CN109987103B

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

Info

Publication number: CN109987103B
Application number: CN201711482907.6A
Authority: CN
Inventors: 唐帅; 孙铎; 张海强
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2022-11-29
Anticipated expiration: 2037-12-29
Also published as: CN109987103A

Abstract

The invention relates to a driving assistance method, comprising: acquiring first time information; the first time information is corresponding to the time information when the first vehicle drives to a first preset place in the road section to be allowed to run; acquiring second time information; the second time information is corresponding to the time information when the second vehicle drives to a second preset place in the road section to be allowed to run; 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. The method can enable the vehicle to judge whether the vehicle meets for the way more accurately, thereby improving the traffic efficiency and reducing the accident rate. The invention also relates to a driving assistance device, a driving assistance system, a storage medium and a vehicle.

Description

Driving assistance method, device, storage medium, system and vehicle

Technical Field

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

Background

With the progress of technology, artificial intelligence is increasingly used in the traffic field, and many vehicles are provided with a driving assistance function. The auxiliary driving helps people to drive the vehicle, so that the driving experience can be improved, and the traffic accidents can be effectively reduced.

The vehicle-meeting passing means that when a vehicle meets, one vehicle passes another vehicle in advance. In a traditional assistant driving method, whether a vehicle needs to meet or give way is difficult to accurately judge, so that improper giving judgment is made when the vehicle with an assistant driving function is driven, especially when the vehicle passes through a narrow road section, and accidents are caused.

Disclosure of Invention

Based on this, it is necessary to provide a driving assist method, a device, a storage medium, a system, and a vehicle for solving a problem that it is difficult for a conventional driving assist method to determine a passing order of vehicles when a meeting is performed on a narrow road section.

A driving assist method, wherein the method comprises:

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 second vehicle in the road section to be allowed to run; and

and 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.

According to the driving assistance method, when the vehicle passes through the road section to be passed, first time information of the first vehicle driving to the first preset place and second time information of the second vehicle driving to the second preset place are obtained, and then the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed is determined according to the two time information, so that whether the vehicle meeting and passing are needed or not is judged more accurately, the traffic efficiency is improved, and the accident occurrence rate is reduced.

In one embodiment, the first time information is a first time when the first vehicle travels to a first preset location; 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 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 sequence relation between the first time and the second time.

In one embodiment, the determining, according to the precedence relationship between the first time and the second time, the passing order of the first vehicle and the second vehicle through the to-be-given-away road segment includes:

and if the first time is later than the second time, executing yielding operation so that the second vehicle can pass through the road section to be yielded preferentially.

According to the driving assistance method, when the vehicle passes through the road section to be given way, the first moment when the first vehicle drives to the first preset place and the second moment when the second vehicle drives to the second preset place are obtained, and then the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way is determined according to the precedence relation of the two moments. The method can enable the vehicle to judge whether the vehicle meets for the way more accurately, thereby improving the traffic efficiency and reducing the accident rate.

In one embodiment, the first time information is a first time length from the current position of the first vehicle to the passage of the road section to be waited for; 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;

acquiring a first time length for a first vehicle to pass through a road section to be waited from the current position of the first vehicle;

acquiring a second time length for a second vehicle to pass through the road section to be waited from the current position of the second vehicle;

and 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 relation between the first duration and the second duration.

According to the driving assistance method, when the vehicle passes through the road section to be yielded, firstly, the time length of the first vehicle passing through the road section to be yielded and the time length of the second vehicle passing through the road section to be yielded are obtained, and then the passing sequence of the first vehicle and the second vehicle passing through the road section to be yielded is determined according to the size relation of the two time lengths. The method can enable the vehicle to more accurately judge whether the vehicle meeting is required to give way, thereby improving the traffic efficiency and reducing the accident rate.

In one embodiment, the step of determining the passing order of the first vehicle and the second vehicle through the road segment to be passed according to the size relationship between the first time length and the second time length comprises:

and when the first time length is longer than the second time length, executing a line-giving operation so that the second vehicle passes through the to-be-given-by road section preferentially.

According to the driving assistance method, whether the yielding operation is executed or not is judged by directly comparing the size relation of the first duration and the second duration, so that the traffic efficiency is improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, the step of performing yield operation includes:

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

According to the driving assistance method, the yielding operation is executed by acquiring the deceleration reference value, the first vehicle is automatically decelerated and stopped according to the deceleration reference value, and the yielding operation is executed on the first vehicle through the deceleration reference value, so that the participation of a driver can be reduced, the traffic efficiency is further improved, and the occurrence rate of traffic accidents is reduced.

In one embodiment, the step of performing a line-letting operation further includes:

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

In the driving assistance method provided by the above embodiment, the step of performing the yielding operation is to remind the driver of the first vehicle by outputting the warning mode to the driver, or remind the second vehicle by outputting the warning information to the second vehicle, so that the driver of the first vehicle and/or the second vehicle make corresponding judgment, thereby improving traffic efficiency and reducing the occurrence rate of traffic accidents.

In one embodiment, the obtaining of the first vehicle starts from the current position of the first vehicle until a first time period of passing the route segment to be waited for, the method further includes:

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.

According to the driving assistance method provided by the embodiment, when the front road section is determined to be the road section to be yielded, the passing sequence of the vehicles is determined, so that the computing resources are saved, and the driving efficiency is improved.

As one of the embodiments, the running environment information includes traffic identification information;

determining whether 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.

As one of the embodiments, the driving 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.

As one of the embodiments, the running environment information includes an inter-vehicle distance between the first vehicle and the second vehicle;

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.

A driving assistance apparatus, wherein 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 of 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 the yielding judgment module is used for determining the passing sequence of the first vehicle and the second vehicle passing through the road section to be yielded according to the first time information and the second time information.

The auxiliary driving device can be used in vehicles, so that when the vehicles pass through a to-be-yielded road section, first time information of the first vehicles running to a first preset place and second time information of the second vehicles running to a second preset place are obtained firstly, then the passing sequence of the to-be-yielded road section is determined according to the two time information, whether the vehicles meet and are yielded is judged more accurately, traffic efficiency is improved, and accident occurrence rate is reduced.

A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by the processor, implement the steps of the method of the above embodiments.

The computer readable storage medium can be used in a vehicle, so that when the vehicle passes through a to-be-yielded road section, first time information of the first vehicle driving to a first preset place and second time information of the second vehicle driving to a second preset place are firstly obtained, and then the passing sequence of the first vehicle and the second vehicle passing through the to-be-yielded road section is determined according to the two time information, so that whether meeting and yielding are needed or not is more accurately judged, the traffic efficiency is improved, and the accident rate is reduced.

A driving assistance 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 of the method of the various embodiments described above.

The auxiliary driving system can be used in vehicles, firstly, first time information of the first vehicle driving to a first preset place and second time information of the second vehicle driving to a second preset place are obtained, then the passing sequence of the first vehicle and the second vehicle passing through the road section to be passed is determined according to the two time information, and therefore whether the vehicle meeting and passing are needed or not is judged more accurately, traffic efficiency is improved, and the accident rate is reduced.

A vehicle, wherein the vehicle comprises the driving assistance system of the above embodiment.

When the vehicles pass through the section to be allowed to run, firstly, first time information of the first vehicles running to a first preset place and second time information of the second vehicles running to a second preset place are obtained, then the passing sequence of the first vehicles and the second vehicles passing through the section to be allowed to run is determined according to the two time information, and therefore whether meeting and allowing running are needed or not is judged more accurately, traffic efficiency is improved, and the occurrence rate of accidents is reduced.

Drawings

FIG. 1 is a network architecture diagram of a driving assistance method according to an embodiment;

FIG. 2 is a diagram illustrating an application scenario of a driving assistance method according to an embodiment;

FIG. 3 is a schematic flow chart of a driving assistance method according to an embodiment;

FIG. 4 is a flow chart illustrating a driving assistance method according to an embodiment;

FIG. 5 is a schematic flow chart of a driving assistance method according to an embodiment;

FIG. 6 is a flow chart illustrating a driving assistance method according to an embodiment;

FIG. 7 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 8 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 9 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 10 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 11 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 12 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 13 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 14 is a diagram illustrating an application scenario of a driving assistance method according to an embodiment;

FIG. 15 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 16 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 17 is a schematic flow chart diagram illustrating a driving assistance method according to one embodiment;

FIG. 18 is a schematic view illustrating a configuration of a driving assistance apparatus according to an embodiment;

FIG. 19 is a schematic structural diagram of a driving assistance apparatus according to an embodiment;

FIG. 20 is a schematic structural diagram of a driving assistance apparatus according to an embodiment;

fig. 21 is a schematic structural view of a vehicle according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are only for explaining the present invention and are not intended to limit the present application.

The vehicle according to the embodiments of the present application may be a vehicle having corresponding control functions, including, but not limited to, internal combustion engine automobiles or motorcycles, electric moped, electric balance cars, remote control vehicles, bicycles, balance cars, and other vehicles and various modifications of vehicles. The vehicle referred to herein may be a single oil-circuit vehicle, a single steam-circuit vehicle, a combined oil and steam vehicle, or an electric power-assisted vehicle. It is 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 according to each embodiment of the present application can be applied 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 further include a cloud server. Optionally, the Wireless network may be a 2G network, a 3G network, a 4G network, a 5G network, a Wireless Fidelity (WIFI for short), or the like, and the vehicle may interact with the cloud server through the Wireless network, and may also interact with other vehicles through the 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 the vehicle to access the network.

Optionally, the execution subject of the method according to the embodiments of the present application may be a device for assisting driving, which may be implemented as part or all of a vehicle by software, hardware, or a combination of software and hardware, that is, the device may be a stand-alone vehicle, or may be some device on the vehicle, for example, a central control unit on the vehicle, or may be other devices with control and/or communication functions on the vehicle. The vehicle is taken as an example, the device may be a vehicle machine on the vehicle, a center console of the vehicle, a drive recorder on the vehicle, and the like, and the vehicles according to the following embodiments are all examples of the vehicle. For convenience of description, the implementation subjects of the method embodiments described below are all taken as vehicles as examples.

Referring to fig. 2, fig. 2 is a view illustrating an application scenario of the driving assistance method according to an embodiment. The first vehicle 210 travels in a direction toward the second vehicle 220 and is expected to meet at a location within the block 230 to be cleared. Optionally, the first vehicle 210 first obtains first time information of the first vehicle 210 driving to the first preset address 230B in the road segment to be yielded, then obtains second time information of the second vehicle 220 driving to the second preset address 230A in the road segment to be yielded, and then determines, according to the first time information and the second time information, a passing order of the first vehicle 210 and the second vehicle 220 through the road segment to be yielded 230. It is understood that the first vehicles may travel in opposite directions, in the same direction, or in a turn at the intersection to enter the route to be yielded. For convenience of description, the following embodiments are each exemplarily described in an application scenario in which a first vehicle and a second vehicle travel in the same direction.

Referring to fig. 2, in fig. 2, the road segment to be cleared 230 is a narrow road segment, and may optionally refer to a road segment having a width that is difficult for two vehicles to pass through in parallel, and may also be at least one of a narrow road, a bridge or a tunnel. It is to be understood that the embodiments in the present application do not limit the type of the route segment to be yielded 230. The road section to be allowed to pass may be a road section which is designated in advance, or a road section which is obtained by judging according to a preset rule based on the front road section information.

For convenience of description, in various embodiments of the present application, an end point of a first vehicle driving into a to-be-yielded road segment during driving is taken as a starting point of the to-be-yielded road segment, and an end point of the first vehicle driving away from the to-be-yielded road segment is taken as an end point of the to-be-yielded road segment. For example, in the to-be-yielded road segment 230 shown in fig. 2, an end point 230A of the first vehicle 210 driving into the to-be-yielded road segment 230 is taken as a start point of the to-be-yielded road segment 230 and an end point 230B of the driving out of the to-be-yielded road segment 230 is taken as an end point of the to-be-yielded road segment 230.

Referring to fig. 3, fig. 3 is a flowchart illustrating a driving assistance method according to an embodiment. The embodiment relates to how to determine the passing sequence of the first vehicle and the second vehicle passing through the road section to be given way according to the acquired first time information and the acquired second time information.

S310, 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 the first vehicle runs.

Specifically, the time information may be used to represent a duration of a certain period of time, and may also be used to represent a time of a certain time point. Correspondingly, the first time information may be a time length used for representing a time period from the current position of the first vehicle to the first preset position in the road section to be waited for driving. Or may be used to characterize the time at which the first vehicle travels to the first predetermined location in the route segment to be cleared.

The first preset location may be a certain location between the road sections to be given the way, and optionally, the first preset location may be preset as a starting point of the road section to be given the way, may also be preset as an ending point of the road section to be given the way, and may also be preset as a certain location in the road section to be given the way, except for the starting point and the ending point. It is understood that the specific position of the first preset location is not limited in this embodiment.

The first vehicle can acquire the first time information through calculation, and can also directly acquire the first time information from a cloud. That is, the present embodiment does not limit the manner of acquiring the first time information.

S320, 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.

Similarly, the second preset location may be a location between the road sections to be given away, and optionally, the second preset location may be preset as a starting point of the road section to be given away, may also be preset as an ending point of the road section to be given away, and may also be preset as a location other than the starting point and the ending point in the road section to be given away. The embodiment is also not limited to the specific position of the second preset point. The first vehicle can acquire the second time information through calculation, can also directly acquire the second time information from a cloud, and can also acquire the second time information from the second vehicle through the vehicle-mounted communication system. That is, the present embodiment does not limit the manner of acquiring the first time information.

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

It should be understood that, in the present embodiment, the execution sequence of step S310 and step S320 is not limited, and both steps may be performed simultaneously or sequentially.

S330, 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.

Specifically, the passing order of the first vehicle and the second vehicle passing through the to-be-given-off road segment is determined according to the first time information and the second time information acquired in step S310 and step S320. For example, if the time information is the time length, the passing order through the route sections to be yielded may be determined by comparing the magnitude relationship of the time lengths, and if the time information is the time, the passing order through the route sections to be yielded may be determined by comparing the morning and the evening of the time. It is understood that the present embodiment is not limited to the specific manner of determining the passing order of the vehicles through the time information.

Referring to fig. 4, fig. 4 is a schematic flow chart of a driving assistance method according to an embodiment. Optionally, in this embodiment, the first time information is a first time when the first vehicle travels to a first preset location; the second time information is a second time when the vehicle travels to a second preset place. The driving assistance method provided by the embodiment may include the steps of:

s410, acquiring first time information; the first time information is a first moment when the first vehicle travels to a first preset place.

S420, acquiring second time information; the second time information is a second moment when the second vehicle travels to a second preset place.

Specifically, the manner of obtaining the first time and the manner of obtaining the second time may refer to the above embodiments, which are not described herein again.

It should be noted that, in this embodiment, the execution sequence of step S410 and step S420 is not limited, and both steps may be performed simultaneously or sequentially.

And S430, determining the passing sequence of the first traffic tool and the second traffic tool passing through the road section to be passed according to the sequence relation between the first moment and the second moment.

Specifically, the passing order of the first vehicle and the second vehicle passing through the road section to be passed may be determined according to the precedence relationship between the first time obtained in step S410 and the second time obtained in step S420. For example, in one embodiment, if the first time is later than the second time, it is determined that the second vehicle passed through the to-be-yielded road segment first and the first vehicle passed through the to-be-yielded road segment 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 passed through the to-be-yielded road segment first and the first vehicle passed through the to-be-yielded road segment later. It can be understood that after determining the sequence of the vehicles passing through the road sections to be yielded, it can be further determined whether the yielding operation needs to be performed.

Referring to fig. 5, fig. 5 is a schematic flow chart of a driving assistance method according to an embodiment. On the basis of the embodiment shown in fig. 4, optionally, the step S430 may further include:

and S430', when the first time is later than the second time, executing a traffic-giving operation to enable the second vehicle to preferentially pass through the road section to be given the traffic-giving way.

Specifically, if the first time is later than the second time, it is determined that the first vehicle needs to give way, and the first vehicle performs a giving way operation, so that the second vehicle preferentially passes through the road section to be given way.

According to the auxiliary driving method, whether the yielding operation is executed or not is judged by directly comparing the precedence relationship between the first moment and the second moment, so that the traffic efficiency is improved, and the occurrence rate of traffic accidents is reduced.

Referring to fig. 6, fig. 6 is a flowchart illustrating a driving assistance method according to an embodiment. Optionally, in this embodiment, the first time information is a first time period from a current position of the first vehicle to a time when the first vehicle passes through the road section to be waited, and the second time information is a second time period from a current position of the second vehicle to a time when the second vehicle passes through the road section to be waited. The driving assistance method of the present embodiment may include the steps of:

s510, acquiring first time information; the first time information is a first time length from the current position of the first vehicle to the time when the first vehicle passes through the road section to be waited to travel.

Specifically, the first vehicle passing through the section to be passed means that the first vehicle drives away from the end point of the section to be passed. The first vehicle can obtain parameters such as the current position and the speed of the first vehicle, the expected running distance of the first vehicle passing through the road section to be yielded and the like through the vehicle-mounted sensor, and then the first time length from the current position to the road section to be yielded is calculated through the vehicle-mounted system.

In addition, the first vehicle can also communicate with the cloud end through the vehicle-mounted communication device, cloud end data including parameters such as the current position and the speed of the first vehicle and the expected driving distance of the first vehicle passing through the road section to be given way are acquired, and then the first time length of the first vehicle passing through the road section to be given way from the current position is calculated through the vehicle-mounted system.

It can be understood that the first vehicle may also directly obtain, from the cloud, the first duration for the first vehicle to pass through the to-be-given-off road section from the current position of the first vehicle. That is, the present embodiment does not limit the manner of acquiring the first time length.

S520, acquiring second time information; 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.

Specifically, since the second vehicle travels in the opposite direction to the first vehicle, the second vehicle passing through the to-be-yielded road section means that the second vehicle drives away from the starting point of the to-be-yielded road section. The first vehicle can obtain parameters such as the speed of the second vehicle and the predicted driving distance of the second vehicle passing through the road section to be yielded through the vehicle-mounted sensor, and then the vehicle-mounted system can calculate the 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 yielded.

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 predicted driving distance of the second vehicle passing through the road section to be yielded, and further obtain 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 yielded.

It can be understood that the first vehicle can also communicate with the cloud end through the vehicle-mounted communication device so as to acquire cloud end data, the cloud end data comprise parameters such as the speed of the second vehicle and the expected driving distance of the second vehicle passing through the to-be-yielded road section, and then the vehicle-mounted system calculates the second time length from the current position until the second time length passes through the to-be-yielded road section. The first vehicle can also communicate with the second vehicle or the cloud, and the current position of the second vehicle is directly obtained from the second vehicle and/or the cloud until the second time length of the road section to be given way is passed. That is, the present embodiment does not limit the manner in which the second time period is acquired.

It should be noted that, in this embodiment, the execution sequence of step S510 and step S520 is not limited, and both steps may be performed simultaneously or sequentially.

S530, 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 duration and the second duration.

Specifically, the passing order of the first vehicle and the second vehicle through the road section to be passed may be determined according to the magnitude relationship between the first time length obtained in step S510 and the second time length obtained in step S520. It is to be appreciated that the relationship between the first duration and the second duration can include a direct comparison of the first duration being greater than the second duration, the first duration being greater than or equal to the second duration, and the like. The method can further comprise the step of obtaining an indirect comparison relation between the first duration and the second duration through a preset threshold, namely calculating a difference value between the first duration and the second duration, and comparing the difference value between the first duration and the second duration with the preset threshold, so as to determine a passing sequence of the second transportation means and the first transportation means passing through the road section to be given way.

According to the driving assistance method, when the vehicles pass through the to-be-yielded road section, firstly, the time length of the first vehicles passing through the to-be-yielded road section and the time length of the second vehicles passing through the to-be-yielded road section are obtained, and then the time lengths of the first vehicles and the second vehicles passing through the to-be-yielded road section are compared, so that the passing sequence of the first vehicles and the second vehicles passing through the to-be-yielded road section is determined. The method can enable the vehicle to judge whether the vehicle meets for the way more accurately, thereby improving the traffic efficiency and reducing the accident rate.

Referring to fig. 7, fig. 7 is a flowchart illustrating a driving assistance method according to an embodiment. The present embodiment relates to: and determining a specific process of the first vehicle and the second vehicle in the passing sequence of the road section to be passed according to the size relation between the first duration and the second duration. On the basis of the embodiment shown in fig. 6, optionally, the step S530 may include the steps of:

s530', when the first duration is greater than the second duration, performing a yielding operation to allow the second vehicle to preferentially pass through the to-be-yielded road segment.

Specifically, when the first time length is longer than the second time length, a line yielding operation is executed. That is to say, the first duration is longer than the second duration, and the second vehicle can pass through the section of waiting for the way of giving way sooner, in order to guarantee traffic safety and traffic efficiency, the first vehicle carries out the operation of giving way. If the first time period is less than or equal to the second time period, the first vehicle can pass through the to-be-yielded road segment more quickly, and therefore the first vehicle does not need to perform the yielding operation.

According to the driving assistance method, whether the yielding operation is executed or not is judged by directly comparing the magnitude relation of the first duration and the second duration, so that the traffic efficiency is improved, and the occurrence rate of traffic accidents is reduced.

Referring to fig. 8, fig. 8 is a schematic flow chart of a driving assistance method according to another embodiment. The present embodiment relates to: the specific method of "obtaining the first time length". On the basis of the embodiment shown in fig. 6 or fig. 7, optionally, step S510 may include:

and S511, acquiring the distance required by the first vehicle to travel through the road section to be given way and the length of the first vehicle.

S512, the acceleration of the first vehicle is obtained.

The embodiment is not limited to the embodiment in which the parameters are acquired in steps S511 and S512. It is to be understood that the execution sequence of step S511 and step S512 is not limited, and both steps may be performed simultaneously or sequentially.

S513, calculating to obtain a first time length according to the distance of the first vehicle passing through the road section to be passed and the acceleration of the first vehicle.

Specifically, the acceleration a _ ego of the autonomous vehicle may be a preset value, or may be calculated from the driving record information of a certain time or a certain trip. The driving record information can be information stored in a vehicle-mounted system, and can also be information stored in the cloud and acquired through a vehicle-mounted communication device. For example, the average acceleration of the vehicle in the travel record information may be extracted for a certain period of time, and a _ ego may be set according to the average acceleration.

Optionally, assuming that the first vehicle makes uniform acceleration motion to pass through the road section to be yielded, the first duration is obtained by adopting a uniform acceleration motion model calculation. For convenience of description, it is assumed that a predicted travel distance of the first vehicle to the start of the to-be-yielded road segment is D _ ego, the length of the to-be-yielded road segment is L, the length of the first vehicle is L _ ego, the acceleration of the first vehicle is a _ ego, and the current speed of the first vehicle is V _ ego. The first time period T _ ego may be calculated by the following equation or a variation thereof:

wherein D _ ego _ travel = D _ ego + L _ ego.

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

According to the driving assistance method provided by the embodiment, the first duration is obtained through calculation according to the distance of the road section to be yielded and the acceleration of the first vehicle. Through more accurate calculation of the first time length, the accuracy rate of judging the vehicle-meeting yielding is improved, so that the traffic efficiency is improved, and the accident rate is reduced.

Referring to fig. 9, fig. 9 is a flowchart illustrating a driving assistance method according to an embodiment. The present embodiment relates to: a specific method of acquiring a second length of time for which a first vehicle has traveled through a to-be-given road segment from a current position of the first vehicle. On the basis of the embodiment shown in fig. 6 or fig. 7, optionally, step S520 may include:

and S521, acquiring the distance required by the second vehicle to travel through the section to be yielded, and acquiring the current speed and the length of the second vehicle.

Similarly, the embodiment is not limited to the manner of acquiring the parameters in step S521.

And S522, calculating to obtain the second time length 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, assuming that the second vehicle moves at a constant speed to pass through the road section to be waited for, the second duration is obtained by adopting a constant speed movement model. For convenience of description, the distance from the second vehicle to the end point of the to-be-yielded road section is preset to be D _ yielding, the length of the to-be-yielded road section is L, the length of the second vehicle is L _ yielding, and the current speed of the second vehicle is V _ yielding. The second duration T _ corning may be calculated by the following equation or a variation thereof:

T_coming＝D_coming_travel/V_coming

wherein D _ meeting _ travel = D _ meeting + L _ meeting.

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

The driving assistance method provided by the above embodiment calculates and obtains the second duration according to the distance of the second vehicle passing through the to-be-yielded road segment, the length of the second vehicle, and the current speed of the second vehicle. Through more accurate calculation of the second time length, the accuracy rate of judging the vehicle-meeting yielding is improved, so that the traffic efficiency is improved, and the accident rate is reduced.

Alternatively, as a possible embodiment, the length of the second vehicle may be obtained by:

and acquiring the type of the second vehicle, and acquiring the length of the vehicle corresponding to the type according to the type and a preset mapping relation.

Specifically, type information of the second vehicle is obtained through the vehicle-mounted sensor, and the length of the corresponding vehicle is obtained according to the type information and a preset mapping relation. For example, if the type is a regular car, the corresponding length is 5 meters. As another example, for a vehicle of the type truck, the corresponding length is 15 meters. And when the second vehicle is judged to be the truck through the vehicle-mounted sensor, the length of the second vehicle is set to be 15 meters through a preset mapping relation.

According to the driving assistance method provided by the embodiment, the length of the corresponding vehicle is obtained according to the type of the second vehicle and the preset mapping relation, so that the complex measurement and calculation process is avoided, the expenditure is saved, and the traffic efficiency is improved.

Referring to fig. 10, fig. 10 is a schematic flow chart of a driving assistance method according to an embodiment. The present embodiment relates to: and executing the specific process of the yield operation. On the basis of the above embodiment shown in fig. 5 or fig. 7, optionally, the performing yielding operation may include the following steps:

s610, outputting warning information, wherein the warning information is used for indicating a receiver to execute deceleration operation.

Specifically, when it is determined that the driver needs to give way, warning information is output to the driver driving the first vehicle, or warning information is output to the second vehicle, or warning information is output to both the driver driving the first vehicle and the second vehicle. The alert information may include at least one of an audible message, a visual message, a scent message, a tactile message, and a wireless signal.

In the driving assistance method provided by the above embodiment, the yielding operation is performed by prompting the driver in a manner of outputting a warning to the driver, or prompting the second vehicle in a manner of outputting warning information to the second vehicle, so that the driver and/or the second vehicle make a corresponding judgment, thereby improving traffic efficiency and reducing the occurrence rate of traffic accidents.

Alternatively, the step of performing yield operation may also be implemented by the embodiment shown in fig. 11. Referring to fig. 11, fig. 11 is a flowchart illustrating a driving assistance method according to an embodiment, and on the basis of the embodiment shown in fig. 5 or fig. 7, optionally, the step of performing yielding operation may include the following steps:

step S710, obtaining a deceleration reference value, and decelerating the first vehicle according to the deceleration reference value so that the second vehicle preferentially passes through the road section to be given way.

Specifically, for a vehicle with an automatic driving function or a vehicle with an auxiliary driving function, a deceleration reference value may be obtained first, and a braking device may be started according to the deceleration reference value to decelerate the first vehicle until the first vehicle stops, so that the second vehicle preferentially passes through the road segment to be yielded.

It will be appreciated that, depending on the vehicle, the deceleration reference value may be preset to a maximum value that the vehicle can withstand, i.e. emergency braking is performed when yielding is required.

Optionally, the deceleration reference value may be preset, and may be acquired from a cloud through a vehicle-mounted communication system. In addition, the deceleration reference value may also be acquired by the embodiment shown in fig. 12. As shown in fig. 12, the S710 may include:

s710a, acquiring the current speed of the first vehicle and the estimated driving distance of the first vehicle to the road section to be yielded.

Specifically, referring to fig. 13 together, fig. 13 is a view of an application scenario of the driving assistance method according to another embodiment. The expected travel distance of the first vehicle to reach the yield link is the travel distance S1 for the first vehicle to travel from the current location 311 to the starting point 312 of the yield link. The current speed of the first vehicle is the speed of the first vehicle at the current location 311. It is to be understood that the present embodiment does not limit the specific manner of acquiring the current speed of the first vehicle and acquiring the predicted travel distance of the first vehicle to the concessional road segment.

And S710b, calculating to obtain a deceleration reference value according to the current speed of the first vehicle and the estimated driving distance of the first vehicle to the road section to be yielded.

Specifically, in the uniform deceleration motion model, the deceleration reference value may be obtained through calculation by using a predicted travel distance of the first vehicle to the road section to be yielded and a current speed of the first vehicle.

In the driving assistance method provided by the embodiment, the yielding operation is executed by acquiring the deceleration reference value, automatically decelerating and stopping the first vehicle according to the deceleration reference value, and the yielding operation is executed on the first vehicle through the deceleration reference value, so that the participation of a driver can be reduced, the traffic efficiency is further improved, and the occurrence rate of traffic accidents is reduced; in addition, the driving assisting method can also be used for slowly braking in a driving assisting mode to stop the vehicle at the intersection of the road section to be given away, so that passengers in the vehicle are safer and more comfortable.

Referring to fig. 14, fig. 14 is a schematic flow chart of a driving assistance method according to another embodiment. The embodiment relates to: and determining the road section to be waited for. That is, before the first time information is acquired, the step of determining whether there is a road segment to be yielded may be further included. That is, on the basis of the embodiment shown in fig. 3, optionally, before step S310, the following steps may be further included:

s301, 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.

Specifically, the driving environment information can be used to represent the environment in which the first vehicle is located during driving. For example, the information may represent a congestion degree in front of the first vehicle, may represent a distance between the first vehicle and another vehicle, or may represent that a view distance is narrowed or shortened due to weather, and the content of the driving environment information is not limited in this embodiment as long as the driving environment information can be related to a driving process of the first vehicle.

The front road section is a road section which is expected to be passed by the first vehicle along the current driving direction, and the starting point and the ending point of the front road section can be specified according to preset parameters, can be determined according to parameters of an on-board sensor, and can be determined according to an on-board map mode.

Specifically, the mode of acquiring the driving environment information may be acquired by detecting through a vehicle-mounted sensor, and the vehicle-mounted sensor may be at least one of a camera, an infrared radar, a millimeter wave radar and a laser radar, and may also be acquired by communicating with other vehicles and/or a cloud through a vehicle-mounted communication system. It is to be understood that the present embodiment does not limit the manner of acquiring the driving environment information.

After the driving environment information is acquired, a means for determining the road segment to be yielded according to the driving environment information may optionally refer to the following processes of the embodiments shown in fig. 15 to 17, and it is understood that the embodiments shown in fig. 15 to 17 do not limit the implementation process of "determining whether the road segment ahead is the road segment to be yielded". The embodiments of fig. 15-17 will now be described in detail.

Optionally, referring to fig. 15, fig. 15 is a schematic flow chart of a driving assistance method according to an embodiment. The present embodiment relates to: the vehicle determines whether the road section ahead is a specific process of the road section to yield. That is, before the first time information is acquired, the step of determining whether there is a road segment to be yielded may be further included. That is, on the basis of fig. 12, optionally, step S301 may include the following steps:

s301a, acquiring traffic identification information.

Specifically, the traffic identification information is information for identifying whether the road section is a road section to be given way. The traffic identification information may be a road sign shot by a vehicle-mounted camera, road section traffic identification information acquired in a vehicle-mounted map, or road section traffic identification information acquired in cloud data.

S301b, judging whether the acquired traffic identification information is matched with a preset yielding identifier.

Specifically, the traffic identification information acquired in step S310a is matched with a preset yielding identifier. The traffic identification information acquired in step S310a may be identified by an image recognition algorithm, and further determined whether the traffic identification information matches the yielding identification.

And S301c, if the road sections are matched, determining that the front road section is the road section to be yielded.

Specifically, the front link refers to a link through which the first vehicle will pass along the current driving direction. That is, the first vehicle traveling in the current direction will first reach the start of the road segment ahead, then enter the road segment ahead, and finally reach the end of the road segment ahead to pass through the road segment ahead.

According to the driving assistance method, before the step of acquiring the first time length of the first vehicle from the current position of the first vehicle to the passage of the road section to be yielded, whether the road section in front is the road section to be yielded is determined through the running environment information. That is to say, after the front road section is determined to be the road section to be yielded, the passing sequence of the vehicles is determined, so that the computing resources are saved, and the driving efficiency is improved.

The method for determining whether the road segment ahead is the road segment to be yielded may also adopt the following embodiments shown in fig. 16 or fig. 17, in addition to the above-described embodiment shown in fig. 15.

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

s301a', the width of the road section ahead is acquired.

Specifically, the first vehicle may obtain the width of the road section ahead through vehicle-mounted sensors such as a millimeter wave radar, a laser radar, and a camera. The width of the front road section can be obtained through the vehicle-mounted map, and the vehicle-mounted communication system can be used for communicating with the cloud end to obtain the width of the front road section.

S301b', judging whether the width of the road section in front is smaller than a preset width threshold value.

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

S301c', when the width of the front road section is smaller than a preset width threshold value, the front road section is determined to be a road section to be yielded.

According to the driving assistance method, whether the front road section is the road section to be waited for to go is determined completely according to the width of the front road section, so that the calculation resources are saved, and the driving efficiency is improved.

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

s301a ", an inter-vehicle distance between the second vehicle and the first vehicle is acquired.

Specifically, the inter-vehicle distance refers to a distance between the current position of the second vehicle and the current position of the first vehicle. The workshop distance can be obtained through a vehicle-mounted sensor or can be obtained from the cloud through a communication system. It is to be understood that the embodiment is not limited to the method of acquiring the inter-vehicle distance.

And S301b', judging whether the inter-vehicle distance is smaller than a preset distance threshold value.

And S301c', if the inter-vehicle distance is smaller than a preset distance threshold value, determining that the front road section is the road section to be yielded.

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 front road section is the road section to be yielded.

According to the driving assisting method, whether the front road section is the road section to be given for the way or not is determined according to the inter-vehicle distance between the first vehicle and the second vehicle, so that the calculation resources are saved, and the driving efficiency is improved.

Referring to fig. 18, fig. 18 is a schematic structural diagram of a driving assistance device according to an embodiment. As shown in fig. 18, the driving assistance apparatus specifically includes a first time information acquiring module 410, a second time information acquiring module 420, and a yield determining module 430.

A first time information obtaining module 410, configured to obtain 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;

a second time information obtaining module 420, configured to obtain 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;

a yielding judging module 430, configured to determine, according to the first time information and the second time information, a passing sequence in which the first vehicle and the second vehicle pass through the road segment to be yielded.

The driving assistance device provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effects are similar, which are not described herein again.

Optionally, if the first time information is a first duration from the current location of the first vehicle to the time when the first vehicle passes through the road segment to be yielded, and the second time information is a second duration from the current location of the second vehicle to the time when the second vehicle passes through the road segment to be yielded, the yielding determination module 430 includes:

the first yielding judgment module 430' is configured to determine a passing sequence of the first vehicle and the second vehicle through the to-be-yielded road segment according to a size relationship between the first duration and the second duration.

Referring to fig. 19, fig. 19 is a schematic structural diagram of a driving assistance device according to an embodiment, and as shown in fig. 19, optionally, the yielding determination module 430 'may further include a first yielding 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 to-be-yielded road segment.

Optionally, the first yielding unit 431' may include a deceleration sub-unit 431a ', where the deceleration sub-unit 431a ' is configured to obtain a deceleration reference value, and decelerate the first vehicle according to the obtained deceleration reference value, so that the second vehicle preferentially passes through the to-be-yielded road segment.

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

The driving assistance device provided by the present embodiment may implement the method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

Referring to fig. 20, fig. 20 is a schematic structural diagram of a driving assistance device according to an embodiment, and as shown in fig. 20, optionally, if the first time information is a first time when the first vehicle travels to a first preset location, and the second time information is a second time when the second vehicle travels to a second preset location, the yielding determination module 430 includes:

and the second yielding judgment module 430 ″ is configured to determine a passing order of the first vehicle and the second vehicle through the to-be-yielded road segment according to the sequence of the first time and the second time.

Optionally, the second yielding line judging module 430 ″ may further include a second yielding line unit 431 ″.

Specifically, the first yielding unit 431 ″ is configured to perform yielding operation when the first time is later than the second time, so that the second vehicle preferentially passes through the to-be-yielded road segment.

Optionally, the first yielding unit 431 ″ may include a deceleration sub-unit 431a ″ configured to acquire a deceleration reference value, and decelerate the first vehicle according to the acquired deceleration reference value, so that the second vehicle preferentially passes through the to-be-yielded road segment.

Optionally, the first yielding unit 431 ″ may include a warning subunit 431b ″ configured to output warning information to the driver and/or the second vehicle.

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

Specifically, the driving environment information obtaining module 401 is configured to obtain driving environment information, and determine whether a road section ahead is a road section to be yielded according to the driving environment information; the driving environment information is used for representing relevant information of the driving process of the first vehicle.

Alternatively, the driving environment information acquisition module 401 may include a traffic sign acquisition module 401a and a first determination module 401b.

Specifically, the traffic identification obtaining module 401a is configured to obtain traffic identification information.

The first determining module 401b is configured to determine that the road segment ahead is the road segment to be yielded when the acquired traffic identification information matches a preset yielding identifier.

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

Specifically, the width acquiring module 401a' is used for acquiring the width of the road segment ahead.

The second determining module 401b' is configured to determine that the road segment ahead is the road segment to be yielded when the width of the road segment ahead is smaller than the preset width threshold.

Alternatively, the running environment information acquisition module 401 may include an inter-vehicle distance acquisition module 401a ″ and a third determination module 401b ″.

Specifically, the inter-vehicle distance acquisition module 401a ″ is configured to acquire an inter-vehicle distance between the second vehicle and the first vehicle.

The third determining module 401b ″ is configured to determine that the road segment ahead is the road segment to be yielded when the inter-vehicle distance is smaller than the preset distance threshold.

The driving assistance device provided in this embodiment may implement the method embodiments, and the implementation principle and technical effects are similar, which are not described herein again.

In one embodiment, a computer-readable storage medium is further provided, and the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the functions of the driving assistance method described in the above method embodiment.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product that may include one or more computer instructions. The procedures or functions described in accordance with the embodiments of the invention may be carried out in whole or in part by loading and executing the computer program instructions on a computer. Wherein the computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device; the computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, digital subscriber line DSL) or wireless (e.g., infrared, radio, microwave, etc.); the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium, such as a floppy disk, hard disk, magnetic tape, optical medium (e.g., DVD), or semiconductor medium (e.g., solid State Disk (SSD)), among others.

In one embodiment, there is also provided a computer system comprising a memory storing computer instructions and a processor, wherein the computer instructions when executed by the processor implement the steps of:

acquiring first time information; the first time information is corresponding to the time information when the first vehicle drives to a first preset place in the road section to be allowed to run;

acquiring second time information; the second time information is corresponding to the time information when a second vehicle runs to a second preset place in the road section to be given way;

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.

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:

In one embodiment, 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 to-be-given-away road section includes:

and when the first time is later than the second time, executing a line-giving operation so that the second vehicle passes through the to-be-given-by road section preferentially.

In one embodiment, the first time information is a first time period from a current location of the first vehicle until the first vehicle passes through the block of road blocks to be waited for; 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;

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 duration and the second duration.

In one embodiment, the determining the passing order of the first vehicle and the second vehicle through the to-be-passed road segment according to the magnitude relation between the first duration and the second duration includes:

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.

In one embodiment, the performing a yield operation comprises:

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.

In one embodiment, the performing a yield operation comprises:

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

In one embodiment, the obtaining of the first vehicle starts from the current position of the first vehicle until a first time period of passing the to-be-given road segment, the method further comprises:

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

determining whether the front road section is the road section to be yielded according to the driving environment information, wherein the determining step comprises the following steps of:

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

determining whether the front road section is the road section to be yielded according to the driving environment information, wherein the determining step comprises the following steps:

In one embodiment, the driving 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:

The implementation manner, implementation principle and technical effect of the computer system provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.

Referring to fig. 21, fig. 21 is a schematic structural diagram of a vehicle according to an embodiment. The vehicle includes a computer system 510, a vehicle powertrain 520, and a vehicle braking system 530. The computer system 510 is coupled to the vehicle powertrain 520 and the vehicle braking system 530, respectively, and outputs results from the computer system 510 that are used to control the vehicle powertrain 520 and the vehicle braking system 530.

Optionally, the vehicle may further comprise a sensor system for sensing parameter information during driving of the car. The sensor system is connected with the computer system, and the obtained information of each parameter is used as the input of the computer system.

Optionally, the vehicle may further include a communication system, and the communication system is configured to communicate with the cloud server and/or other vehicles, so that the automobile may perform information interaction with the cloud server and/or other vehicles during driving.

The implementation principle and technical effect of the vehicle provided by the above embodiment are similar to those of the above method embodiment, and are not described again here.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. 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, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile 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 a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be understood that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention, and these changes and modifications are within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A driving assist method, characterized by comprising:

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;

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;

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:

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

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

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:

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

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

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;

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 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,

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.