CN108510771A - Driving assistance system and vehicle including the driving assistance system - Google Patents
Driving assistance system and vehicle including the driving assistance system Download PDFInfo
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- CN108510771A CN108510771A CN201710108355.6A CN201710108355A CN108510771A CN 108510771 A CN108510771 A CN 108510771A CN 201710108355 A CN201710108355 A CN 201710108355A CN 108510771 A CN108510771 A CN 108510771A
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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
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Life Sciences & Earth Sciences (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
This application discloses a kind of driving assistance system for vehicle and the vehicles including the driving assistance system.The driving assistance system includes：Positioning unit is configured to the position of detection vehicle；Signal acquiring unit is configured to obtain the environmental information and own vehicle information of itself vehicle periphery；Processing unit is configured to：Based on the position of the vehicle detected, the current traffic condition and traffic regulations associated with current traffic condition and/or rule of vehicle are determined；The lane priority grade in current traffic condition is determined according to the environmental information of acquisition, own vehicle information and the traffic regulations of determination and/or rule；And corresponding guidance is provided for driver by lane priority grade determined by output.It, can be to avoid the traffic accident caused by lane priority grade by providing exact lane priority grade to driver.
Description
Technical field
The present invention relates generally to driving assistance systems, more particularly, to one kind for assisting vehicle when driving on road
Driver system.The invention further relates to the vehicles including the driving assistance system.
Background technology
Lead to frequent accidents due to violating lane priority grade.Especially in the case of no traffic lights or
In the place that no traffic indicates, driver is difficult to judge which side possesses lane priority grade person.In addition, being handed over about such as road
The traffic rules of the traffic of crunode interior of country between country or even is different.For example, it is specified that row in some tracks
People is prior to vehicle (or another saying, pedestrian is leading, and vehicle, which is necessary for pedestrian, gives way).In this case, driver
It must take into consideration each traffic regulations/rule about the traffic residing for them.Traditionally, driver according to themselves
Driving experience judges lane priority grade.This is typically due to the bad memory of driver and leads to confusion, or sometimes due to
The experience of driver may be insecure and sometimes even wrong and may lead to traffic accident.
Invention content
In order to overcome one or more disadvantages of traditional approach, present disclose provides one kind for being carried when driving on road
For driving the driving assistance system of guiding.The disclosure additionally provides the vehicle for including this driving assistance system.
According to the first aspect of the invention, a kind of driving assistance system is provided comprising：Positioning unit is configured to
Detect the position of vehicle；Signal acquiring unit is configured to obtain the environmental information and vehicle of itself vehicle periphery
Information；Processing unit is configured to：Based on the position of the vehicle detected, the current traffic condition of vehicle is determined
Associated traffic regulations and/or rule with current traffic condition；According to the environmental information of acquisition, own vehicle information and really
Fixed traffic regulations and/or rule determine the lane priority grade in current traffic condition；And pass through road determined by output
Priority for driver provides corresponding guidance.
Preferably, the processing unit is additionally configured to determine lane priority grade by following steps：Based on the ring obtained
Border information and the own vehicle information establish the model for determining driving behavior；Existed according to the model prediction driver
The behavior of subsequent time；And the behavior of the prediction is checked according to traffic regulations and/or rule.
Preferably, the signal acquiring unit includes one or more sensors, to detect own vehicle information, it is described from
Body information of vehicles includes vehicle traveling information and driver information.
Optionally, the vehicle traveling information includes one or more of the following terms：Steering wheel angle, throttle or system
Dynamic pedal position, car speed, the position of vehicle and direction of advance, acceleration, deceleration and vehicle car light.
Optionally, vehicle traveling information includes one of the following or multiple：Steering wheel angle, throttle or brake pedal position
It sets, car speed, the position and direction of vehicle, acceleration, deceleration information and vehicle car light information.
Optionally, the driver information includes one of the following or multiple：The facial expression of driver, driver
Movement, the position of driver, sight/head steering direction of driver and the identity of driver.
Optionally, the environmental information includes one of the following or multiple：The traffic participant of vehicle periphery, vehicle are just
Close intersection, the classification of traffic participant, flag information, vehicle traveling track type or extremely
The occupancy situation in a few track.
Optionally, when the identified lane priority grade of output, the processing unit can pass through the sense of hearing, vision
And/or the mode of tactile exports specific information or warning.
Optionally, the driving assistance system further includes：Storage unit is configured to storage traffic state data；And
The processing unit is additionally configured to the traffic state data stored by the location retrieval based on the vehicle detected come really
Determine current traffic condition.
According to the second aspect of the invention, a kind of method for assisting driver when driving on road is provided,
Including：The position of vehicle is detected in real time；Obtain the environmental information and own vehicle information of itself vehicle periphery；Based on institute
The position of the vehicle of detection determines current traffic condition and traffic associated with the current traffic condition rule of vehicle
Fixed and/or rule；According to environmental information, own vehicle information and the identified traffic regulations and/or rule obtained come really
Determine the lane priority grade in current traffic condition；And it is provided for driver by exporting the identified lane priority grade
Corresponding guidance.
Preferably, the lane priority grade in the current traffic condition is further determined by the following：Based on the ring obtained
Border information and the own vehicle information establish the model for determining driving behavior；Existed according to the model prediction driver
The behavior of subsequent time；And the behavior of the prediction is checked according to traffic regulations and/or rule.
According to the third aspect of the invention we, a kind of vehicle is additionally provided comprising driving assistance system above-mentioned.
Driving assistance system in the present invention, can be to avoid by road by providing exact lane priority grade to driver
Traffic accident caused by priority.
Description of the drawings
From the description of claim and following preferred embodiments based on attached drawing, further advantage of the present invention,
Feature and details will become obvious.Wherein：
Fig. 1 is the schematic block diagram for showing the driving assistance system for embodying one or more embodiments of the invention.
Fig. 2 is the hardware component for showing the exemplary driving assistance system for embodying one or more embodiments of the invention
Schematic block diagram.
Fig. 3 is the schematic flow chart for showing driving assistance method according to an embodiment of the present disclosure.
It may be evident, however, that elaborating detail in order to provide the understanding of the present invention.But
It is, it will be apparent to those skilled in the art that, without these specific details, this hair can also be implemented
It is bright.In addition, those skilled in the art will appreciate that, invention described below embodiment can be with such as process, dress
It sets, the various ways of system, equipment or method are realized on a tangible computer-readable medium.
Specific implementation mode
The preferred embodiment of the present invention is described with reference to the accompanying drawings.It note that terms used herein " traffic " are logical
The relevant various situations of Chang Zhiyu traffic, such as vehicle on multiple-lane road the case where travelling or multiple vehicles are on road
The case where merging.More specifically, term shown in above and below " crossing " is not necessarily mean that road being limited to specific type,
It can be used for covering all road types, such as four crossway, T shapes road, the intersection of expressway exit, two or more
The intersection etc. of road intersection.
Fig. 1 is the schematic block diagram for showing the driving assistance system for embodying one or more embodiments of the invention.Such as
Shown in Fig. 1, driving assistance system 10 includes positioning unit 11, signal acquiring unit 12 and processing unit 13.Positioning unit 11 is matched
It is set to the position of detection vehicle.Signal acquiring unit 12 is configured to obtain the environmental information of itself vehicle periphery and itself vehicle
Information.Processing unit 13 is configured to the position of the vehicle detected to determine the current traffic condition of vehicle
Associated traffic regulations and/or rule with current traffic condition, and according to the road in current traffic condition identified below
Road priority：Environmental information, own vehicle information and the identified traffic regulations and/or rule obtained.In response to
Identified lane priority grade in current traffic condition, processing unit 13 is also by lane priority grade determined by output come to drive
The person of sailing provides corresponding guidance.
Described below for the operation principle of driving assistance system 10.Positioning unit 11 positions the real-time position of vehicle
It sets, and signal acquiring unit 12 obtains environmental information and own vehicle information.Processing unit 13 determines the current of vehicle
Traffic, and the corresponding information about current traffic condition is retrieved according to the real time position positioned.Based on the letter retrieved
Breath and the information that is obtained, processing unit 13 can determine the various information about current traffic condition, such as vehicle traveling
The type in track, the type or other environmental informations about current traffic condition at the close crossing of vehicle, then determines
Which side possesses the lane priority grade about current traffic condition, and is instructed to avoid in road for driver's output is corresponding
On violation when driving.
Above-mentioned environmental information may include one of the following or multiple：One in the traffic participant of vehicle periphery or
The vehicle that the close road junction of multiple, vehicle, the classification of traffic participant, flag information, vehicle are travelling
The type in road or the occupancy situation at least one track.One or more traffic participants of vehicle periphery may include itself vehicle
Pedestrian, bicycle and/or vehicle around.Flag information include traffic sign (such as school zone, no turn marking etc.),
Traffic lights etc..The type in track includes urgent track, cycle track, Bus lane or driving vehicle is limited to specific type
Other tracks.
Own vehicle information includes vehicle traveling information and driver information.Vehicle traveling information can be selected from but not limited to
By steering wheel angle, throttle or brake pedal position, car speed, the position and direction of vehicle, acceleration, deceleration and vehicle
The group of car light information composition.
Driver information includes that the facial expression of driver, the movement of driver, the position of driver, driver regard
Line/head turns to and the identity of driver.Driver information listed above can also be wrapped for preferably explaining the disclosure
Include any other information about driver.
It can be to avoid road by determining lane priority grade of the vehicle in current traffic condition according to the disclosure
In violation of rules and regulations, and the traffic accident as caused by road violation will be greatly reduced.
In a preferred embodiment, processing unit 13 can also by based on model prediction subsequent time driver's
Behavior simultaneously checks the behavior of the prediction to determine lane priority grade for traffic regulations and/or rule.It will be described in later
The details of the model.
How to determine that the specific implementation of the lane priority grade of vehicle can be as follows：
Processing unit 13 can be based on vehicle location retrieval traffic state data and corresponding traffic regulations or rule
Then data；The model for determining driving behavior is established based on the environmental information obtained and the own vehicle information；It will
The environmental information and own vehicle information of acquisition are input to the behavior that subsequent time driver is predicted in model；For being retrieved
Traffic regulations and/or rule check predictive behavior, with check driver whether have lane priority grade.
By predicting the driving behavior of subsequent time and checking prediction row for the traffic regulations and/or rule stored
For system can provide lane priority grade butt really to driver, and reserve time enough for driver to take action.
It will be understood by those skilled in the art that the unit in device disclosed herein can be distributed in the device of embodiment
In, and can also change in the one or more devices different from those embodiments.The unit of above-described embodiment can
To be integrated into a unit, or multiple subelements can be further divided into.
With reference to figure 2, the block diagram of the hardware component of exemplary driving assistance system 10 is shown.Driving assistance system 10 can be with
Including positioning device 201, one or more sensors 202, data storage 203, processor 204,205 and of vehicle communication device
Input/output component 206.Component illustrated above can be the separate part of one specific function of realization, or can be with integrated
Form is partly or wholly combined to realize more or repertoire.It should be appreciated that above-mentioned driving assistance system 10 is only
Example, and can be with the different configuration of more or fewer components or component than shown in.Connection side between component
Formula can be wired, wireless or combinations thereof.
Positioning device 201 can detect the real time position of vehicle.The real time position of vehicle can be obtained with for processor 204
Reference is provided, to retrieve the data about current traffic condition, such as the track of vehicle traveling.Positioning device 201 can
To be GPS receiver or any other device with positioning function in existing field, the invention is not limited thereto.
Sensor 202 can be used for obtaining environmental information and own vehicle information.Environmental information instruction vehicle is travelling
When the vehicle periphery information, and own vehicle information is the information about vehicle itself.Own vehicle information can also include
Vehicle traveling information and driver information.
Environmental information may include one of the following or multiple：Vehicle periphery traffic participant (such as pedestrian, voluntarily
Vehicle around vehicle or vehicle), the close intersection of the classification of traffic participant, flag information, vehicle
The occupancy situation in point or at least one track.Correspondingly, sensor 202 may include traffic participant detection sensor, track
Detection sensor etc..
Vehicle traveling information can be selected from but not limited to the group being made of following information：Steering wheel angle, throttle or braking
Pedal position, the speed of vehicle, the position and direction of vehicle, acceleration, deceleration and vehicle car light.Correspondingly, sensor 202
Can also include vehicle speed sensor, vehicle location sensor etc..Or in other embodiments, some vehicles traveling letter
Breath can be obtained directly from vehicle (such as CAN bus etc. of vehicle).Above-mentioned information of vehicles individually or combinations thereof can make
It is used to predict the behavior of driver for indicator.For example, the vehicle car light information by obtaining illumination of such as turning left, system are pre-
Measuring car will turn left.Or in another example, when system obtains the direction of advance of vehicle (from information of vehicles with before
Into directional information) while when being biased to a left side and turning left to illuminate, prediction vehicle will turn left.
Detected driver information is used for the reference of processor 204.The information of driver may include it is following in one
It is a or multiple：The facial expression of driver, the movement of driver, the position of driver, driver sight/head steering direction
And the identity of driver.Processor 204 can predict the row in subsequent time driver by identifying the information of driver
For.
In one embodiment, movement, facial expression and the position of driver can be captured using onboard sensor.
By capturing the movement (for example, his/her head is turned to a specific direction by driver) of driver, the prediction of processor 204 is driven
The person of sailing intends to turn to specific direction.For example, when the right direction of visual lines or head that capture driver are turned right, processor 204
Predict that driver has the intention for turning to the right or changing to right lane.Or in another example, braking is stepped down in when capturing
When movement on pedal, processor 204 predicts that driver will slow down.Above-mentioned example is for illustration purposes only, and this field
Those of ordinary skill is it should be appreciated that can use other behaviors of capture or expression to be used in the same manner as described above in advance
It surveys.
In another embodiment, imaging sensor, radar sensor, the laser sensor of such as camera can be used
Or sonac is to capture the information of one or more types as described above.For example, radar sensor can be used for detecting
The speed of vehicle, and in-vehicle camera can be used for by capture in real time or at regular intervals the figure of driver come
Capture the expression of driver.Processor 204 can be predicted to drive by identifying the expression of the driver in the photo shot
The behavior for the person of sailing.
It is also understood that imaging sensor, radar sensor, laser sensor, sonac or other types of biography
Sensor be can be used alone or be combined to capture one or more information as described above.For example, imaging sensor can be independent
Ambient enviroment for capturing the track travelled about vehicle, and vehicle-mounted imaging sensor can be used for driving by captured in real-time
The photo for the person of sailing or anchor-frame the photo of driver is shot to capture the information of driver.Processor 204 can calculate accordingly
Car speed or other information, and identify that traffic participant and facial expression or body are transported by analyzing the photo of shooting
It is dynamic.
Data storage 203 can be such as random access memory (RAM), static state RAM (SRAM), dynamic ram
(DRAM) etc volatile memory；Or the nonvolatile memory of such as read-only memory (ROM), flash memory or disk；Or
Combinations of the above.Data storage 203 can be used for storing the program instruction or algorithm that can be executed by processor 204.
In addition, when executing the various functions of the disclosure, data storage 203 can be also used for memory of driving auxiliary system
Data needed for 10.For example, required data may include show road junction cartographic information and corresponding traffic regulations and/
Or the geographical numerical data of rule.
Processor 204 is configurable to realize the general processor that function some or all of is described herein, such as central
Processing unit (CPU), MCU or digital signal processor (DSP).Additionally or alternatively, processor 204 may also include programmable
Equipment, such as application-specific integrated circuit or field programmable gate array (FPGA) equipment.
In other embodiments, processor 204 can determine the road under present case by realizing its algorithm or program
Road priority.Algorithm or program can realize independent sector or the realization of standalone feature (for example, behavior of prediction driver)
The integration section (predict the behavior of driver and check predictive behavior for traffic regulations and/or rule) of allomeric function.Place
Reason device 204 can be stored in the geography number in data storage 203 according to the real time position retrieval obtained by positioning device 201
Data and corresponding traffic regulations and/or rule.Processor 204 can also determine Current traffic shape according to the environmental information of acquisition
Lane priority grade, own vehicle information and the traffic regulations retrieved under condition and/or rule.
In one embodiment, processor 204 can be by being input to mould by the environmental information of acquisition, own vehicle information
The driving behavior of subsequent time is predicted in type.Model can be the algorithm that can perform by processor 204 or program.The model
It can be implemented as receiving one or more inputs (own vehicle information or the environmental information obtained), and by running wherein
The algorithm implemented and logic export predicted behavior.
In one embodiment, one or more input informations can be the independent information received as input.Example
Such as, input information can be the single figure for the driver condition for showing a particular moment.Algorithm or program can be processing
By the image processing algorithm or program of the figure of in-vehicle camera capture.Vehicle-mounted vidicon can be used for capturing the real-time figure of driver
Shape.Algorithm or program can judge to drive in subsequent time by identifying some movements or the facial expression of the driver in figure
The behavior for the person of sailing.For example, for the figure that the head comprising driver turns to a specific direction, algorithm or program can be with
Identify that driver wants turning to specific direction according to this figure.
In other embodiments, one or more input informations can be the information of fusion, and fusion is never the same as sensing
Device or other information obtain one or more information that equipment obtains.For example, figure and vehicle traveling information can pass through sensing
Device merges to merge, to generate fuse information as input.
One or more information described in the above embodiment are for illustration purposes only, however it is not limited to this.This field is general
Lead to it will be appreciated by the skilled person that the other information received as input can be handled according to identical principle.
Once identifying the potential behavior of driver, processor 204 can further judge identified behavior current
Whether will cause in traffic in violation of rules and regulations, such as in current lane when driving.In addition, being based on the judgement, can export specific
Information or warning.In one embodiment, processor 204 can be directed to traffic regulations or rule about current traffic condition
To check identified behavior.If the behavior identified cannot get traffic regulations or rule, (or another saying, driver is not
With lane priority grade) support, then processor 204 can be by exporting corresponding warning come to the potential road of warning driver
Road priority is in violation of rules and regulations.If the behavior identified obtains the support of traffic regulations or rule, processor 204 can ignore driving
The potential behavior or processor of member can provide some useful informations for the behavior identified.For example, when driver anticipates
When figure drives into bus dedicated Lanes, corresponding warning is sent to driver.
System 100 can also include vehicle communication device 205.Vehicle communication device 205 can will be under current traffic condition
Identified lane priority grade is transferred to the vehicle control mechanism of the steering for controlling vehicle, the brake for controlling vehicle
The position control mechanism of gear with the brake and gas pedal control mechanism of accelerator pedal, and/or for controlling vehicle.One
Denier determines the negative mark of the potential behavior of driver, then vehicle control signal can be transferred to by vehicle communication device 205
Vehicle control mechanism.If vehicle travels in automatic mode, control signal is executed so that vehicle is automatically steered to or brakes vehicle
.If vehicle travels in a manual mode, driver can be supplied control signals to notify driver manually to turn
To or abrupt deceleration vehicle.
In another embodiment, identified lane priority grade can be transferred to input/defeated by vehicle communication device 205
Go out component 206, to provide guidance when driver is in traveling (such as close to crossing) on road for driver.Vehicle communication device
205 can be the CAN bus for being located at vehicle interior or the remote-control device for wirelessly receiving and transmitting signal.
Input output assembly 206 may include display, loud speaker or microphone.This input/output component 206 can
For promoting the interaction between driving assistance system 10 and vehicle driver.For example, microphone can receive language from driver
Sound order (voice command for such as initiating the startup of driving assistance system 10).Loud speaker can be used for providing voice to driver
Notice.For example, when processor 204 is determined as the lane priority grade mark of negative, can be exported to driver similar to " you do not have
The corresponding voice of lane priority grade " etc..Display can be used for that man-machine interface is presented, and can provide various objects, including but
It is not limited to figure, text, video and animation.In some embodiments, display can be used as outputting and inputting touching for component
Quick device.Instruction or warning in the form of Pop-up message may be displayed on display.
The hardware of above-mentioned driving assistance system 10 is for the purpose of illustration.When constituting driving assistance system 10, can save
It omits some components or additional component can be added.In other embodiments, some components can be integrated each other to realize
Multiple functions.
The disclosure also discloses a kind of vehicle equipped with above-mentioned driving assistance system 10.In one embodiment, above-mentioned
Driving assistance system 10 can be mounted in the individual components of vehicle interior.In other embodiments, driving assistance system 10 is right
The determination of lane priority grade can be merged with other drive systems (such as DAS).Driving assistance system 10 can be with other driving
Auxiliary system shares some components to provide cooperation guidance to driver.
Fig. 3 is the schematic flow chart for showing the driving assistance method according to an embodiment of the present disclosure for vehicle.
Driving assistance method 300 can be executed by driving assistance system 10 as shown in Figure 1 or 2.
In step 31, the position of vehicle is detected in real time.
The position of vehicle can be obtained to provide reference for processing unit 11, in order to retrieve about the current of vehicle
The data of traffic.
In the step 32, the environmental information and own vehicle information of itself vehicle periphery are obtained.
Environmental information can indicate vehicle on the direction that vehicle travels around information, and own vehicle information is
Information about vehicle itself.Own vehicle information can also include vehicle traveling information and driver information.
Environmental information may include following one or more：The traffic participant of vehicle periphery is (for example, pedestrian, bicycle
Or other vehicles around vehicle), the classification of traffic participant, the close crossing of flag information, lane information, vehicle
Or the occupancy situation at least one track.Correspondingly, sensor may include the detection sensor of traffic participant, lane detection
Sensor etc..
Vehicle traveling information can be selected from but not limited to the group being made up of：Steering wheel angle, throttle or brake pedal
Position, the speed of vehicle, the position and direction of vehicle, acceleration, deceleration and vehicle car light.Driver information can be selected from but
It is not limited to the group being made of the position of the facial expression of driver, the head movement of driver and driver.
In one embodiment, can use imaging sensor, radar sensor, laser sensor, sonac or
A combination thereof captures the information of one or more types as described above.
In step 33, based on position associated with vehicle is detected, the Current traffic of vehicle is determined
Situation and traffic regulations associated with current traffic condition and/or rule.
Processing unit 13 can determine current traffic condition according to the real time position residing for positioning unit 11, and retrieve and work as
The preceding relevant corresponding data of traffic.The data can be indicated the cartographic information about current traffic condition and correspond to
The traffic regulations of current traffic condition and/or the geographical numerical data of rule.
In step 34, according to the environmental information, own vehicle information and the identified traffic regulations that are obtained and/or rule
Then determine the lane priority grade in current traffic condition.
Lane priority grade in current traffic condition can also be further determined that by following steps：Based on the ring obtained
Border information and the own vehicle information establish the model for determining driving behavior；Existed according to the model prediction driver
The behavior of subsequent time；And check predicted behavior for traffic regulations and/or rule.
In step 35, in response to identified lane priority grade, by lane priority grade determined by output come for
Driver provides corresponding guidance.
In one embodiment, corresponding guidance, institute can be provided to driver in the form of specific information or warning
It states specific information or warning is exported by way of the sense of hearing, vision and/or tactile.
In another embodiment, corresponding guiding can signal in order to control, can be performed with automatic or manual
Ground makes Vehicular turn or abrupt deceleration vehicle.
Although it is considered as that the most practical and preferred embodiment describe the disclosure, people in the art to have been combined
Member is it should be appreciated that the limitation is not limited to the disclosed embodiments, and is intended to cover the various arrangements for including without departing from most wide
The range of general explanation, to include all such modifications and equivalent arrangements.
Claims (11)
1. a kind of driving assistance system, including：
Positioning unit is configured to the position of detection vehicle；
Signal acquiring unit is configured to obtain the environmental information and own vehicle information of itself vehicle periphery；
Processing unit is configured to：
Based on the position of the vehicle detected, the current traffic condition of vehicle and related to current traffic condition is determined
The traffic regulations and/or rule of connection；
Current traffic condition is determined according to the environmental information of acquisition, own vehicle information and the traffic regulations of determination and/or rule
In lane priority grade；And
By lane priority grade determined by output corresponding guidance is provided for driver.
2. driving assistance system according to claim 1, wherein the processing unit is additionally configured to true by following steps
Determine lane priority grade：
The model for determining driving behavior is established based on the environmental information obtained and the own vehicle information；
According to the model prediction driver subsequent time behavior；And
The behavior of the prediction is checked for traffic regulations and/or rule.
3. driving assistance system according to claim 1 or 2, wherein the signal acquiring unit includes one or more
Sensor, to detect own vehicle information, the own vehicle information includes vehicle traveling information and driver information.
4. driving assistance system according to claim 3, wherein the vehicle traveling information includes one in the following terms
It is a or multiple：Steering wheel angle, throttle or brake pedal position, car speed, the position of vehicle and direction of advance, acceleration,
Deceleration and vehicle car light.
5. driving assistance system according to claim 3 or 4, wherein the driver information includes one of the following
Or it is multiple：The facial expression of driver, the movement of driver, the position of driver, driver sight/head steering direction with
And the identity of driver.
6. driving assistance system according to any one of claims 1 to 5, wherein during the environmental information includes following
It is one or more：The close intersection of traffic participant, the vehicle of vehicle periphery, the classification of traffic participant, mark
The type in the track of will information, vehicle traveling or the occupancy situation at least one track.
7. driving assistance system according to any one of claims 1 to 6, wherein when the identified road of output is excellent
When first grade, the processing unit can export specific information or warning by way of the sense of hearing, vision and/or tactile.
8. driving assistance system according to any one of claims 1 to 7, wherein the driving assistance system further includes：
Storage unit is configured to storage traffic state data；And
The processing unit is additionally configured to the traffic state data stored by the location retrieval based on the vehicle detected
To determine current traffic condition.
9. a kind of vehicle has such as claim 1 to 8 any one of them driving assistance system.
10. a kind of method for assisting driver when driving on road, including：
The position of vehicle is detected in real time；
Obtain the environmental information and own vehicle information of itself vehicle periphery；
Based on the position of the vehicle detected, the current traffic condition of vehicle and related to current traffic condition is determined
The traffic regulations and/or rule of connection；
Current friendship is determined according to environmental information, own vehicle information and the identified traffic regulations and/or rule that are obtained
Lane priority grade in logical situation；And
By exporting the identified lane priority grade corresponding guidance is provided for driver.
11. according to the method described in claim 10, wherein, lane priority grade in the current traffic condition further by with
Lower determination：
The model for determining driving behavior is established based on the environmental information obtained and the own vehicle information；
According to the model prediction driver subsequent time behavior；And
Predicted behavior is checked for traffic regulations and/or rule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108355.6A CN108510771A (en) | 2017-02-27 | 2017-02-27 | Driving assistance system and vehicle including the driving assistance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108355.6A CN108510771A (en) | 2017-02-27 | 2017-02-27 | Driving assistance system and vehicle including the driving assistance system |
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| Publication Number | Publication Date |
|---|---|
| CN108510771A true CN108510771A (en) | 2018-09-07 |
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ID=63374110
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710108355.6A Pending CN108510771A (en) | 2017-02-27 | 2017-02-27 | Driving assistance system and vehicle including the driving assistance system |
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| CN (1) | CN108510771A (en) |
Cited By (22)
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| CN113711630A (en) * | 2019-04-08 | 2021-11-26 | 宁波吉利汽车研究开发有限公司 | Understanding road signs |
| CN111833597B (en) * | 2019-04-15 | 2024-04-09 | 哲内提 | Autonomous decision making in traffic situations with planning control |
| CN111833597A (en) * | 2019-04-15 | 2020-10-27 | 哲内提 | Autonomous decision making in traffic situations with planning control |
| CN113661111A (en) * | 2019-04-16 | 2021-11-16 | 宝马汽车股份有限公司 | Control unit and method for the identification, classification and prediction of the interaction demand of an autonomous vehicle |
| CN113795873A (en) * | 2019-05-03 | 2021-12-14 | 三星电子株式会社 | Electronic device and method for assisting vehicle driving |
| CN113795873B (en) * | 2019-05-03 | 2023-09-12 | 三星电子株式会社 | Electronic device and method for assisting driving of a vehicle |
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| CN112644511A (en) * | 2019-10-11 | 2021-04-13 | 通用汽车环球科技运作有限责任公司 | Intelligent upgrade strategy for autonomous vehicles |
| CN110825090A (en) * | 2019-11-29 | 2020-02-21 | 苏州智加科技有限公司 | Method, device and storage medium for dividing prediction priority of automatic driving vehicle |
| CN113012468A (en) * | 2019-12-19 | 2021-06-22 | 丰田自动车株式会社 | Driving support device, driving support system, and storage medium |
| CN113306568A (en) * | 2020-02-27 | 2021-08-27 | 大众汽车股份公司 | Autonomous vehicle and method of operating an autonomous vehicle |
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| CN113516844A (en) * | 2020-04-10 | 2021-10-19 | 深圳富泰宏精密工业有限公司 | Driving assistance method and vehicle |
| CN113602282A (en) * | 2020-04-16 | 2021-11-05 | 丰田自动车株式会社 | Vehicle driving and monitoring system and method for maintaining situational awareness at a sufficient level |
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| CN114763161A (en) * | 2021-01-12 | 2022-07-19 | 本田技研工业株式会社 | Vehicle system for determining a recommended lane |
| CN112818910B (en) * | 2021-02-23 | 2022-03-18 | 腾讯科技（深圳）有限公司 | Vehicle gear control method and device, computer equipment and storage medium |
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| US12072021B2 (en) | 2021-02-23 | 2024-08-27 | Tencent Technology (Shenzhen) Company Limited | Vehicle gear control method and apparatus, computer device, and storage medium |
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Application publication date: 20180907 |