', then manipulating unit 106 and/or reduce the travel speed of vehicle 501, with
Postpone vehicle 501 to the track c lane changes where vehicle 502；If the travel speed of vehicle 502 is less than v ', unit 106 is manipulated
Can be with the travel speed and/or travel direction of uncomfortable vehicle 501, to allow vehicle 501 to become to the track c where vehicle 502
Road；When vehicle 502 completes lane change and is being travelled on the c of track, travel speed of the manipulation unit 106 based on vehicle 501, vehicle
The distance between 502 travel speed and vehicle 501 and 502, the collision that estimation vehicle 501 will collide with vehicle 502
Time t；When collision time t reaches t1 ', the driver to vehicle 501 is sent pre-impact alarm by manipulation unit 106, to carry
The driver of awake vehicle 501 changes the transport condition of vehicle 501；If the driver of vehicle 501 is receiving pre-impact alarm
Afterwards without the travel direction for changing vehicle 501 to be avoided to vehicle 502, then manipulate unit 106 and actively change vehicle 501
Travel direction to vehicle 502 to avoid.
Here, due to v ' ＜ v, so vehicle 501 can have more plenty of time to carry out lane change；Due to, t1 ' ＞ t1, institute
Even if there is no the travel direction for changing vehicle 501 after pre-impact alarm is received with the driver of vehicle 501, unit is manipulated
106 can also more plenty of time actively change the travel direction of vehicle 501 to be avoided to vehicle 502 so that car
502 can be safer, comfortable and easily travel.
In certain embodiments, adjustment unit 104 can remind driver's adjustment of autonomous vehicle certainly by visual information
The transport condition of main vehicle.For example, the display on autonomous vehicle can show autonomous vehicle and its vehicle of surrounding
Figure instruction；When determining unit 102 determines that vehicle T is ambulance based on the visual signature on the vehicle T in front of autonomous vehicle
When, adjustment unit 104 can by shown on the display on autonomous vehicle autonomous vehicle and its around other
Vehicle T figure instruction is highlighted while the figure instruction of vehicle, to remind the driver of autonomous vehicle to adjust Autonomous Vehicles
Transport condition.For another example, when determining unit 102 determines that vehicle T is based on the visual signature on the vehicle T in front of autonomous vehicle
During ambulance, adjustment unit 104 can be by showing that " front vehicles are rescues on the display on autonomous vehicle
The information of car, it is noted that avoid " come remind the driver of autonomous vehicle adjust autonomous vehicle transport condition.
In certain embodiments, adjustment unit 104 can remind driver's adjustment of autonomous vehicle certainly by auditory information
The transport condition of main vehicle.For example, when determining unit 102 determines car based on the visual signature on the vehicle T in front of autonomous vehicle
When T is ambulance, adjustment unit 104 can " front vehicles be to rescue by being played in the loudspeaker on autonomous vehicle
Protect car, it is noted that avoid " information come remind the driver of autonomous vehicle adjust autonomous vehicle transport condition.
In certain embodiments, adjustment unit 104 can also remind the driver of autonomous vehicle to adjust by tactile data
The transport condition of autonomous vehicle.For example, when determining unit 102 is determined based on the visual signature on the vehicle T in front of autonomous vehicle
When vehicle T is ambulance, adjustment unit 104 can be by applying power-assisted to remind autonomous vehicle to the brake block of autonomous vehicle
Driver reduces the travel speed of autonomous vehicle；When determining unit 102 is based on the vehicle T at the preset distance of autonomous vehicle right back
On visual signature when to determine vehicle T be fire fighting truck, adjustment unit 104 can pass through to the steering wheel of autonomous vehicle and apply power-assisted
To remind the driver of autonomous vehicle to adjust the travel direction of autonomous vehicle, to be avoided to vehicle T；When determining unit 102
Visual signature on vehicle T based on autonomous vehicle right determines vehicle T when being fire fighting truck, adjustment unit 104 can pass through to
The accelerator pedal and/or steering wheel of autonomous vehicle apply power-assisted to remind the driver of autonomous vehicle to adjust the traveling of autonomous vehicle
Speed and/or travel direction, to be avoided to vehicle T.
In certain embodiments, adjustment unit 104 can also be by wiredly and/or wirelessly communicating above-mentioned auditory information
And/or visual information is sent to mobile device used in the driver of autonomous vehicle, so that the mobile device plays above-mentioned listen
Feel information and/or visual information.Here, the mobile device that user uses can be such as portable computer, tablet personal computer, function
The mobile terminal of mobile phone, smart mobile phone, personal digital assistant (PDA), wearable device etc.
Can be by removably or being fixedly mounted in car with reference to Fig. 1 to Fig. 5 driving assistance methods described and system
Computing device on is realized.Fig. 6 is to illustrate the ability to realize driving assistance method according to embodiments of the present invention and the meter of system
Calculate the structure chart of the exemplary hardware architecture of equipment.As shown in fig. 6, computing device 600 includes input equipment 601, input interface
602nd, central processing unit 603, memory 604, output interface 605 and output equipment 606.Wherein, input interface 602, center
Processor 603, memory 604 and output interface 605 are connected with each other by bus 610, input equipment 601 and output equipment
606 are connected by input interface 602 and output interface 605 with bus 610 respectively, so with the other assemblies of computing device 600
Connection.Specifically, input equipment 601 receives the input information from outside (for example, the sensor installed on vehicle), and passes through
Input interface 602 will input information transmission to central processing unit 603；Central processing unit 603 is based on the meter stored in memory 604
Calculation machine executable instruction is handled to generate output information input information, and output information is temporarily or permanently stored in
In memory 604, output information is then sent to by output equipment 606 by output interface 605；Output equipment 606 will export
Information is output to the outside of computing device 600 for users to use.
That is, the drive assist system 100 shown in Fig. 1 can also be implemented as including：Being stored with computer can hold
The memory of row instruction；And processor, the processor can be realized with reference to Fig. 1 and figure when performing computer executable instructions
The driving assistance method and system of 2 descriptions.Here, processor can be based on from for example, sensor on vehicle
Input information and perform computer executable instructions, so as to realize driving assistance method and system with reference to Fig. 1 and Fig. 2 descriptions.
It should be clear that the invention is not limited in particular configuration that is described above and being shown in figure and processing.
For brevity, it is omitted here the detailed description to known method.In the above-described embodiments, some tools have been described and illustrated
The step of body, is as example.But procedure of the invention is not limited to described and illustrated specific steps, this area
Technical staff can be variously modified, change and add after the spirit of the present invention is understood, or suitable between change step
Sequence.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
Close.When realizing in hardware, its may, for example, be electronic circuit, application specific integrated circuit (ASIC), appropriate firmware, insert
Part, function card etc..When being realized with software mode, element of the invention is used to perform program or the generation of required task
Code section.Either code segment can be stored in machine readable media program or the data-signal by being carried in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " can include any medium that can store or transmit information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
The present invention can realize in other specific forms, without departing from its spirit and essential characteristics.For example, particular implementation
Algorithm described in example can be changed, and system architecture is without departing from the essence spirit of the present invention.Therefore, currently
Embodiment be all counted as being exemplary rather than in all respects it is limited, the scope of the present invention by appended claims rather than
Foregoing description defines, also, fall into claim implication and equivalent in the range of whole change so as to all be included in
Among the scope of the present invention.
Claims (10)
1. a kind of driving assistance method, including：
Based on the visual signature on any vehicle around autonomous vehicle, determine whether the vehicle is the car for undertaking social function
；And
The vehicle be it is described undertake the vehicle of social function in the case of, adjust the autonomous vehicle operating parameter and/
Or the driver of the autonomous vehicle is reminded to adjust the transport condition of the autonomous vehicle.
2. driving assistance method according to claim 1, wherein, the operating parameter of the autonomous vehicle includes brake hard
Time, pre-impact time of fire alarming, doubling tolerance threshold and lane change enable one or more of threshold value.
3. driving assistance method according to claim 1, wherein, pass through visual information, auditory information and tactile data
One or more of remind the driver of the autonomous vehicle to adjust the transport condition of the autonomous vehicle.
4. driving assistance method according to claim 3, wherein, via the display on the autonomous vehicle to
The driver of the autonomous vehicle provides the visual information.
5. driving assistance method according to claim 3, wherein, via the loudspeaker on the autonomous vehicle to
The driver of the autonomous vehicle provides the auditory information.
6. driving assistance method according to claim 3, wherein, pass through the accelerator pedal to the autonomous vehicle, brake
One or more of piece and steering wheel apply power-assisted and provide the tactile data to the driver of the autonomous vehicle.
7. driving assistance method according to claim 3, in addition to：
The visual information and/or the auditory information and/or the tactile data are sent to the driving of the autonomous vehicle
The mobile device that person uses.
8. a kind of drive assist system, including：
Whether determining unit, the visual signature being configured as on any vehicle around based on autonomous vehicle, determine the vehicle
It is the vehicle for undertaking social function；And
Adjustment unit, be configured as the vehicle be it is described undertake the vehicle of social function in the case of, adjust described autonomous
The operating parameter of vehicle and/or the driver of the prompting autonomous vehicle adjust the transport condition of the autonomous vehicle.
9. a kind of drive assist system, including：
Memory, it is stored with computer executable instructions；
Processor, it is operable with perform claim requirement 1 to 7 when computer executable instructions described in the computing device
Driving assistance method described in any one.
10. a kind of drive assist system, including：
Sensor；
Memory, it is stored with computer executable instructions；
Processor, it is operable with based on from the sensor when computer executable instructions described in the computing device
Input information perform claim requirement 1 to 7 any one of driving assistance method.
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| CN201610519211.5A CN107571869A (en) | 2016-07-04 | 2016-07-04 | Driving assistance method and system |
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| CN111994074A (en) * | 2020-08-31 | 2020-11-27 | 江铃汽车股份有限公司 | Vehicle collision early warning method and device |
| CN111994074B (en) * | 2020-08-31 | 2021-11-02 | 江铃汽车股份有限公司 | Vehicle collision early warning method and device |
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Application publication date: 20180112 |