CN109959385A - Vehicle drive assist system and method - Google Patents
Vehicle drive assist system and method Download PDFInfo
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- CN109959385A CN109959385A CN201711429938.5A CN201711429938A CN109959385A CN 109959385 A CN109959385 A CN 109959385A CN 201711429938 A CN201711429938 A CN 201711429938A CN 109959385 A CN109959385 A CN 109959385A
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- main vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The present invention relates to vehicle drive assist systems and method.Vehicle drive assist system, comprising: reception device, for receiving other information of vehicles of at least two other vehicles in main vehicle periphery preset range；Judgment means are drawn, for being judged between at least two other vehicles according to other information of vehicles of at least two other vehicles with the presence or absence of traction relationship；Into judgment means are intended to, for judging that there are in the case where traction relationship, judge whether main vehicle is intended to enter between at least two other vehicles according to the main information of vehicles of main vehicle and/or driver information between at least two other vehicles；And output device, in the case where judging that main vehicle intention enters between at least two other vehicles, output to control signal.
Description
Technical field
The present invention relates generally to the driving field of auxiliary for vehicle, relate more specifically to vehicle drive assist system and
Method.
Background technique
When main vehicle on road when driving, driver can not know depositing for the tractor and trailer of main vehicle periphery sometimes
?.Fig. 1 shows a kind of vehicle example of scene driving on the road.
As shown in Figure 1, on a highway, main vehicle 10 moves forward in left side Through Lane, other two vehicles 20
Move forward with 30 in right side Through Lane, wherein one of other two vehicles (front truck) 20 be tractor, and other two
The another one (rear car) 30 of a vehicle is trailer.When the main vehicle travelled on the Through Lane of left side is intended to across other two vehicles
When highway is left in outlet between 20 and 30 on the right side of highway, the driver of main vehicle may ignore other two
It is existing between a vehicle 20 and 30 to pull steel wire 40, thus cause to cause traffic accident.
For this reason, it may be necessary to a kind of tractor for being able to detect main vehicle periphery and by the presence of tractor and judge main vehicle
It is intended to enter tractor and the system and method for drive assistance function is provided when by between tractor.
Summary of the invention
It is auxiliary the object of the present invention is to provide the tractor for being able to detect main vehicle periphery and by the existing driving of tractor
Auxiliary system, method and vehicle.It is a further object of the present invention to provide judging main vehicle intention into tractor and by tractor
Between Shi Xiangzhu vehicle driver provide early warning control driving assistance system, method and vehicle.
One aspect of the present invention provides a kind of vehicle drive assist system, comprising: reception device, for receiving main vehicle
Other information of vehicles of at least two other vehicles in surrounding preset range；Acquisition device, for obtaining the main vehicle
Main information of vehicles and/or driver information；Judgment means are drawn, for other vehicles according at least two other vehicles
Information judges between described at least two other vehicles with the presence or absence of traction relationship；Into judgment means are intended to, for sentencing
Break between described at least two other vehicles there are in the case where traction relationship, according to the main information of vehicles of the main vehicle and/
Or driver information judges whether the main vehicle is intended to enter between described at least two other vehicles；And output dress
It sets, in the case where judging that the main vehicle intention enters between described at least two other vehicles, output control to be believed
Number.
According to an embodiment of the invention, other information of vehicles of at least two other vehicles include in following parameter
One or more: driving condition has fault-free, exists and pull steel wire, LED status, the phase between at least two other vehicles
It adjusts the distance.
According to an embodiment of the invention, the main information of vehicles of the main vehicle includes one or more in following parameter:
Relative to the distance of at least two other vehicles, directional velocity, acceleration direction, turning angle of steering wheel, turn signal state,
Plan driving path.
According to an embodiment of the invention, the driver information of the main vehicle includes one or more in following parameter:
End rotation angle, direction of gaze, fixation range, observation rearview mirror movement.
According to an embodiment of the invention, the acquisition device is configured to from the inside detection dress being mounted on the main vehicle
It sets or navigation device obtains the main information of vehicles of the main vehicle.
According to an embodiment of the invention, the acquisition device is configured to from the Internal camera dress being mounted in the main vehicle
Set the driver information for obtaining the main vehicle.
According to an embodiment of the invention, the control signal includes one or more in following signals: (a) for making institute
State the signal of main vehicle braking；(b) for the occupant of the main vehicle provide can perception information signal；(c) for making institute
State the signal that the steering wheel of main vehicle is rotated towards the opposite direction of described at least two other vehicles；And (d) for will be described
Area marking between at least two other vehicles be can not driver area signal.
According to an embodiment of the invention, the vehicle drive assist system further include: sending device is configured to judging
In the case that the main vehicle intention enters between described at least two other vehicles, other vehicles of Xiang Suoshu at least two hair
Send the main information of vehicles of the main vehicle.
Another aspect of the present invention provides a kind of vehicle, including above-mentioned vehicle drive assist system.
Another aspect of the present invention provides a kind of vehicle drive assisting method, comprising: receives main vehicle periphery preset range
Other information of vehicles of at least two interior other vehicles；Obtain the main information of vehicles and/or driver information of the main vehicle；
Judged to whether there is between described at least two other vehicles according to other information of vehicles of at least two other vehicles
Traction relationship；Judging between described at least two other vehicles there are in the case where traction relationship, according to the main vehicle
Main information of vehicles and/or driver information come judge the main vehicle whether be intended to enter described at least two other vehicles it
Between；And in the case where judging that the main vehicle intention enters between described at least two other vehicles, output control letter
Number.
According to an embodiment of the invention, other information of vehicles of at least two other vehicles include in following parameter
One or more: driving condition has fault-free, exists and pull steel wire, LED status, the phase between at least two other vehicles
It adjusts the distance.
According to an embodiment of the invention, the main information of vehicles of the main vehicle includes one or more in following parameter:
Relative to the distance of at least two other vehicles, directional velocity, acceleration direction, turning angle of steering wheel, turn signal state,
Plan driving path.
According to an embodiment of the invention, the driver information of the main vehicle includes one or more in following parameter:
End rotation angle, direction of gaze, fixation range, observation rearview mirror movement.
According to an embodiment of the invention, the main information of vehicles of the main vehicle is examined from the inside being mounted on the main vehicle
It surveys device or navigation device obtains.
According to an embodiment of the invention, the driver information of the main vehicle is taken the photograph from the inside being mounted in the main vehicle
As device obtains.
According to an embodiment of the invention, the control signal includes one or more in following signals: (a) for making institute
State the signal of main vehicle braking；(b) for the occupant of the main vehicle provide can perception information signal；(c) for making institute
State the signal that the steering wheel of main vehicle is rotated towards the opposite direction of described at least two other vehicles；And (d) for will be described
Area marking between at least two other vehicles be can not driver area signal.
According to an embodiment of the invention, the vehicle drive assisting method further include: judge the main vehicle be intended into
Enter in the case where between described at least two other vehicles, other vehicles of Xiang Suoshu at least two send the master of the main vehicle
Information of vehicles.
Detailed description of the invention
The present invention may be better understood from the description with reference to the accompanying drawing to a specific embodiment of the invention,
In, similar label indicates identical or functionally similar element.
Fig. 1 is a kind of vehicle example of scene driving on the road.
Fig. 2 is the rough schematic view of vehicle, and the vehicle drive assist system of embodiment according to the present invention can be applied to this
In vehicle.
Fig. 3 is the flow chart of the vehicle drive assisting method of embodiment according to the present invention.
Specific embodiment
Hereinafter, embodiment of the invention will be described with reference to drawings.Following detailed description and drawings are for illustratively saying
Bright the principle of the present invention, the present invention is not limited to described preferred embodiment, the scope of the present invention is defined by the claims.It is existing
The embodiment the present invention is described in detail of reference example, some embodiments are illustrated in the drawings.Be described below with reference to attached drawing into
Row, unless otherwise indicated, otherwise same reference numerals in different figures represent same or similar element.Following exemplary
Scheme described in embodiment does not represent all schemes of the invention.On the contrary, these schemes are related in appended claims
And various aspects of the invention system and method example.
The vehicle drive assist system of embodiment according to the present invention may be mounted on vehicle or be applied to vehicle.Vehicle
Can be using internal combustion engine as the internal-combustion engines vehicle of driving source, using motor as the electric car of driving source or fuel cell car,
With both above-mentioned hybrid vehicle for driving source or the automobile with other driving sources.
Fig. 2 is the schematic diagram of the vehicle of embodiment according to the present invention.As shown in Fig. 2, main vehicle 10 includes vehicle drive
Auxiliary system 100.For brevity, in main vehicle 10 components such as well known power and manipulation device, transmission system not in Fig. 2
In show.
As shown in Fig. 2, vehicle drive assist system 100 may include reception device 110, acquisition device 120, traction judgement
Device 130, into being intended to decision maker 140 and output device 150.
Reception device 110 can receive its of at least two other vehicles 20,30 in main 10 surrounding preset range of vehicle
His information of vehicles.Preset range can be the range within 100 meters away from main vehicle.According to some embodiments, preset range can be with
For the range within ten meters of main 10 left side of vehicle and/or right side.It should be appreciated that the present invention is not limited thereto.Preset range can be with
It is greater or lesser range.Other information of vehicles may include indicating to whether there is between at least two other vehicles 20 and 30
The information of traction relationship, including but not limited to: driving condition has fault-free, exists and pull steel wire, at least two other vehicles 20
And relative distance between 30 etc..
According to an embodiment of the invention, main vehicle 10 can be at least two other vehicles 20,30 direct communications.In the reality
It applies in example, the reception device 110 of main vehicle 10 directly can receive other information of vehicles from least two other vehicles 20,30.
According to some embodiments, main vehicle 10 can be via Cloud Server and at least two other vehicles 20,30 indirect communications.In the reality
It applies in example, other information of vehicles of at least two other vehicles 20,30 upload to Cloud Server first, and then main vehicle 10 connects
Receiving apparatus 110 receives other information of vehicles from Cloud Server.Accoding to exemplary embodiment, main 10, at least two other vehicles of vehicle
20,30 and cloud service have a high regard for and can be communicated between the two via Wi-Fi or mobile network etc..
According to other embodiments of the invention, reception device 110 can also be filled from the external detection for being installed to main vehicle 10
Set other information of vehicles for obtaining at least two other vehicles 20,30.External detection device is for example including external pick-up device.Outside
Portion's photographic device may be mounted at front, rear or the other positions of main vehicle 10, and may include general camera, infrared
Camera etc..External pick-up device can capture at least two outside (for example, working with 60 ° or so of angle) main vehicle 10 in real time
The image of other a vehicles 20,30 is simultaneously presented to driver and/or passenger.In addition, passing through the picture captured to external pick-up device
Face is analyzed, other information of vehicles of available at least two other vehicles 20,30, for example, at least two other vehicles 20
And whether there is or not pull steel wire etc. between 30.
Acquisition device 120 can receive the main information of vehicles and/or driver information of main vehicle 10.Main information of vehicles can be with
Information including indicating the driving status of main vehicle 10, including but not limited to: distance, speed relative at least two other vehicles
Spend direction, acceleration direction, turning angle of steering wheel, turn signal state, planning driving path etc..Driver information may include table
Show the driving behavior of the driver of main vehicle 10 or the information of driving condition, including but not limited to: end rotation angle, the side of watching attentively
To, fixation range, observation rearview mirror movement etc..
According to an embodiment of the invention, acquisition device 120 can from the internal inspection device being mounted on main vehicle 10 or
Navigation device obtains the main information of vehicles of main vehicle 10.Acquisition device 120 can also obtain main vehicle from the instrument board of main vehicle 10
10 main information of vehicles, such as turn signal state.
Internal inspection device can be mounted in the sensing of the status information for sensing main vehicle 10 on main vehicle 10
Device.Internal inspection device can include but is not limited to range sensor, velocity sensor, acceleration transducer and deflection efficiency sensing
Device etc..
Navigation device can integrate on main vehicle 10 or can be the external device (ED) independently of main vehicle 10.Navigation dress
Set may include for accessing Wi-Fi access point or cellular communications networks and receiving from Wi-Fi access point or cellular communications network
The information of network and the device (such as GSM device) that its position is determined using this information.Navigation device vehicle 10 can mention based on
The real time position and programme path for for periodically updating.
According to an embodiment of the invention, acquisition device 120 can be obtained from the Internal camera device being mounted in main vehicle 10
Take the driver information of main vehicle 10.
Meter panel of motor vehicle, room mirror, the pilot set in main vehicle 10 for example can be set in Internal camera device
At equal positions.The available image related with driver of Internal camera device, and pass through computer vision and image recognition
Etc. technologies identify the given body parameter of driver.
Drawing decision maker 130 can be with 120 wired or wireless communication of reception device 110 and/or acquisition device.Traction is sentenced
At least two other vehicles 20 can be judged according to other information of vehicles of at least two other vehicles 20,30 by determining device 130
And it whether there is traction relationship between 30." traction " means to need when certain vehicle breaks down or does not have power source by means of another
The case where one vehicle is dragged it away from highway or is pulled to destination.According to an embodiment of the invention, at least two other vehicles
One of 20,30 (i.e. front trucks) are tractor, and the other of at least two other vehicles 20,30 (i.e. rear car) are
By tractor, i.e. trailer.Traction decision maker 130 can according in other above-mentioned information of vehicles it is one or more come judge to
It whether there is traction relationship between few two other vehicles 20 and 30.
According to an embodiment of the invention, if other information of vehicles indicate the front truck at least two other vehicles 20,30
Rear car in driving condition and at least two other vehicles 20,30 is in half driving condition or non-driving condition, then draws
Decision maker 130 determines that there are traction relationships between this at least two other vehicle 20 and 30.
According to an embodiment of the invention, if other information of vehicles indicate exist between at least two other vehicles 20 and 30
Steel wire is pulled, then draws decision maker 130 and determines that there are traction relationships between this at least two other vehicle 20 and 30.
According to an embodiment of the invention, if other information of vehicles indicate the phase between at least two other vehicles 20 and 30
It adjusts the distance and always keeps constant and the warning lamp of the rear car at least two other vehicles is always on, then traction is sentenced
Determine device 130 and determines that there are traction relationships between this at least two other vehicle 20 and 30.
It can be with reception device 110, acquisition device 120 and/or traction decision maker 130 into decision maker 140 is intended to
Wired or wireless communication.Into decision maker 140 is intended at least two other vehicles 20 can be determined in traction decision maker 130
And judge to lead according to the main information of vehicles of main vehicle 10 and/or driver information there are in the case where traction relationship between 30
Whether vehicle 10 is intended to enter between at least two other vehicles 20 and 30.
It can be believed into decision maker 140 is intended to according to one or more, above-mentioned drivers in above-mentioned main information of vehicles
One or more or main information of vehicles of breath and any combination of driver information judge whether main vehicle 10 is intended to enter
To between at least two other vehicles 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if main information of vehicles indicates main vehicle 10 relative to this at least two other vehicle 20,30
Apart from smaller and smaller, it means that main vehicle 10 is increasingly closer to the lane where at least two other vehicles 20,30, then enters
It is intended to decision maker 140 and judges that the main intention of vehicle 10 enters between this at least two other vehicle 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if directional velocity and/or acceleration direction direction that main information of vehicles indicates main vehicle 10 are extremely
Few two other vehicles 20,30, then into be intended to decision maker 140 judge the main intention of vehicle 10 enter this at least two other
Between vehicle 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, it is enough to make main vehicle 10 to be incorporated to if main information of vehicles indicates that the steering wheel of main vehicle 10 has rotated
To the angle (being greater than 15 °) in the lane where at least two other vehicles 20,30, then sentence into intention decision maker 140
The main intention of vehicle 10 of breaking enters between this at least two other vehicle 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if main information of vehicles indicates the one of close at least two other vehicles 20,30 of main vehicle 10
The turn signal of side is opened, then judges that the main intention of vehicle 10 enters this at least two other vehicle into intention decision maker 140
Between 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if main information of vehicles indicate main vehicle 10 programme path and at least two other vehicles 20 and
The straight line where line between 30 crosses, then judges that the main intention of vehicle 10 enters this into intention decision maker 140
Between at least two other vehicles 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if driver information indicates that the head of the driver of main vehicle 10 or face turn at least two
The direction of other vehicles 20,30, then into be intended to decision maker 140 judge main vehicle 10 intention enter this at least two other
Between vehicle 20 and 30.
According to an embodiment of the invention, determining to deposit between at least two other vehicles 20 and 30 in traction decision maker 130
In the case where traction relationship, if driver information indicate the sight of the driver of main vehicle 10 from head-up forward become seeing to
The rearview mirror of the side close at least two other two sides of main vehicle 10 then judges main vehicle into intention decision maker 140
10 are intended to enter between this at least two other vehicle 20 and 30.
Output device 150 can be intended to reception device 110, acquisition device 120, traction decision maker 130 and/or entrance
140 wired or wireless communication of decision maker.Output device 150 can traction decision maker 130 judge main vehicle 10 be intended into
Enter in the case where between at least two other vehicles 20 and 30, output control signal is pre- to execute to the occupant of main vehicle 10
Alert control.Control signal can be realized by the communication on CAN or FlexRay.
According to an embodiment of the invention, control signal can be the signal for braking main vehicle 10.Output device 150
It may be coupled to the brake apparatus of main vehicle 10, such as speed changer or brake pedal (not shown).It is intended to decision maker when entering
140 when judging that main vehicle 10 intention is entered between this at least two other vehicle 20 and 30, and output device 150 can be to main vehicle
10 execute brake operatings, to reduce the car speed that main vehicle 10 is travelled towards at least two other vehicles 20,30.
According to an embodiment of the invention, control signal can be used for the occupant of main vehicle 10 provide can perception information letter
Number.It is this can perception information may include one of information such as visual information, auditory information, tactile data or a variety of.For example,
Control signal may be used to the components such as instrument board, navigation device, video-unit and/or the emergency warning lamp of main vehicle 10 display text
The warning message of the forms such as word, pattern, image, video.Control signal can be used for the navigation device, the audio that make main vehicle 10
The components such as device, buzzer and/or alarm issue voice or other audio-alert information.Control signal can be also used for making to lead
The components such as steering wheel, foot pedal, seat, control stick and/or the door handle of vehicle 10 generate tremble, the tactile of the forms such as deformation
Warning message.The occupant of main vehicle 10 can according to these can perception information learn that main vehicle 10 continues to execute current action (i.e.
Into the movement taken between at least two other vehicles 20 and 30) when can be dangerous.
Make the steering wheel of main vehicle 10 towards at least two other vehicles according to an embodiment of the invention, control signal can be
20, the signal that 30 opposite directions rotate.Output device 150 may be coupled to the Steering mechanism actuator of main vehicle 10.When into
When entering to be intended to decision maker 140 and judging that main vehicle 10 intention is entered between this at least two other vehicle 20 and 30, output dress
Set 150 can make the direction disc spins of main vehicle 10 be enough to make main vehicle 10 continue to move forward or towards at least two other
The opposite direction of vehicle 20,30 is incorporated to the angle of adjacent lane etc..
According to an embodiment of the invention, control signal can also be in the case where main vehicle 10 is automatic driving vehicle
By the area marking between at least two other vehicles 20 and 30 be can not driver area signal.In this case, it exports
Device 150 may be coupled to the central processing unit of main vehicle 10, and judge that main vehicle 10 is anticipated when entering intention decision maker 140
When figure is entered between this at least two other vehicle 20 and 30, output device 150 can be to the central processing unit of main vehicle 10
Inform region between this at least two other vehicle 20 and 30 be can not driver area, thus avoid main vehicle 10 from entering at least
Between two other vehicles 20 and 30.
Some embodiments according to the present invention, vehicle drive assist system 100 can also include sending device 160.It sends
Device 160 can be intended to decision maker 140 with reception device 110, acquisition device 120, traction decision maker 130 and/or entrance
Wired or wireless communication.Sending device 160 can transmit the main vehicle of main vehicle 10 to one of at least two other vehicles 20,30
Information.According to an embodiment of the invention, sending device 160 directly can transmit main information of vehicles to other vehicles.According to replacing
For embodiment, sending device 160 transmits main information of vehicles indirectly to other vehicles via Cloud Server.In this case, it sends out
Send device 160 that main information of vehicles is uploaded to Cloud Server, then other vehicles receive main information of vehicles from Cloud Server.
Above description acquisition device 120 obtains the main information of vehicles of main vehicle from internal inspection device or navigation device.But
It is that the invention is not limited thereto.It will be appreciated by those skilled in the art that acquisition device 120 of the invention can also directly detect master
The main information of vehicles of vehicle 10.Some embodiments according to the present invention, acquisition device of the invention can also include one or more
A detection device, detection device are mounted on the main information of vehicles on main vehicle 10 and for detecting main vehicle 10.
Above description output device 150 is judging that main vehicle 10 intention enters between at least two other vehicles 20 and 30
In the case where output control signal.But the invention is not limited thereto.It will be appreciated by those skilled in the art that output device may be used also
With judge between at least two around main vehicle 10 other vehicles 20 and 30 there are in the case where traction relationship output to
To the driver of main vehicle 10 prompt, there are the pre-warning signals of both tractor and trailers.
The vehicle drive assisting method of embodiment according to the present invention is described below with reference to the accompanying drawings.Fig. 3 is to show basis
The flow chart of the vehicle drive assisting method 300 of the embodiment of the present invention.Vehicle drive assisting method 300 is driven by above-mentioned vehicle
Auxiliary system 100 is sailed to execute.
As shown in figure 3, receiving its of at least two other vehicles in main 10 surrounding preset range of vehicle in step S310
His information of vehicles.According to an embodiment of the invention, other information of vehicles directly can receive from other vehicles, or can be via
Cloud Server receives other information of vehicles from other vehicles indirectly.Other information of vehicles may include indicate at least two other
It whether there is the information of traction relationship between vehicle 20 and 30.Hereinbefore, to " preset range " and " other vehicles letter
Breath " is described in detail, therefore details are not described herein.
In step s 320, the main information of vehicles and/or driver information of main vehicle 10 are received.Implementation according to the present invention
Example, can obtain the main information of vehicles of main vehicle 10 by the internal inspection device or navigation device being mounted on main vehicle 10,
Main information of vehicles may include the information for indicating the driving status of main vehicle.According to an embodiment of the invention, installation can be passed through
Internal camera device in main vehicle 10 obtains the driver information of main vehicle 10, and driver information may include indicating main vehicle
The driving behavior of 10 driver or the information of driving condition.Hereinbefore, to " main information of vehicles " and " driver's letter
Breath " is described in detail, therefore details are not described herein.
In step S330, judge between at least two other vehicles 20 and 30 with the presence or absence of traction relationship.According to this hair
Bright embodiment judges at least two 20 and of other vehicles according to other information of vehicles of at least two other vehicles 20,30
It whether there is traction relationship between 30.If at least one in other information of vehicles indicates at least two other vehicles 20,30
In rear car be in malfunction, non-driving condition or half driving condition, then determine this at least two other vehicle 20 and 30 it
Between there are traction relationships.Hereinbefore, " judgement of traction relationship " is described in detail, thus it is no longer superfluous herein
It states.
If judged between at least two other vehicles 20 and 30 there are traction relationship, then method 300 in step S330
Advance to step S340.If in step S330 judging that traction relationship is not present between at least two other vehicles 20 and 30,
Then method 300 returns to step S310.
In step S340, judge whether main vehicle 10 is intended to enter between at least two other vehicles 20 and 30.Root
According to the embodiment of the present invention, judge whether main vehicle 10 anticipates according to the main information of vehicles of main vehicle 10 and/or driver information
Figure enters between at least two other vehicles 20 and 30.If at least one in main information of vehicles indicates that main vehicle 10 attempts
Towards the direction running of at least two other vehicles 20,30, and/or if at least one in driver information indicates main vehicle
The attention of 10 driver is converted at least two other vehicles 20,30 of direction of main vehicle 10 from the front of main vehicle 10
Direction then judges that the main intention of vehicle 10 enters between at least two other vehicles 20 and 30.Hereinbefore, to " entrance
The judgement of intention " is described in detail, therefore details are not described herein.
If judging that the main intention of vehicle 10 enters between at least two other vehicles 20 and 30, then in step S340
Method 300 advances to step S350.If in step S340, judge main vehicle 10 will not be intended to enter at least two other
Between vehicle 20 and 30, then method 300 returns to step S310.
In step S350, control signal is issued.An exemplary embodiment of the present invention, control signal may include using
In the signal for braking main vehicle 10, for the occupant of main vehicle 10 provide can perception information signal, for making main vehicle
Signal that 10 steering wheel is rotated towards at least two other opposite directions of vehicle 20,30 and for by least two other vehicles
Area marking between 20 and 30 be can not driver area signal.
Optionally, vehicle according to the invention driving assistance method 300 can also include step S360.In step S360
In, the main information of vehicles of main vehicle 10 is transmitted at least two other vehicles 20,30.According to an embodiment of the invention, can be straight
It connects and transmits main information of vehicles to other vehicles or main information of vehicles can be transmitted indirectly to other vehicles via Cloud Server.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention is not limited to above-mentioned realities
Apply the construction and method of example.On the contrary, it is intended to cover various modifications example and equivalent arrangements.In addition, although in various examples
Property combination and construction in show the various elements and method and step of disclosed invention, but including more, less element
Or other combinations of method are also fallen within the scope of the present invention.
Claims (17)
1. a kind of vehicle drive assist system, comprising:
Reception device, for receiving other information of vehicles of at least two other vehicles in main vehicle periphery preset range；
Acquisition device, for obtaining the main information of vehicles and/or driver information of the main vehicle；
Judgment means are drawn, for judging described at least two according to other information of vehicles of at least two other vehicles
It whether there is traction relationship between other vehicles；
Into being intended to judgment means, for judging between described at least two other vehicles there are in the case where traction relationship,
Judged according to the main information of vehicles of the main vehicle and/or driver information the main vehicle whether be intended to enter it is described extremely
Between few two other vehicles；And
Output device, in the case where judging that the main vehicle intention enters between described at least two other vehicles,
Output control signal.
2. vehicle drive assist system according to claim 1, wherein
Other information of vehicles of at least two other vehicles include one or more in following parameter: driving condition has
Fault-free exists and pulls steel wire, LED status, the relative distance between at least two other vehicles.
3. vehicle drive assist system according to claim 1, wherein
The main information of vehicles of the main vehicle includes one or more in following parameter: relative to described at least two other vehicles
Distance, directional velocity, acceleration direction, turning angle of steering wheel, turn signal state, planning driving path.
4. vehicle drive assist system according to claim 1, wherein
The driver information of the main vehicle includes one or more in following parameter: end rotation angle, direction of gaze, note
Depending on range, observation rearview mirror.
5. vehicle drive assist system according to claim 1, wherein
The acquisition device is configured to obtain the master from the internal inspection device or navigation device being mounted on the main vehicle
The main information of vehicles of vehicle.
6. vehicle drive assist system according to claim 1, wherein
The acquisition device is configured to obtain the driving of the main vehicle from the Internal camera device being mounted in the main vehicle
Member's information.
7. vehicle drive assist system according to claim 1, wherein
The control signal includes one or more in following signals:
(a) for making the signal of the main vehicle braking；
(b) for the occupant of the main vehicle provide can perception information signal；
(c) signal for rotating the steering wheel of the main vehicle towards the opposite direction of described at least two other vehicles；With
And
(d) for by the area marking between described at least two other vehicles be can not driver area signal.
8. vehicle drive assist system according to any one of claim 1 to 7, further includes:
Sending device is configured to judging the case where main vehicle intention enters between described at least two other vehicles
Under, other vehicles of Xiang Suoshu at least two send the main information of vehicles of the main vehicle.
9. a kind of vehicle, including vehicle drive assist system according to any one of claim 1 to 8.
10. a kind of vehicle drive assisting method, comprising:
Receive other information of vehicles of at least two other vehicles in main vehicle periphery preset range；
Obtain the main information of vehicles and/or driver information of the main vehicle；
Judged between described at least two other vehicles according to other information of vehicles of at least two other vehicles whether
In the presence of traction relationship；
Judging between described at least two other vehicles there are in the case where traction relationship, according to the main vehicle of the main vehicle
Information and/or driver information judge whether the main vehicle is intended to enter between described at least two other vehicles；With
And
In the case where judging that the main vehicle intention enters between described at least two other vehicles, output control signal.
11. vehicle drive assisting method according to claim 10, wherein
Other information of vehicles of at least two other vehicles include one or more in following parameter: driving condition has
Fault-free exists and pulls steel wire, LED status, the relative distance between at least two other vehicles.
12. vehicle drive assisting method according to claim 10, wherein
The main information of vehicles of the main vehicle includes one or more in following parameter: relative to described at least two other vehicles
Distance, directional velocity, acceleration direction, turning angle of steering wheel, turn signal state, planning driving path.
13. vehicle drive assisting method according to claim 10, wherein
The driver information of the main vehicle includes one or more in following parameter: end rotation angle, direction of gaze, note
Depending on range, observation rearview mirror movement.
14. vehicle drive assisting method according to claim 10, wherein
The main information of vehicles of the main vehicle is obtained from the internal inspection device or navigation device being mounted on the main vehicle.
15. vehicle drive assisting method according to claim 10, wherein
The driver information of the main vehicle is obtained from the Internal camera device being mounted in the main vehicle.
16. vehicle drive assisting method according to claim 10, wherein
The control signal includes one or more in following signals:
(a) for making the signal of the main vehicle braking；
(b) for the occupant of the main vehicle provide can perception information signal；
(c) signal for rotating the steering wheel of the main vehicle towards the opposite direction of described at least two other vehicles；With
And
(d) for by the area marking between described at least two other vehicles be can not driver area signal.
17. vehicle drive assisting method described in any one of 0 to 16 according to claim 1, further includes:
In the case where judging that the main vehicle intention enters between described at least two other vehicles, Xiang Suoshu at least two
Other vehicles send the main information of vehicles of the main vehicle.
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