CN109987103B - Driving assistance method, device, storage medium, system and vehicle - Google Patents

Abstract

The present invention relates to a method for assisting driving, the method comprising: acquiring first time information; the first time information is time information corresponding to a first vehicle traveling to a first preset location in a road section to be given way; Obtaining second time information; the second time information is the time information corresponding to the second vehicle traveling to the second preset location in the road section to be given way; according to the first time information and the second time information, determine The passing sequence of the first vehicle and the second vehicle passing through the road section to be given way. The method can make the vehicle more accurately judge whether it is necessary to give way, thereby improving traffic efficiency and reducing the incidence of accidents. The invention also relates to a driving aid device, system, storage medium and vehicle.

Description

Assisted driving method, device, storage medium, system and vehicle

technical field

The invention relates to the field of traffic, in particular to a driving assistance method, device, storage medium, system and vehicle.

Background technique

With the advancement of technology, artificial intelligence is being used more and more in the transportation field, and many vehicles are equipped with assisted driving functions. Helping people drive vehicles through assisted driving can not only improve the driving experience, but also effectively reduce the occurrence of traffic accidents.

Meeting vehicles to give way means that when vehicles meet vehicles, one vehicle allows the other vehicle to pass first. In the traditional assisted driving method, it is difficult to accurately judge whether the vehicle needs to pass and give way, resulting in vehicles equipped with assisted driving functions making inappropriate judgments of giving way during driving, especially when passing through narrow roads , leading to accidents.

Contents of the invention

Based on this, it is necessary to provide an assisted driving method, device, storage medium, system and vehicle for the problem that traditional assisted driving methods are difficult to determine the passing sequence of vehicles when meeting vehicles on a narrow road section.

A driving assistance method, wherein the method includes:

Acquiring first time information; the first time information is used to represent the time information corresponding to the first vehicle traveling to the first preset location in the road section to be given way;

Acquiring second time information; the second time information is used to represent the time information corresponding to the second vehicle traveling to a second preset location in the road section to be given way; and

According to the first time information and the second time information, the order in which the first vehicle and the second vehicle pass through the road section to be given way is determined.

The above assisted driving method, when passing through the road section to be given way, first obtains the first time information when the first vehicle travels to the first preset location and the second time information when the second vehicle travels to the second preset location, and then According to the two time information, the passing order of the first means of transport and the second means of transport passing through the section to be given way is determined, so as to more accurately judge whether passing vehicles need to be given way, thereby improving traffic efficiency and reducing the occurrence rate of accidents.

In one of the implementation manners, the first time information is the first time when the first vehicle travels to the first preset location; the second time information is the time when the second vehicle travels to the second preset location second moment;

According to the first time information and the second time information, determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way includes:

According to the sequence relationship between the first moment and the second moment, the passing order of the first vehicle and the second vehicle passing through the road section to be given way is determined.

In one of the implementation manners, the determining the passing order of the first means of transportation and the second means of transportation through the road section to be given way according to the sequence relationship between the first moment and the second moment includes:

If the first moment is later than the second moment, a yielding operation is performed, so that the second vehicle passes the road section to be yielded in priority.

The above-mentioned assisted driving method, when passing through the road section to be given way, first obtains the first moment when the first vehicle travels to the first preset location and the second moment when the second vehicle travels to the second preset location, and then according to The sequence relationship between the two time points determines the passing order of the first vehicle and the second vehicle passing through the road section to be given way. The method can make the vehicle more accurately judge whether it is necessary to give way, thereby improving traffic efficiency and reducing the incidence of accidents.

In one of the implementation manners, the first time information is the first duration from the current position of the first vehicle until passing through the road section to be given way; the second time information is the first The second time period for the second means of transport to pass through the road section to be given way from the current position of the second means of transport;

According to the first time information and the second time information, determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way includes:

Acquiring the first duration of time for the first vehicle to pass through the road section to be given way from the current position of the first vehicle;

Obtaining a second time period for the second vehicle to pass through the road section to give way from the current position of the second vehicle;

According to the size relationship between the first time length and the second time length, the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way is determined.

The above-mentioned assisted driving method, when passing the section to be given way, first obtains the duration of the first vehicle passing the section to be given way and the duration of the second vehicle to pass the section to be given way, and then according to the relationship between the two durations, A passing order of the first vehicle and the second vehicle passing through the to-be-give road section is determined. The method can make the vehicle more accurately judge whether it is necessary to give way, thereby improving traffic efficiency and reducing the incidence of accidents.

In one of the implementation manners, the step of determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the size relationship between the first duration and the second duration includes:

When the first time length is greater than the second time length, perform a yielding operation, so that the second means of transport can pass the road section to be yielded in priority.

The above assisted driving method judges whether to execute the yielding operation by directly comparing the relationship between the first duration and the second duration, thereby improving traffic efficiency and reducing the incidence of traffic accidents.

In one of the implementation manners, the step of performing the yield operation includes:

Acquiring the deceleration reference value of the first vehicle, and decelerating the first vehicle according to the acquired deceleration reference value, so that the second vehicle can pass through the road section to be given priority.

In the above assisted driving method, the yielding operation is performed by obtaining the deceleration reference value, and the first vehicle is automatically decelerated and stopped according to the deceleration reference value, and the driver's participation can be reduced by performing the yielding operation on the first vehicle through the deceleration reference value , thereby further improving traffic efficiency and reducing the incidence of traffic accidents.

In one of the implementation manners, the step of performing the yielding operation also includes:

Outputting warning information, where the warning information is used to instruct the receiver to perform a deceleration operation.

In the assisted driving method provided by the above-mentioned embodiments, the yield operation is performed by outputting a warning to the driver of the first vehicle to remind the driver, or by outputting a warning message to the second vehicle to remind the second vehicle, so that the second vehicle The driver of the first vehicle and/or the second vehicle make corresponding judgments, thereby improving traffic efficiency and reducing the occurrence rate of traffic accidents.

In one of the implementation manners, the acquisition of the first vehicle starts from the current position of the first vehicle until the first duration of passing the road section to be given way, the method further includes:

Acquiring driving environment information, and determining whether the road section ahead is a road section to be given way according to the driving environment information; the driving environment information is used to represent relevant information of the driving process of the first vehicle.

In the assisted driving method provided by the above embodiments, after determining that the road section ahead is a road section to be given way, it starts to determine the passing order of vehicles, thereby saving computing resources and improving driving efficiency.

As one of the implementation manners, the driving environment information includes traffic identification information;

The determining whether the road section ahead is a road section to be given way according to the driving environment information includes:

When the acquired traffic identification information matches the preset yield identifier, it is determined that the road segment ahead is a road segment to be yielded.

As one of the implementation manners, the driving environment information includes the width of the road section ahead;

According to the driving environment information, it is determined that the road section ahead is the road section to be given way, including:

When the width of the road section ahead is smaller than the preset width threshold, it is determined that the road section ahead is a road section to be given way.

As one of the implementation manners, the driving environment information includes the inter-vehicle distance between the first vehicle and the second vehicle;

The determining whether the road section ahead is a road section to be given way according to the driving environment information includes:

When the inter-vehicle distance is less than the preset distance threshold, it is determined that the road section ahead is a road section to be given way.

A device for assisting driving, wherein the device includes:

The first time information acquisition module is used to acquire the first time information; the first time information is used to represent the time information corresponding to the first vehicle traveling to the first preset location in the road section to be given way;

The second time information acquisition module is used to acquire second time information; the second time information is used to characterize the time information corresponding to the second vehicle traveling to the second preset location in the road section to be given way; and give way A judging module, configured to determine, according to the first time information and the second time information, the order in which the first vehicle and the second vehicle pass through the road section to be given way.

The above-mentioned auxiliary driving device can be used in vehicles, so that when the vehicle passes through the road section to be given way, it first obtains the first time information when the first vehicle travels to the first preset location and the second vehicle travels to the second location. The second time information of the preset location, and then determine the passing order of the first vehicle and the second vehicle through the road section to be given way according to the two time information, so as to more accurately judge whether it is necessary to pass vehicles, thereby improving Traffic efficiency, reduce the incidence of accidents.

A computer-readable storage medium, where computer instructions are stored on the computer-readable storage medium, wherein, when the computer instructions are executed by the processor, the steps in the methods described in the foregoing embodiments are implemented.

The above-mentioned computer-readable storage medium can be used in a vehicle, so that when the vehicle passes through the road section to be given way, it first obtains the first time information when the first vehicle travels to the first preset location and the time when the second vehicle travels to the first preset location. The second time information of the second preset location, and then according to the two time information, determine the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way, so as to more accurately judge whether it is necessary to pass vehicles, Thereby improving traffic efficiency and reducing the incidence of accidents.

A driving assistance system, the system includes a memory, a processor, and computer instructions stored on the memory, wherein the computer instructions implement the steps in the methods of the above-mentioned various embodiments when executed by the processor.

The above-mentioned assisted driving system can be used in vehicles. First, the first time information when the first vehicle travels to the first preset location and the second time information when the second vehicle travels to the second preset location are obtained, and then according to The two pieces of time information determine the passing order of the first vehicle and the second vehicle passing through the road section to be given way, so as to more accurately judge whether passing vehicles need to be given way, thereby improving traffic efficiency and reducing the incidence of accidents.

A vehicle, wherein the vehicle includes the driving assistance system described in the above embodiment.

The above vehicles, when passing through the road section to be given way, first obtain the first time information when the first vehicle travels to the first preset location and the second time information when the second vehicle travels to the second preset location, and then according to The two pieces of time information determine the passing order of the first vehicle and the second vehicle passing through the road section to be given way, so as to more accurately judge whether passing vehicles need to be given way, thereby improving traffic efficiency and reducing the incidence of accidents.

Description of drawings

Fig. 1 is a network architecture diagram of an assisted driving method provided by an embodiment;

Fig. 2 is an application scenario diagram of a driving assistance method provided by an embodiment;

Fig. 3 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 4 is a schematic flow chart of a driving assistance method provided by an embodiment;

Fig. 5 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 6 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 7 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 8 is a schematic flowchart of a driving assistance method provided by an embodiment;

FIG. 9 is a schematic flowchart of a driving assistance method provided by an embodiment;

FIG. 10 is a schematic flowchart of a driving assistance method provided in an embodiment;

Fig. 11 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 12 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 13 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 14 is an application scenario diagram of a driving assistance method provided by an embodiment;

Fig. 15 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 16 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 17 is a schematic flowchart of a driving assistance method provided by an embodiment;

Fig. 18 is a schematic structural diagram of a driving assistance device provided by an embodiment;

Fig. 19 is a schematic structural diagram of a driving assistance device provided by an embodiment;

Fig. 20 is a schematic structural diagram of a driving assistance device provided by an embodiment;

Fig. 21 is a schematic structural diagram of a vehicle provided by an embodiment.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments described here are only used to explain the present invention, and are not intended to limit the present application.

The vehicles involved in various embodiments of the present application may be vehicles with corresponding control functions, including but not limited to, internal combustion engine vehicles or motorcycles, electric vehicles or motorcycles, electric mopeds, electric balance vehicles, remote control vehicles, bicycles, balance Vehicles such as cars and various deformations of vehicles. The vehicle involved here can be a single oil road vehicle, a single steam road vehicle, a combined oil and gas vehicle, or an assisted electric vehicle. It can be understood that the embodiment of the present application does not limit the type of the vehicle.

The driving assistance method, device, system, storage medium, or vehicle involved in various embodiments of the present application may be applicable to the network architecture diagram shown in FIG. 1 . As shown in FIG. 1 , the network architecture may include a vehicle and a wireless network, and optionally, may also include a cloud server. Optionally, the wireless network can be a 2G network, a 3G network, a 4G network or a 5G network, a Wireless Fidelity (WIFI for short) network, etc. The vehicle can interact with the cloud server through the wireless network, and the vehicle can also interact with the cloud server through the wireless network. It is possible to interact with other vehicles through this wireless network. The embodiment of the present invention does not limit the specific type or specific form of the wireless network, as long as it can provide an interface for vehicles to access the network.

Optionally, the execution subject of the method involved in each embodiment of the present application may be a device for assisting driving, which may be implemented as part or all of a vehicle through software, hardware, or a combination of software and hardware, that is, The device may be an independent vehicle, or a device on the vehicle, such as a central control unit on the vehicle, or other equipment with control and/or communication functions on the vehicle. Taking the vehicle as an example, the device may be a vehicle engine, a vehicle center console, a vehicle driving recorder and other equipment on the vehicle. The vehicles involved in the following embodiments are all examples of vehicles. For the convenience of description, the executing subjects of the following method implementations all take vehicles as examples.

Please refer to FIG. 2 . FIG. 2 is an application scenario diagram of a driving assistance method provided by an embodiment. The first vehicle 210 and the second vehicle 220 are traveling towards each other and are expected to meet at a certain position within the road section 230 to be given way. Optionally, the first vehicle 210 first acquires the first time information when the first vehicle 210 travels to the first preset address 230B in the road section to be given way, and then obtains the information on when the second vehicle 220 travels to the road section to be given way The second time information of the second preset address 230A, and then according to the first time information and the second time information, determine the passing sequence of the first vehicle 210 and the second vehicle 220 passing through the road section 230 to be given way. It can be understood that the first means of transport may be traveling in the same direction, or traveling in the same direction, or turning at the intersection and about to enter the road section to be given way. For the convenience of description, the following embodiments are described as examples in an application scenario in which a first vehicle and a second vehicle travel in opposite directions.

Please continue to refer to FIG. 2. In FIG. 2, the road section to be given way 230 is a narrow road section. Optionally, it can refer to a road section whose width is difficult for two vehicles to pass in parallel, and can also be at least one of a narrow road, a bridge or a tunnel. . It can be understood that the types of the road section 230 to be given way are not limited in the embodiments of the present application. The road section to be given way may be a pre-designated road section, or a road section obtained by judging according to a preset rule based on the information of the road section ahead.

For the convenience of description, in each embodiment of the present application, the end point of the first vehicle entering the road section to be given way is taken as the starting point of the road section to be given way during driving, and the first vehicle is driven away from the road section to be given way. The end point of the road section to be given way is used as the end point of the road section to be given way. For example, in the road section 230 to be given way shown in FIG. 230B serves as the end point of the road section 230 to be given way.

Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of a driving assistance method provided in an embodiment. This embodiment relates to how to determine the order in which the first vehicle and the second vehicle pass through the road section to be given way according to the acquired first time information and second time information.

S310. Acquire first time information; the first time information is used to represent the time information corresponding to the first vehicle traveling to a first preset location in the road section to be given way.

Specifically, the time information can be used to represent the duration of a certain period of time, and can also be used to represent the moment of a certain time point. Correspondingly, the first time information may be used to characterize the duration of the first vehicle traveling from the current location to the first preset location in the road section to be given way. It may also be used to represent the moment when the first vehicle travels to the first preset location in the road section to be given way.

The first preset location can be a certain location between the sections to be given way, optionally, the first preset location can be preset as the starting point of the section to be given way, or can be preset as the end point of the section to be given way , and can also be preset as a location other than the starting point and the ending point in the section to be given way. It can be understood that this embodiment does not limit the specific location of the first preset location.

The first means of transportation can obtain the first time information through calculation, and can also directly obtain the first time information from the cloud. That is to say, this embodiment does not limit the manner of acquiring the first time information.

S320. Acquire second time information; the second time information is used to represent the time information corresponding to the second vehicle traveling to a second preset location in the road section to be given way.

Similarly, the second preset location can be a certain location between the sections to be given way, optionally, the second preset location can be preset as the starting point of the section to be given way, or can be preset as a section to be given way The end point of the road section can also be preset as a certain location in the road section to be given way except the start point and the end point. This embodiment also does not limit the specific location of the second preset location. The first vehicle may obtain the second time information through calculation, or directly obtain the second time information from the cloud, or obtain the second time information from the second vehicle through the vehicle communication system. That is to say, this embodiment does not limit the manner of acquiring the first time information.

It should be noted that the specific locations of the first preset location and the second preset location may be the same or different.

It can be understood that this embodiment does not limit the execution order of step S310 and step S320, and the two may be performed at the same time, or may be performed in sequence.

S330. According to the first time information and the second time information, determine a passing sequence of the first vehicle and the second vehicle passing through the road section to be given way.

Specifically, according to the first time information and the second time information acquired in step S310 and step S320, the order in which the first vehicle and the second vehicle pass through the road section to be given way is determined. For example, if the time information is the duration, the order of passing through the road section to be given way can be determined by comparing the size relationship of the time length; by order. It can be understood that this embodiment does not limit the specific manner of determining the passing sequence of vehicles through time information.

Please refer to FIG. 4 . FIG. 4 is a schematic flowchart of a driving assistance method provided in an embodiment. Optionally, in this embodiment, the first time information is the first time when the first vehicle travels to the first preset location; the second time information is the second time when the first vehicle travels to the second preset location. The assisted driving method provided in this embodiment may include the following steps:

S410. Acquire first time information; the first time information is the first moment when the first vehicle travels to the first preset location.

S420. Acquire second time information; the second time information is a second moment when the second vehicle travels to a second preset location.

Specifically, reference may be made to the foregoing embodiments for the manners of acquiring the first moment and the second moment, and details are not described here.

It should be noted that this embodiment does not limit the execution order of step S410 and step S420, and the two may be performed at the same time, or may be performed in sequence.

S430. According to the sequence relationship between the first moment and the second moment, determine the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way.

Specifically, according to the sequence relationship between the first moment obtained in step S410 and the second moment obtained in step S420, the order in which the first vehicle and the second vehicle pass through the road section to be given way may be determined. For example, in one embodiment, if the first moment is later than the second moment, it is determined that the second vehicle passes the road section to be given way first, and the first vehicle passes the road section to be given way later. For another example, in another embodiment, if the first time is not earlier than the second time, it is determined that the second vehicle passes the road section to be given way first, and the first vehicle passes the road section to be given way later. It can be understood that, after determining the order in which vehicles pass through the road sections to be given way, it may be further determined whether to perform a give way operation.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of a driving assistance method provided in an embodiment. On the basis of the implementation manner shown in FIG. 4 above, optionally, the step S430 may further include:

S430'. When the first moment is later than the second moment, perform a yielding operation, so that the second vehicle passes the road section to be yielded in priority.

Specifically, if the first moment is later than the second moment, it is determined that the first vehicle needs to give way, and the first vehicle performs a yielding operation so that the second vehicle can pass through the road section to be given priority.

The above assisted driving method judges whether to execute the yielding operation by directly comparing the sequence relationship between the first moment and the second moment, thereby improving traffic efficiency and reducing the incidence of traffic accidents.

Please refer to FIG. 6 . FIG. 6 is a schematic flowchart of a driving assistance method provided in an embodiment. Optionally, in this embodiment, the first time information is the first time period from the current position of the first vehicle to passing through the road section to be given way by the first vehicle, and the second time information is the second time period of the second vehicle. The tool starts from the current position of the second vehicle until it passes through the to-be-yielded road segment for a second duration. The assisted driving method of this embodiment may include the following steps:

S510. Acquire first time information; the first time information is a first time period from the current position of the first vehicle until passing through the road section to be given way by the first vehicle.

Specifically, the passing of the road section to be given way by the first vehicle means that the first vehicle leaves the end point of the road section to be given way. The first vehicle can obtain parameters such as the current position and speed of the first vehicle through the on-board sensor, and the estimated driving distance of the first vehicle through the road section to be given way, and then use the on-board system to calculate the starting distance from the current position until the vehicle passes through the road section to be given. The first duration of the travel segment.

In addition, the first means of transportation can also communicate with the cloud through the vehicle-mounted communication device to obtain cloud data including parameters such as the current position and speed of the first means of transport, and the estimated driving distance of the first means of transport through the road section to be given way, and then pass The vehicle-mounted system calculates the first time period for passing through the road section to be given way from the current position.

It can be understood that the first vehicle may also directly acquire the first time period for the first vehicle to pass through the road section to give way from the current position of the first vehicle directly from the cloud. That is to say, this embodiment does not limit the manner of acquiring the first duration.

S520. Acquire second time information; the second time information is a second duration from the current position of the second vehicle until the second vehicle passes through the road section to be given way.

Specifically, since the second vehicle is running towards the first vehicle, the passing of the second vehicle through the road section to be given means that the second vehicle leaves the starting point of the road section to be given way. The first vehicle can obtain parameters such as the speed of the second vehicle and the estimated travel distance of the second vehicle through the road section to be yielded through the vehicle-mounted sensor, and then calculate the distance between the second vehicle and the second vehicle through the vehicle-mounted system. from the current location of the to-go until the second duration of passing the to-be-yielded road segment.

In addition, the first vehicle can also communicate with the second vehicle through the vehicle-mounted communication device to obtain parameters such as the speed of the second vehicle and the estimated driving distance of the second vehicle through the road section to be given way, and then obtain the parameters of the second vehicle. The tool starts from the current position of the second vehicle until it passes through the to-be-yielded road segment for a second duration.

It can be understood that the first means of transportation can also communicate with the cloud through the vehicle-mounted communication device to obtain cloud data, and the cloud data includes parameters such as the speed of the second means of transport, the estimated driving distance of the second means of transport through the road section to be given way, etc. Then, the vehicle-mounted system calculates the second time period from the current position until passing through the road section to be given way. The first means of transportation can also communicate with the second means of transport or the cloud, from the second means of transport and/or the cloud, directly obtain the current position of the second means of transport until the second duration of passing the road section to be given way. That is to say, this embodiment does not limit the manner of acquiring the second duration.

It should be noted that, this embodiment does not limit the execution order of step S510 and step S520, and the two may be performed at the same time, or may be performed in sequence.

S530. Determine a passing order of the first vehicle and the second vehicle passing through the to-be-yielded road section according to the magnitude relationship between the first duration and the second duration.

Specifically, the order in which the first vehicle and the second vehicle pass through the road section to be given way may be determined according to the magnitude relationship between the first duration obtained in step S510 and the second duration obtained in step S520. It can be understood that the magnitude relationship between the first duration and the second duration may include direct comparison relationships such as the first duration being greater than the second duration, the first duration being greater than or equal to the second duration, and the like. It may also include obtaining an indirect comparison relationship between the first duration and the second duration through a preset threshold, that is, first calculating the difference between the first duration and the second duration, and then comparing the difference between the first duration and the second duration with the preset threshold comparison, and then determine the passing order of the second vehicle and the first vehicle passing through the road section to be given way.

The above assisted driving method, when passing the section to be given way, first obtains the duration of the first vehicle passing the section to be given way and the duration of the second vehicle to pass the section to be given way, and then compares the first vehicle with the second The time for the second vehicle to pass through the road section to be given way determines the passing order of the first vehicle and the second vehicle to pass through the road section to be given way. The method can make the vehicle more accurately judge whether it is necessary to give way, thereby improving traffic efficiency and reducing the incidence of accidents.

Please refer to FIG. 7 . FIG. 7 is a schematic flowchart of a driving assistance method provided in an embodiment. This embodiment relates to the specific process of determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the magnitude relationship between the first duration and the second duration. On the basis of the above-mentioned embodiment shown in FIG. 6, optionally, the above-mentioned step S530 may include steps:

S530'. When the first duration is longer than the second duration, perform a yielding operation, so that the second means of transport can pass the road section to be yielded preferentially.

Specifically, when the first duration is greater than the second duration, a yield operation is performed. That is to say, the first time length is longer than the second time length, that is, the second means of transportation can pass through the section to be given way faster, and in order to ensure the safety and efficiency of passing, the first means of transportation performs the operation of giving way. If the first duration is less than or equal to the second duration, the first means of transportation can pass through the road section to be given way faster, therefore, the first means of transportation does not need to perform a yielding operation.

The above assisted driving method judges whether to execute the yielding operation by directly comparing the relationship between the first duration and the second duration, thereby improving traffic efficiency and reducing the incidence of traffic accidents.

Please refer to FIG. 8 . FIG. 8 is a schematic flowchart of a driving assistance method provided in another embodiment. This embodiment relates to a specific method of "obtaining the first duration". On the basis of the above implementation shown in FIG. 6 or FIG. 7, optionally, step S510 may include:

S511. Obtain the distance traveled by the first vehicle to pass the road section to be given way and the length of the first vehicle.

S512. Acquire the acceleration of the first vehicle.

It should be noted that this embodiment does not limit the way of acquiring parameters in steps S511 and S512. It can be understood that there is no limitation on the order in which step S511 and step S512 are executed, and they can be executed simultaneously or in sequence.

S513. Calculate and obtain a first duration according to the distance of the first vehicle passing through the road section to give way and the acceleration of the first vehicle.

Specifically, the acceleration A_ego of the self-driving car can be a preset value, or can be obtained by calculating the driving record information of a certain period of time in the past or a trip in a certain place. The driving record information may be the information stored in the vehicle system, or the information stored in the cloud and obtained through the vehicle communication device. For example, the average acceleration of the vehicle in the driving record information during a certain period of time can be extracted, and A_ego can be set according to the average acceleration.

Optionally, it is assumed that the first vehicle passes the road section to be given way with uniform acceleration, that is, the first time length is calculated by using a uniform acceleration motion model. For the convenience of description, let the estimated travel distance of the first vehicle to the starting point of the section to be given way be D_ego, the length of the section to be given way is L, the length of the first vehicle is L_ego, the acceleration of the first vehicle is A_ego, and the first vehicle’s acceleration is A_ego. The current speed of a vehicle is V_ego. Then the first duration T_ego can be calculated by the following formula or its deformation:

Wherein, D_ego_travel=D_ego+L+L_ego.

It should be noted that different calculation methods may be used to obtain the first duration according to different motion models.

In the assisted driving method provided in the above-mentioned embodiments, the first duration is obtained through calculation based on the distance of the road section to be yielded and the acceleration of the first vehicle. Through more accurate calculation of the first time duration, the accuracy rate of judging meeting vehicles and giving way is improved, thereby improving traffic efficiency and reducing the incidence of accidents.

Please refer to FIG. 9 . FIG. 9 is a schematic flowchart of a driving assistance method provided in an embodiment. This embodiment relates to a specific method of "obtaining the second time period for the first vehicle to pass through the road section to give way from the current position of the first vehicle". On the basis of the implementation shown in FIG. 6 or FIG. 7, optionally, step S520 may include:

S521. Acquire the distance traveled by the second vehicle to pass through the road section to be given way, and acquire the current speed of the second vehicle and the length of the second vehicle.

Similarly, this embodiment does not make a limitation on the manner of acquiring parameters in step S521.

S522. Calculate and obtain the second duration according to the distance of the second vehicle passing through the road section to be yielded, the length of the second vehicle, and the current speed of the second vehicle.

Specifically, it is assumed that the second vehicle moves at a uniform speed and passes through the road section to be given way, that is, the second time length is obtained through calculation using a uniform motion model. For the convenience of description, it is assumed that the estimated distance from the second vehicle to the end of the section to be given is D_coming, the length of the section to be given is L, the length of the second vehicle is L_coming, and the current speed of the second vehicle is V_coming. Then the second duration T_coming can be calculated by the following formula or its deformation:

T_coming=D_coming_travel/V_coming

Wherein, D_coming_travel=D_coming+L+L_coming.

It should be noted that different calculation methods may be used to obtain the second duration according to different motion models.

In the assisted driving method provided in the above embodiments, the second duration is calculated and obtained according to the distance of the second vehicle passing through the road section to be yielded, the length of the second vehicle, and the current speed of the second vehicle. Through more accurate calculation of the second duration, the accuracy rate of judging the meeting vehicle and yielding is improved, thereby improving traffic efficiency and reducing the incidence of accidents.

Optionally, as a possible implementation manner, the length of the second vehicle can be obtained by the following method:

The type of the second vehicle is obtained, and the length of the vehicle corresponding to the type is obtained according to the type and the preset mapping relationship.

Specifically, the type information of the second vehicle is obtained through the vehicle sensor, and the length of the corresponding vehicle is obtained according to the type information and the preset mapping relationship. For example, if the type is an ordinary car, the corresponding length is 5 meters. For another example, for a vehicle whose type is a truck, the corresponding length is 15 meters. When the vehicle sensor determines that the second vehicle is a truck, the length of the second vehicle is set to 15 meters through the preset mapping relationship.

The assisted driving method provided by the above embodiment obtains the length of the corresponding vehicle according to the type of the second vehicle and the preset mapping relationship, avoids complicated measurement and calculation processes, saves costs, and improves traffic efficiency.

Please refer to FIG. 10 . FIG. 10 is a schematic flowchart of a driving assistance method provided in an embodiment. This embodiment relates to the specific process of performing the yield operation. On the basis of the above-mentioned embodiment shown in FIG. 5 or FIG. 7, optionally, performing the yield operation may include the following steps:

S610. Output warning information, where the warning information is used to instruct the receiver to perform a deceleration operation.

Specifically, when it is judged that it is necessary to give way, output warning information to the driver driving the first vehicle, or output warning information to the second vehicle, or output warning information to the driver driving the first vehicle and the second vehicle at the same time. warning message. The warning information may include at least one of sound information, visual information, smell information, tactile information, and wireless signals.

In the assisted driving method provided by the above-mentioned embodiments, performing the yielding operation is to remind the driver by outputting a warning to the driver, or to remind the second vehicle by outputting a warning message to the second vehicle, so that the driver and/or the second vehicle Two means of transportation make corresponding judgments, thereby improving traffic efficiency and reducing the incidence of traffic accidents.

Optionally, the step of performing the yield operation may also be implemented by the implementation manner shown in FIG. 11 . Please refer to Fig. 11, Fig. 11 is a schematic flowchart of a driving assistance method provided by an embodiment. On the basis of the above-mentioned embodiment shown in Fig. 5 or Fig. 7, optionally, performing the yielding operation may include the following steps:

Step S710, acquiring a deceleration reference value, and decelerating the first vehicle according to the deceleration reference value, so that the second vehicle can pass through the road section to be given priority.

Specifically, for a vehicle with an automatic driving function or a vehicle with an auxiliary driving function, the deceleration reference value can be obtained first, and the braking device is activated according to the deceleration reference value to decelerate the first vehicle until the first traffic The vehicle is stopped to allow the second vehicle to pass through the road section to be given priority.

It can be understood that, according to different vehicles, the deceleration reference value can be preset as the maximum value that the vehicle can bear, that is, when it is necessary to give way, emergency braking is performed.

Optionally, the above-mentioned deceleration reference value can be preset, and can also be obtained from the cloud through the vehicle communication system. In addition, the deceleration reference value can also be acquired through the implementation shown in FIG. 12 . As shown in Figure 12, the above S710 may include:

S710a. Obtain the current speed of the first vehicle and the estimated travel distance of the first vehicle to the road section to be given way.

Specifically, please refer to FIG. 13 together. FIG. 13 is an application scene diagram of a driving assistance method provided in another embodiment. The estimated travel distance of the first vehicle to the road section to be given way is the travel distance S1 of the first vehicle from the current position 311 to the starting point 312 of the road section to be given way. The current speed of the first vehicle is the speed of the first vehicle at the current location 311 . It can be understood that this embodiment does not limit the specific manner of obtaining the current speed of the first vehicle and the estimated travel distance of the first vehicle to the road section to be given way.

S710b. Calculate and obtain a deceleration reference value according to the current speed of the first vehicle and the estimated travel distance of the first vehicle to the road section to be given way.

Specifically, in the uniform deceleration motion model, the deceleration reference value can be obtained by calculating the estimated travel distance of the first vehicle to the road section to be given way and the current speed of the first vehicle.

In the assisted driving method provided by the above-mentioned embodiment, the yielding operation is performed by obtaining the deceleration reference value, and the first vehicle is automatically decelerated and stopped according to the deceleration reference value, and the first vehicle is executed by the deceleration reference value to perform the yielding operation, which can reduce The driver's participation further improves traffic efficiency and reduces the incidence of traffic accidents; in addition, the above-mentioned assisted driving method can also brake slowly through assisted driving to stop the vehicle at the intersection of the road section to be given way , making the passengers in the vehicle safer and more comfortable.

Please refer to FIG. 14 . FIG. 14 is a schematic flowchart of a driving assistance method provided in another embodiment. This embodiment relates to the process of determining the road section to be given way. That is, before acquiring the first time information, it may further include a step of determining whether there is a section to give way. That is to say, on the basis of the above-mentioned embodiment shown in FIG. 3 , optionally, before step S310, the following steps may also be included:

S301. Acquire driving environment information, and determine whether a road section ahead is a road section to be given way according to the driving environment information; the driving environment information is used to represent relevant information of a driving process of a first vehicle.

Specifically, the driving environment information may be used to characterize the environment in which the first vehicle is located during driving. For example, it may be information representing the degree of congestion in front of the first vehicle, or information representing the distance between the first vehicle and other vehicles, or information such as narrowing or shortening of the sight distance caused by weather. The embodiment does not limit the content of the driving environment information, as long as the driving environment information can be related to the driving process of the first vehicle.

The road section ahead refers to the road section that the first vehicle is expected to pass along the current driving direction. The starting point and end point of the road section ahead can be specified according to preset parameters, or can be determined according to the parameters of the vehicle sensor, or can be determined according to the vehicle map. way to determine.

Specifically, the way to obtain the driving environment information can be obtained through vehicle sensor detection. The vehicle sensor can be at least one of camera, infrared, millimeter-wave radar, and laser radar, or it can communicate with other vehicles and/or through the vehicle communication system. Obtained by communication in the cloud. It can be understood that the present embodiment does not limit the manner of acquiring the driving environment information.

After the driving environment information is obtained, the method of determining the road section to be given way according to the driving environment information, optionally, can also refer to the process of the embodiment shown in Figure 15 to Figure 17 below, it can be understood that the following Figures 15-17 The illustrated embodiment does not limit the implementation process of "determining whether the road section ahead is a road section to be given way". The embodiments shown in Fig. 15 to Fig. 17 will be described in detail below.

Optionally, please refer to FIG. 15 , which is a schematic flowchart of a driving assistance method provided in an embodiment. This embodiment relates to the specific process of the vehicle determining whether the road section ahead is a road section to be given way. That is, before acquiring the first time information, it may further include a step of determining whether there is a section to give way. That is to say, on the basis of the above-mentioned FIG. 12, optionally, step S301 may include the following steps:

S301a, acquiring traffic sign information.

Specifically, the traffic sign information is information used to identify whether a road section is a road section to be given way. The traffic identification information may be a road sign captured by a vehicle-mounted camera device, or road segment traffic identification information obtained from a vehicle-mounted map, or road segment traffic identification information obtained from cloud data.

S301b, judging whether the acquired traffic identification information matches a preset yield identifier.

Specifically, the traffic sign information obtained in step S310a is matched with the preset yield sign. The traffic sign information obtained in step S310a may be recognized through an image recognition algorithm, and further judged whether it matches the yield sign.

S301c, if it matches, determine that the road section ahead is the road section to be given way.

Specifically, the road section ahead refers to the road section that the first vehicle will pass along the current driving direction. That is to say, the first vehicle traveling along the current direction will first arrive at the starting point of the road segment ahead, then enter the road segment ahead, and finally reach the end point of the road segment ahead so as to pass the road segment ahead.

In the above-mentioned assisted driving method, before obtaining the first time period from the current position of the first vehicle until the first vehicle passes through the road section to be given way, it is determined whether the road section ahead is a road section to be given way based on the driving environment information . That is to say, after it is determined that the road section ahead is the road section to be given way, the passing order of the vehicles starts to be determined, thereby saving computing resources and improving driving efficiency.

In addition to the above-mentioned implementation shown in FIG. 15 , the method for determining whether the road ahead is a road section to be given way may optionally also adopt the following implementation shown in FIG. 16 or FIG. 17 .

As shown in Figure 16, on the basis of the above Figure 14, optionally, S301 may be implemented by the following steps:

S301a', acquiring the width of the road ahead.

Specifically, the first means of transportation may obtain the width of the road section ahead through on-board sensors such as millimeter wave radar, laser radar, and camera. The width of the road ahead can also be obtained through the vehicle map, and the width of the road ahead can be obtained by communicating with the cloud through the vehicle communication system.

S301b', judging whether the width of the road ahead is smaller than a preset width threshold.

Specifically, the width of the road ahead obtained in step S301 is compared with a preset width threshold. It can be understood that different width thresholds can be set according to different vehicles and different traffic conditions. Further, the width threshold can be set to be twice the width of a typical car.

S301c', when the width of the road section ahead is less than the preset width threshold, determine that the road section ahead is a road section to be given way.

The above assisted driving method fully determines whether the road section ahead is a road section to be given way according to the width of the road section ahead, which saves computing resources and improves driving efficiency.

As shown in Figure 17, on the basis of the above Figure 14, optionally, S301 may be implemented by the following steps:

S301a", acquiring the inter-vehicle distance between the second vehicle and the first vehicle.

Specifically, the inter-vehicle distance refers to the distance between the current position of the second vehicle and the current position of the first vehicle. The inter-vehicle distance can be obtained through on-board sensors, or from the cloud through the communication system. It can be understood that, in this embodiment, there is no limitation on the manner of acquiring the inter-vehicle distance.

S301b", judging whether the inter-vehicle distance is less than a preset distance threshold.

S301c", if the inter-vehicle distance is less than the preset distance threshold, determine that the road section ahead is the road section to be given way.

Specifically, the inter-vehicle distance is compared with a preset distance threshold, and if the inter-vehicle distance is smaller than the preset distance threshold, the road section ahead is a road section to be given way.

In the above-mentioned assisted driving method, it is determined whether the road section ahead is a road section to be given way according to the inter-vehicle distance between the first vehicle and the second vehicle, which saves computing resources and improves driving efficiency.

Please refer to FIG. 18 , which is a schematic structural diagram of a driving assistance device provided in an embodiment. As shown in FIG. 18 , the driving assistance device specifically includes a first time information acquisition module 410 , a second time information acquisition module 420 and a yield judgment module 430 .

The first time information acquisition module 410 is configured to acquire the first time information; the first time information is used to represent the time information corresponding to the first vehicle traveling to the first preset location in the road section to be given way;

The second time information acquisition module 420 is configured to acquire second time information; the second time information is used to represent the time information corresponding to the second vehicle traveling to the second preset location in the road section to be given way;

The yield judging module 430 is configured to determine the order in which the first vehicle and the second vehicle pass through the to-be-yielded road section according to the first time information and the second time information.

The driving assistance device provided in this embodiment can execute the above-mentioned method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.

Optionally, if the first time information is the first time period from the current position of the first vehicle to passing through the road section to be given way by the first vehicle, the second time information is Starting from the current position of the second means of transportation, until passing through the second duration of the road section to be given way, then the give way judgment module 430 includes:

The first yield judging module 430' is configured to determine the order in which the first vehicle and the second vehicle pass through the road section to be given way according to the magnitude relationship between the first duration and the second duration.

Please refer to FIG. 19, which is a schematic structural diagram of a driving assistance device provided in an embodiment. As shown in FIG. 19, optionally, the yield judging module 430' may also include a first yield unit 431'.

Specifically, the first yielding unit 431' is configured to perform a yielding operation when the first duration is longer than the second duration, so that the second vehicle preferentially passes through the road segment to be yielded.

Optionally, the first yielding unit 431' may include a deceleration subunit 431a', wherein the deceleration subunit 431a' is configured to obtain a deceleration reference value, and decelerate the first vehicle according to the obtained deceleration reference value, so as to Make the second vehicle preferentially pass through the road section to be given way.

Optionally, the first yielding unit 431' may include a warning subunit 431b', wherein the warning subunit is used to output warning information to the driver and/or the second vehicle.

The driving assistance device provided in this embodiment can execute the above-mentioned method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

Please refer to Fig. 20, Fig. 20 is a schematic structural diagram of a driving assistance device provided in an embodiment, as shown in Fig. 20, optionally, if the first time information is the first Time, the second time information is the second time when the second vehicle travels to the second preset location, then the yield judgment module 430 includes:

The second yield judging module 430'' is configured to determine the order in which the first vehicle and the second vehicle pass through the to-be-yielded road section according to the order of the first moment and the second moment.

Optionally, the second yield judgment module 430" may further include a second yield unit 431".

Specifically, the first yielding unit 431" is configured to perform a yielding operation when the first moment is later than the second moment, so that the second vehicle preferentially passes through the road section to be yielded.

Optionally, the above-mentioned first yielding unit 431" may include a deceleration subunit 431a", wherein the deceleration subunit 431a" is used to obtain a deceleration reference value, and decelerate the first vehicle according to the obtained deceleration reference value, so as to Make the second vehicle preferentially pass through the road section to be given way.

Optionally, the above-mentioned first yielding unit 431" may include a warning subunit 431b", wherein the warning subunit is used to output warning information to the driver and/or the second vehicle.

In one embodiment, on the basis of the structural schematic diagram of the driving assistance device shown in FIG. 18 , optionally, before the first time information acquiring module 410 , a driving environment information acquiring module 401 may also be included.

Specifically, the driving environment information acquisition module 401 is used to acquire driving environment information, and determine whether the road section ahead is a road section to be given way according to the driving environment information; information.

Optionally, the driving environment information acquiring module 401 may include a traffic sign acquiring module 401a and a first determining module 401b.

Specifically, the traffic sign acquisition module 401a is used to acquire traffic sign information.

The first determining module 401b is configured to determine that the road section ahead is a road section to be given way when the acquired traffic identification information matches a preset yield identifier.

Optionally, the driving environment information acquisition module 401 may include a width acquisition module 401a' and a second determination module 401b'.

Specifically, the width obtaining module 401a' is used to obtain the width of the road section ahead.

The second determination module 401b' is used to determine that the road section ahead is a road section to be given way when the width of the road section ahead is smaller than a preset width threshold.

Optionally, the driving environment information acquisition module 401 may include an inter-vehicle distance acquisition module 401a" and a third determination module 401b".

Specifically, the vehicle-to-vehicle distance acquisition module 401a" is used to acquire the vehicle-to-vehicle distance between the second vehicle and the first vehicle.

The third determining module 401b" is used to determine that the road section ahead is a road section to be given way when the inter-vehicle distance is less than a preset distance threshold.

The driving assistance device provided in this embodiment can execute the above-mentioned method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

In one of the embodiments, a computer-readable storage medium is also provided. Instructions are stored in the computer-readable storage medium. When the instructions are run on the computer, the computer is made to perform the assisted driving involved in the above-mentioned method embodiments. function of the method.

The foregoing implementation manners may be realized in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it may be implemented in whole or in part in the form of a computer program product, which may include one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present invention will be generated. Wherein, the computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices; the computer instructions may be stored in a computer-readable storage medium, or readable from one computer-readable storage medium to another computer Storage media transfer. For example, the computer instructions may be sent from one web site, computer, server, or data center to another web site, The computer, server or data center for transmission; the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, etc. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape, an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk SSD) and the like.

In one of the embodiments, a computer system is also provided, the system includes a memory storing computer instructions and a processor, wherein the computer instructions implement the following steps when executed by the processor:

Acquiring first time information; the first time information is the time information corresponding to the first vehicle traveling to the first preset location in the road section to be given way;

Acquiring second time information; the second time information is the time information corresponding to the second vehicle traveling to the second preset location in the road section to be given way;

According to the first time information and the second time information, the order in which the first vehicle and the second vehicle pass through the road section to be given way is determined.

In one embodiment, the first time information is the first time when the first vehicle travels to the first preset location; the second time information is the second time when the second vehicle travels to the second preset location. time;

According to the first time information and the second time information, determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way includes:

According to the sequence relationship between the first moment and the second moment, the passing order of the first vehicle and the second vehicle passing through the road section to be given way is determined.

In one embodiment, the determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the sequence relationship between the first moment and the second moment includes:

When the first moment is later than the second moment, a yielding operation is performed, so that the second vehicle passes through the road section to be yielded in priority.

In one embodiment, the first time information is the first time period from the current position of the first vehicle until passing through the road section to be given way by the first vehicle; the second time information is the second time information of the second vehicle The tool starts from the current position of the second vehicle until it passes the to-be-yielded road section for a second duration;

According to the first time information and the second time information, determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way includes:

According to the magnitude relationship between the first time length and the second time length, the order in which the first vehicle and the second vehicle pass through the road section to be given way is determined.

In one embodiment, the determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the size relationship between the first duration and the second duration includes:

When the first time length is greater than the second time length, perform a yielding operation, so that the second means of transport can pass the road section to be yielded in priority.

In one embodiment, the performing the yield operation includes:

Acquiring the deceleration reference value of the first vehicle, and decelerating the first vehicle according to the deceleration reference value, so that the second vehicle can pass through the road section to be given priority.

In one embodiment, the performing the yield operation includes:

Outputting warning information, where the warning information is used to instruct the receiver to perform a deceleration operation.

In one embodiment, the acquisition of the first vehicle starts from the current position of the first vehicle until the first duration of passing the road section to be given way, the method further includes:

Acquiring driving environment information, and determining whether the road section ahead is a road section to be given way according to the driving environment information; the driving environment information is used to represent relevant information of the driving process of the first vehicle.

In one embodiment, the driving environment information includes traffic identification information;

The determining whether the road section ahead is a road section to be given way according to the driving environment information includes:

When the acquired traffic identification information matches the preset yield identifier, it is determined that the road segment ahead is a road segment to be yielded.

In one embodiment, the driving environment information includes the width of the road section ahead;

According to the driving environment information, determine whether the road section ahead is a road section to be given way, including:

When the width of the road section ahead is smaller than the preset width threshold, it is determined that the road section ahead is a road section to be given way.

In one embodiment, the driving environment information includes the inter-vehicle distance between the first vehicle and the second vehicle;

According to the driving environment information, determining the road section ahead as the road section to be given way includes:

When the inter-vehicle distance is less than the preset distance threshold, it is determined that the road section ahead is a road section to be given way.

The computer system provided by the above-mentioned embodiments has an implementation manner, an implementation principle, and technical effects similar to those of the above-mentioned method embodiments, and details are not repeated here.

Please refer to FIG. 21 , which is a schematic structural diagram of a vehicle provided in an embodiment. The vehicle includes a computer system 510 , a vehicle power system 520 , and a vehicle braking system 530 . The computer system 510 is respectively connected with the vehicle power system 520 and the vehicle brake system 530 , and the output result of the computer system 510 is used to control the vehicle power system 520 and the vehicle brake system 530 .

Optionally, the vehicle may also include a sensor system for sensing parameter information during the running of the vehicle. The sensor system is connected with the computer system, and the obtained parameter information is used as the input of the computer system.

Optionally, the vehicle may also include a communication system, which is used to communicate with the cloud server and/or other vehicles, so that the car can exchange information with the cloud server and/or other vehicles during driving.

The implementation principles and technical effects of the means of transportation provided in the above embodiments are similar to those in the above method embodiments, and will not be repeated here.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

Any reference to memory, storage, database or other media used in the various embodiments provided herein may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be understood that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (15)

1. A driving assist method, characterized by comprising:

acquiring first time information; the first time information is used for representing time information corresponding to a first preset place of a road section to be given a way when a first vehicle runs;

acquiring second time information; the second time information is used for representing time information corresponding to a second preset place of the road section to be given way when a second vehicle runs; and

determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed according to the first time information and the second time information,

wherein the road section to be given away has a starting point and an ending point, the first preset location is a location in the road section to be given away except the starting point and the ending point, and/or the second preset location is a location in the road section to be given away except the starting point and the ending point,

wherein the road segment to be cleared is a road segment that the first vehicle is expected to pass through and is a road segment that the second vehicle is expected to pass through,

and the end point of the first vehicle driving into the road section to be yielded is used as the starting point of the road section to be yielded in the driving process, and the end point of the first vehicle driving away from the road section to be yielded is used as the end point of the road section to be yielded.

2. The driving assistance method according to claim 1, wherein the first time information is a first time at which the first vehicle travels to a first preset point; the second time information is a second moment when the second vehicle runs to a second preset place;

the determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed comprises the following steps of:

and determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed according to the sequence relation between the first time and the second time.

3. The driving assistance method according to claim 2, wherein the determining, according to the precedence relationship between the first time and the second time, a passing order of the first vehicle and the second vehicle through the road section to be given way includes:

and when the first moment is later than the second moment, executing a line-giving operation so as to enable the second vehicle to preferentially pass through the to-be-given-way road section.

4. The driving assist method according to claim 1, characterized in that the first time information is a first time period from a current position of the first vehicle until a passage through the to-be-yielded link by the first vehicle; the second time information is a second time length from the current position of the second vehicle to the time when the second vehicle passes through the road section to be waited for passing;

the determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the first time information and the second time information comprises the following steps:

and determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed according to the size relation between the first time length and the second time length.

5. The driving assistance method according to claim 4, wherein the determining of the passing order of the first vehicle and the second vehicle through the to-be-given-off road section according to the magnitude relation between the first duration and the second duration comprises:

and when the first time length is larger than the second time length, executing a yielding operation so that the second vehicle preferentially passes through the road section to be yielded.

6. The driving assist method according to claim 3 or 5, wherein the performing yielding operation includes:

and acquiring a deceleration reference value of the first vehicle, and decelerating the first vehicle according to the deceleration reference value so as to enable the second vehicle to preferentially pass through the road section to be waited.

7. The driving assist method according to claim 3 or 5, wherein the performing yielding operation includes:

and outputting warning information, wherein the warning information is used for indicating a receiving party to execute deceleration operation.

8. The driving assist method according to claim 1, characterized in that the acquiring of the first time information; before the first time information is used for representing time information corresponding to a first preset place of a road section to be given a way when the first vehicle runs, the method further comprises the following steps:

acquiring running environment information, and determining whether a front road section is a road section to be yielded according to the running environment information; the driving environment information is used for representing relevant information of the driving process of the first vehicle.

9. The driving assist method according to claim 8, characterized in that the running environment information includes traffic identification information;

the determining that the front road section is the road section to be yielded according to the driving environment information comprises the following steps:

and when the acquired traffic identification information is matched with a preset yielding identifier, determining that the front road section is the road section to be yielded.

10. The driving assist method according to claim 8, characterized in that the running environment information includes a width of a road section ahead;

determining the front road section as the road section to be yielded according to the driving environment information, wherein the method comprises the following steps:

and when the width of the front road section is smaller than a preset width threshold value, determining the front road section as a road section to be yielded.

11. The driving assist method according to claim 8, characterized in that the running environment information includes an inter-vehicle distance between the first vehicle and the second vehicle;

the determining that the front road section is the road section to be yielded according to the driving environment information comprises the following steps:

and when the distance between the vehicles is smaller than a preset distance threshold value, determining the front road section as the road section to be yielded.

12. A driving assistance apparatus, characterized in that the apparatus comprises:

the first time information acquisition module is used for acquiring first time information; the first time information is used for representing time information corresponding to a first preset place in a road section to be given a way when a first vehicle runs;

the second time information acquisition module is used for acquiring second time information; the second time information is used for representing time information corresponding to a second preset place of the second vehicle in the road section to be allowed to run; and

a passing judging module for determining the passing sequence of the first vehicle and the second vehicle passing the road section to be passed according to the first time information and the second time information,

wherein the road section to be given away has a starting point and an ending point, the first preset location is a location in the road section to be given away except the starting point and the ending point, and/or the second preset location is a location in the road section to be given away except the starting point and the ending point,

wherein the road segment to be vacated is a road segment that the first vehicle is expected to pass through and is a road segment that the second vehicle is expected to pass through,

and the end point of the first vehicle driving into the road section to be yielded is used as the starting point of the road section to be yielded in the driving process, and the end point of the first vehicle driving away from the road section to be yielded is used as the end point of the road section to be yielded.

13. A computer readable storage medium having computer instructions stored thereon, which when executed by a processor implement the steps in the method of any one of claims 1-11.

14. A driving assistance system, the system comprising a memory, a processor and computer instructions stored on the memory, wherein the computer instructions, when executed by the processor, implement the steps in the method of any one of claims 1-11.

15. A vehicle characterized in that it comprises a driving assistance system according to claim 14.

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