CN110349403A - Driving assistance system and method for vehicle - Google Patents
Driving assistance system and method for vehicle Download PDFInfo
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- CN110349403A CN110349403A CN201810306465.8A CN201810306465A CN110349403A CN 110349403 A CN110349403 A CN 110349403A CN 201810306465 A CN201810306465 A CN 201810306465A CN 110349403 A CN110349403 A CN 110349403A
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- Prior art keywords
- information
- vehicle
- long
- short distant
- distant light
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Abstract
The present invention relates to the driving assistance systems and method for vehicle.Driving assistance system includes: storage device, for storing long-and-short distant light switching law；Acquisition device, for obtaining the main information of vehicles of main vehicle, the main information of vehicles includes real-time position information, long-and-short distant light handover information, car status information and ambient condition information；And control device, for the main information of vehicles to be switched meaning with the long-and-short distant light that the long-and-short distant light switching law for corresponding to the main vehicular seat reason region matches to determine the main vehicle, and export the long-and-short distant light switching meaning.
Description
Technical field
The present invention relates generally to the driving field of auxiliary for vehicle, more particularly relate to the driving auxiliary of vehicle
System and method.
Background technique
Driver especially in night running, links up usually using long-and-short distant light switching and loudspeaker with other drivers.
Therefore, understand long-and-short distant light switching law and correctly switched using long-and-short distant light, it can be to avoid the hair of some traffic accidents
It is raw, and prompting and warning can be played the role of.
But country variant, area, provinces and cities often have different long-and-short distant light switching laws.Therefore, when driver comes
To one it is unfamiliar area when, the long-and-short distant light switching law of this area may be misapplied or misread the distance-light of other vehicles
Lamp switches meaning.
For this reason, it may be necessary to which a kind of driving for the long-and-short distant light switching meaning that can automatically inform main vehicle or other vehicles is auxiliary
Auxiliary system and method.
Summary of the invention
The purpose of the present invention is to provide the driving auxiliary for the long-and-short distant light switching meaning that can automatically inform main vehicle
System and driving assistance method misapply long-and-short distant light switching law to avoid the driver of main vehicle.Another object of the present invention exists
The driving assistance system and driving assistance method of the long-and-short distant light switching meaning of other vehicles can be automatically informed in offer.
An aspect of of the present present invention provides a kind of driving assistance system for vehicle, comprising: storage device, for storing
Long-and-short distant light switching law；Acquisition device, for obtaining the main information of vehicles of main vehicle, the main information of vehicles includes real-time position
Confidence breath, long-and-short distant light handover information, car status information and ambient condition information；And control device, it is used for the master
Information of vehicles is matched with the long-and-short distant light switching law for corresponding to the main vehicular seat reason region to determine
The long-and-short distant light switching meaning of main vehicle is stated, and exports the long-and-short distant light switching meaning.
According to an embodiment of the invention, the long-and-short distant light handover information includes one or more in following parameter: remote
Between the unlatching of light lamp, the duration of high beam, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight
Switching times.
According to an embodiment of the invention, the car status information includes one or more in following parameter: speed adds
Speed, steering angle and LED status.
According to an embodiment of the invention, the ambient condition information includes one or more in following parameter: road class
Type, congestion in road degree, traffic control and surface gathered water.
According to an embodiment of the invention, the acquisition device is configured to obtain the long-and-short distant light switching via CAN bus
Information and the car status information, and obtain the ambient enviroment via the detection device for being installed to the main vehicle and believe
Breath.
Another aspect provides a kind of driving assistance methods for vehicle, comprising the following steps: obtains remote
Dipped headlight switching law；The main information of vehicles of main vehicle is obtained, the main information of vehicles includes real-time position information, long-and-short distant light
Handover information, car status information and ambient condition information；And by the main information of vehicles and correspond to the main vehicle institute
The long-and-short distant light that the long-and-short distant light switching law in geographic area is matched to determine the main vehicle switches meaning, and
And the output long-and-short distant light switches meaning.
According to an embodiment of the invention, the long-and-short distant light handover information includes one or more in following parameter: remote
Between the unlatching of light lamp, the duration of high beam, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight
Switching times.
According to an embodiment of the invention, the car status information includes one or more in following parameter: speed adds
Speed, steering angle and LED status.
According to an embodiment of the invention, the ambient condition information includes one or more in following parameter: road class
Type, congestion in road degree, traffic control and surface gathered water.
According to an embodiment of the invention, obtaining the long-and-short distant light handover information and the vehicle-state via CAN bus
Information, and the ambient condition information is obtained via the detection device for being installed to the main vehicle.
It is yet another aspect of the present invention to provide a kind of driving assistance systems for vehicle, comprising: storage device, for depositing
Store up long-and-short distant light switching law；First acquisition device, for obtaining the first information of vehicles of the first vehicle, the first vehicle letter
Breath includes real-time position information, the first car status information and ambient condition information；Second acquisition device, for obtaining the second vehicle
The second information of vehicles, second information of vehicles includes long-and-short distant light handover information and the second car status information, described
Second vehicle and first vehicle are in identical geographic area；And control device, for first vehicle to be believed
The combination of breath and second information of vehicles and the institute for corresponding to geographic area locating for first vehicle and second vehicle
It states the long-and-short distant light that long-and-short distant light switching law is matched to determine second vehicle and switches meaning, and export described remote
Dipped headlight switches meaning.
According to an embodiment of the invention, the long-and-short distant light handover information includes one or more in following parameter: remote
Between the unlatching of light lamp, the duration of high beam, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight
Switching times.
According to an embodiment of the invention, each in first car status information and second car status information
Person includes one or more in following parameter: speed, acceleration, steering angle and LED status.
According to an embodiment of the invention, the ambient condition information includes one or more in following parameter: road class
Type, congestion in road degree, traffic control and surface gathered water.
According to an embodiment of the invention, first acquisition device is configured to obtain first vehicle via CAN bus
First car status information in information and described first is obtained via the detection device for being installed to first vehicle
The ambient condition information in information of vehicles.
According to an embodiment of the invention, second acquisition device is configured to via the detection for being installed to first vehicle
Device obtains second information of vehicles.
According to an embodiment of the invention, the control device is configured with maximum likelihood estimate to determine described second
The long-and-short distant light of vehicle switches meaning.
It is yet another aspect of the present invention to provide a kind of driving assistance methods for vehicle, comprising the following steps: obtains remote
Dipped headlight switching law；The first information of vehicles of the first vehicle is obtained, first information of vehicles includes real-time position information,
One car status information and ambient condition information；The second information of vehicles of the second vehicle is obtained, second information of vehicles includes
Long-and-short distant light handover information and the second car status information, second vehicle and first vehicle are in identical geographic region
In domain；And by the combination of first information of vehicles and second information of vehicles with correspond to first vehicle and described
The long-and-short distant light switching law of geographic area locating for second vehicle is matched the distance-light to determine second vehicle
Lamp switches meaning, and exports the long-and-short distant light switching meaning.
According to an embodiment of the invention, the long-and-short distant light handover information includes one or more in following parameter: remote
Between the unlatching of light lamp, the duration of high beam, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight
Switching times.
According to an embodiment of the invention, each in first car status information and second car status information
Person includes one or more in following parameter: speed, acceleration, steering angle and LED status.
According to an embodiment of the invention, the ambient condition information includes one or more in following parameter: road class
Type, congestion in road degree, traffic control and surface gathered water.
According to an embodiment of the invention, obtaining the first vehicle shape in first information of vehicles via CAN bus
State information and the surrounding ring in first information of vehicles is obtained via the detection device for being installed to first vehicle
Border information.
Believe according to an embodiment of the invention, obtaining second vehicle via the detection device for being installed to first vehicle
Breath.
According to an embodiment of the invention, determining the long-and-short distant light of second vehicle using maximum likelihood estimate
Switch meaning.
Detailed description of the invention
The present invention may be better understood from the description with reference to the accompanying drawing to a specific embodiment of the invention,
In, similar label indicates identical or functionally similar element.
Fig. 1 is the schematic diagram for showing the vehicle for the driving assistance system for being equipped with first embodiment according to the present invention.
Fig. 2 is the explanatory view for showing the driving assistance method of second embodiment according to the present invention.
Fig. 3 is the schematic diagram for showing the vehicle for the driving assistance system for being equipped with third embodiment according to the present invention.
Fig. 4 is the explanatory view for showing the driving assistance method of fourth embodiment according to the present invention.
Specific embodiment
Hereinafter, embodiment of the invention will be described with reference to drawings.Following detailed description and drawings are for illustratively saying
Bright the principle of the present invention, the present invention is not limited to described preferred embodiment, the scope of the present invention is defined by the claims.It is existing
The embodiment the present invention is described in detail of reference example, some embodiments are illustrated in the drawings.Be described below with reference to attached drawing into
Row, unless otherwise indicated, otherwise same reference numerals in different figures represent same or similar element.Following exemplary
Scheme described in embodiment does not represent all schemes of the invention.On the contrary, these schemes are related in appended claims
And various aspects of the invention system and method example.
The driving assistance system of embodiment according to the present invention may be mounted on vehicle or be applied to vehicle.Vehicle can be with
Be using internal combustion engine as the internal-combustion engines vehicle of driving source, using motor as the electric car of driving source or fuel cell car, more than
State the hybrid vehicle that the two is driving source or the automobile with other driving sources.
Fig. 1 is the schematic diagram for showing the vehicle for the driving assistance system for being equipped with first embodiment according to the present invention.Such as
Shown in Fig. 1, main vehicle 10 includes driving assistance system 100.For brevity, well known power and manipulation dress in main vehicle 10
Set, the components such as transmission system it is not shown in FIG. 1.The driving assistance system 100 of first embodiment according to the present invention being capable of root
Long-and-short distant light switching meaning corresponding with long-and-short distant light switching law is determined according to the main information of vehicles of main vehicle 10, to avoid
The driver of main vehicle 10 misapplies long-and-short distant light switching law.
As shown in Figure 1, driving assistance system 100 may include storage device 110, acquisition device 120 and control device
130。
Storage device 110 can store long-and-short distant light switching law.Long-and-short distant light switching law can be with geographic area phase
It is corresponding.Geographic area refers to the map area with individual long-and-short distant light switching law, for example, country, provinces and cities and area etc..
Long-and-short distant light switching law refers to a certain geographic area regulation or headlight sanctified by usage is under certain scene or certain state issues
Meaning when raw long-and-short distant light switching.Usually provide: different long-and-short distant light switchings indicates that different meaning or transmitting are different
Signal.But identical long-and-short distant light switches in different geographic regions and may indicate the different signal of different meanings or transmitting.
In addition, identical long-and-short distant light switches under different scenes the meaning that may also indicate different or transmits different signals.
Storage device 110 can be the internal storage (such as on-vehicle navigation apparatus) of main vehicle 10 or be connectable to
Main vehicle 10 external memory (such as can be electrically connected to as the peripheral equipment of main vehicle 10 main vehicle 10 can be removed
Memory, or the remote data base that can wirelessly access, etc.).
The main information of vehicles of the available main vehicle 10 of acquisition device 120.Main information of vehicles may include real time position letter
Breath, long-and-short distant light handover information, car status information and ambient condition information.
According to the present embodiment, acquisition device 120 can obtain the real-time position information of main vehicle 10 from positioning system.Positioning
System can be satellite-based positioning system (GNSS), the positioning system (GSM) based on base station and be determined based on Wi-Fi bluetooth
Position system etc..But the present invention is not limited to.It will be understood by those skilled in the art that acquisition device 120 can also be from navigation system
(for example, on-vehicle navigation apparatus) obtains the real-time position information of main vehicle 10.
According to the present embodiment, acquisition device 120 can obtain the remote of main vehicle 10 via controller zone network CAN bus
Dipped headlight handover information and car status information.Long-and-short distant light handover information indicates related with the long-and-short distant light switching of main vehicle 10
Information, including but not limited to: the unlatching of high beam, the duration of high beam, the unlatching of dipped headlight, dipped headlight it is lasting when
Between, switching times between high beam and dipped headlight etc..Car status information indicates relevant to the driving status of main vehicle 10
Information, including but not limited to speed, acceleration, steering angle and LED status.
According to the present embodiment, acquisition device 120 can obtain main vehicle 10 via the detection device for being installed to main vehicle 10
Ambient condition information.Ambient condition information indicates information related with the current driving environment of main vehicle 10, including but unlimited
In: road type, congestion in road degree, traffic control and surface gathered water.According to the present embodiment, detection device may include camera shooting
Unit and image processing unit.Camera unit may be mounted at front, rear or the other positions of main vehicle 10, and can wrap
Include general camera, infrared photography head etc..Camera unit can capture (for example, working with 60 ° or so of angle) main vehicle in real time
Ambient image around 10.Ambient image includes still image, stereo-picture and/or dynamic image etc..Image processing unit
The ambient condition information of main vehicle can be analyzed based on received ambient image.For example, image processing unit can lead to
It crosses and received ambient image is analyzed to judge that main vehicle 10 is travelled on super expressway or in urban road
Upper traveling.
Control device 130 can be with 120 wired or wireless communication of storage device 110 and acquisition device.According to the present embodiment,
Control device 130 can geography where the real-time position information based on main vehicle 10 from the lookup of storage device 110 and main vehicle 10
The corresponding long-and-short distant light switching law in region.
After finding the corresponding long-and-short distant light switching law in main 10 place geographic area of vehicle, control device 130 can
It is remote to determine being matched with the long-and-short distant light switching law for corresponding to main 10 place geographic area of vehicle main information of vehicles
Dipped headlight switches meaning.
In general, long-and-short distant light handover information, car status information and the surrounding of long-and-short distant light switching law and main vehicle 10
One of environmental information or more persons are related.For example, long-and-short distant light switching law can specify that but be not limited to regulation following scenario described: when
Ambient condition information indicates that main vehicle 10 is travelled in lane or when being easy to produce the place of blind area, the distance-light of main vehicle 10
Lamp switching indicates that prompting carrys out vehicle or pedestrian pays attention to three times；Traffic rule are ignored when ambient condition information indicates to have around main vehicle 10
The pedestrian then jaywalked and when non-motor vehicle, the high beam stroboscopic of main vehicle 10 or becomes high beam table from dipped headlight
Show and collides, etc. to the pedestrian arbitrarily jaywalked and non-motor vehicle dissuasion to avoid with main vehicle 10.
Therefore, control device 130 can be by long-and-short distant light handover information, car status information and the week in main information of vehicles
It encloses environmental information and is matched with the long-and-short distant light switching law for corresponding to main 10 place geographic area of vehicle.It is higher than in matching degree
In the case where one or more predetermined thresholds, control device 130 can determine in long-and-short distant light switching law to be believed with main vehicle
The long-and-short distant light that long-and-short distant light handover information, car status information and ambient condition information in breath match switches meaning.
After the long-and-short distant light that main vehicle 10 has been determined switches meaning, control device 130 can export long-and-short distant light switching
Meaning.According to the present embodiment, control device 130 can switch meaning with vision or audible means output long-and-short distant light.At one
In example, control device 130 can show text via components such as instrument board, navigation device and/or the video-units of main vehicle 10
The long-and-short distant light of the forms such as word, pattern, image, video switches meaning.For example, control device 130 can pass through vehicle-carrying display screen
(for example, head up display (HUD), navigation indicator etc.) shows that for example " long-and-short distant light switching indicates to remind three times to come vehicle or row
People pays attention to " text etc..In another example, control device 130 can be filled via the navigation device of main vehicle 10, audio
It sets, the components such as buzzer and/or alarm issue voice or the long-and-short distant light switching meaning of other audio forms.For example, control
Device 130 can issue the sound etc. of " long-and-short distant light switching indicates to remind three times to pay attention to come vehicle or pedestrian " by navigation device.
The driving assistance method of second embodiment according to the present invention is described below with reference to Fig. 2.Fig. 2 is shown according to this
The flow chart of the driving assistance method 200 of the second embodiment of invention.Driving assistance method 200 is by above-mentioned driving assistance system
100 execute.
As shown in Fig. 2, obtaining long-and-short distant light switching law in step S210.Long-and-short distant light switching law can be with ground
It is corresponding to manage region.According to this embodiment, it can from the internal storage (such as on-vehicle navigation apparatus) or energy of main vehicle 10
The external memory for being enough connected to main vehicle 10 (such as can be electrically connected to main vehicle 10 as the peripheral equipment of main vehicle 10
Removable memory, or the remote data base that can wirelessly access, etc.) obtain long-and-short distant light switching rule
Then.Long-and-short distant light switching law refers to a certain geographic area regulation or distance-light sanctified by usage etc. under certain scene or certain shape
Meaning when switching under state.Then, method 200 advances to step S220.
In step S220, the main information of vehicles of main vehicle is obtained.According to the present embodiment, main information of vehicles includes real-time position
Confidence breath, long-and-short distant light handover information, car status information and ambient condition information.The real-time position information of main vehicle 10 can be with
It is obtained from positioning system.The long-and-short distant light handover information and car status information of main vehicle 10 can be via controller zone networks
CAN bus obtains.Long-and-short distant light handover information indicates the related information with the switching of the long-and-short distant light of main vehicle 10, including but unlimited
In: the unlatching of high beam, the duration of high beam, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight
Between switching times etc..Car status information indicates information relevant to the driving status of main vehicle 10, including but not limited to
Speed, acceleration, steering angle and LED status.Ambient condition information can be obtained via the detection device for being installed to main vehicle 10
Take main vehicle 10.Ambient condition information indicates information related with the current driving environment of main vehicle 10, including but not limited to:
Road type, congestion in road degree, traffic control and surface gathered water.Above to be installed to the detection device of the first vehicle into
Detailed description is gone, details are not described herein.Then, method 200 advances to step S230.
In step S230, long-and-short distant light switching law is searched.According to this embodiment, it can based on the real-time of main vehicle 10
Location information is searched opposite with main 10 place geographic area of vehicle from the long-and-short distant light switching law acquired in step S210
The long-and-short distant light switching law answered.Then, method advances to step S240.
In step S240, determine that long-and-short distant light switches meaning.
In general, long-and-short distant light switching law and geographic area, vehicle running environment and vehicle running state are closely related.Far
Dipped headlight switching law can specify that but be not limited to regulation following scenario described: when ambient condition information indicates the main traveling of vehicle 10 small
Lane, lane or when being easy to produce the place of blind area, the long-and-short distant light switching of main vehicle 10 indicates to remind three times to come vehicle or row
People pays attention to；It is main when having the pedestrian arbitrarily jaywalked and non-motor vehicle around ambient condition information indicates main vehicle 10
The high beam stroboscopic of vehicle 10 becomes high beam expression to the pedestrian and non-motor vehicle arbitrarily jaywalked from dipped headlight
Dissuasion, to avoid the pedestrian and non motorized vehicle and car crass, etc. jaywalked.
Therefore, according to this embodiment, it can by main information of vehicles long-and-short distant light handover information, car status information and
Ambient condition information is matched with the long-and-short distant light switching law for corresponding to main 10 place geographic area of vehicle.Specifically,
One of long-and-short distant light handover information, car status information and ambient condition information or more persons and long-and-short distant light switching can be advised
Corresponding one or more in then is matched.In the case where matching degree is higher than one or more predetermined thresholds, can determine
Long-and-short distant light switching law at this time is exactly and long-and-short distant light handover information, car status information and the surrounding in main information of vehicles
The long-and-short distant light that environmental information matches switches meaning.Then, method advances to step S250.
In step s 250, output long-and-short distant light switches meaning.According to this embodiment, it can defeated with vision or audible means
Long-and-short distant light switches meaning out.In one example, long-and-short distant light switching meaning can via main vehicle 10 instrument board, navigation
The components such as device and/or video-unit are shown as the forms such as text, pattern, image, video.In another example, distance-light
It is language that lamp, which switches meaning to issue via components such as navigation device, audio devices, buzzer and/or the alarms of main vehicle 10,
Sound or other audio forms.
The driving assistance system of third embodiment according to the present invention is described below with reference to Fig. 3.Fig. 3 is to show to be equipped with
The schematic diagram of the vehicle of the driving assistance system of third embodiment according to the present invention.As shown in figure 3, main vehicle 30 includes driving
Auxiliary system 300.For brevity, in main vehicle 30 components such as well known power and manipulation device, transmission system not in Fig. 1
In show.The driving assistance system 300 of third embodiment according to the present invention will be according to the main information of vehicles of main vehicle 10 and its
Both other information of vehicles of his vehicle determine the meaning of the long-and-short distant light switching of other vehicles.
As shown in figure 3, driving assistance system 300 may include storage device 310, acquisition device and control device 330.It obtains
Taking device includes the first acquisition device 321 and the second acquisition device 322.The storage device 310 and basis of driving assistance system 300
The storage device 110 of the driving assistance system 100 of the first embodiment of the present invention is identical, and details are not described herein.It below will be detailed
Introduce the first acquisition device 321, the second acquisition device 322 and control device 330 of driving assistance system 300.
First information of vehicles of available first vehicle of the first acquisition device 321.First vehicle can be main vehicle 10.
First information of vehicles includes the real-time position information of the first vehicle, the first car status information and ambient condition information.
According to the present embodiment, the first acquisition device 321 can obtain the real-time position information of the first vehicle from positioning system.
Positioning system includes satellite-based positioning system (GNSS), the positioning system (GSM) based on base station and based on Wi-Fi bluetooth
Positioning system etc..But the present invention is not limited to.It will be understood by those skilled in the art that the first acquisition device 321 can also be from leading
Boat system (for example, on-vehicle navigation apparatus) obtains the real-time position information of the first vehicle.
According to the present embodiment, the first acquisition device 321 can obtain the first vehicle via controller zone network CAN bus
The first car status information.First car status information expression information relevant to the driving status of the first vehicle, including but
It is not limited to speed, acceleration, steering angle and LED status.
According to the present embodiment, the first acquisition device 321 can obtain first via the detection device for being installed to the first vehicle
The ambient condition information of vehicle.Ambient condition information expression information related with the current driving environment of the first vehicle, including but
It is not limited to: road type, congestion in road degree, traffic control and surface gathered water.According to the present embodiment, detection device may include
Camera unit and image processing unit.Camera unit may be mounted at the front, rear or other positions of the first vehicle, and can
To include general camera, infrared photography head etc..Camera unit can capture (for example, working with 60 ° or so of angle) in real time
The ambient image of first vehicle periphery.Ambient image includes still image, stereo-picture and/or dynamic image etc..Image procossing
Unit can analyze the ambient condition information of main vehicle based on received ambient image.For example, image processing unit can
To judge that the first vehicle is travelled on super expressway or in city by being analyzed received ambient image
It is travelled on road.
Second information of vehicles of available second vehicle of the second acquisition device 322.Second vehicle is in the first vehicle
In identical geographic area.Second vehicle can be other vehicles of the first vehicle periphery, such as the rear car of the first vehicle and right
Carry out vehicle etc. to lane.Second car status information includes long-and-short distant light handover information and the second car status information.Distance-light
Lamp handover information indicates to switch related information with the long-and-short distant light of the second vehicle, including but not limited to: the unlatching of high beam, remote
Switching times etc. between the duration of light lamp, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.
Second car status information expression information relevant to the driving status of the second vehicle, including but not limited to speed, acceleration turn
To angle and LED status.
According to the present embodiment, the second acquisition device 322 can obtain second via the detection device for being installed to the first vehicle
Second information of vehicles of vehicle.Detection device is described in detail above, details are not described herein.
Control device 330 can or nothing wired with storage device 310, the first acquisition device 321 and the second acquisition device 322
Line communication.According to the present embodiment, control device 330 can the real-time position information based on the first vehicle looked into from storage device 310
Look for long-and-short distant light switching law corresponding with the first vehicular seat reason region, i.e., it is opposite with the second vehicular seat reason region
The long-and-short distant light switching law answered, this is because the first vehicle and the second vehicle are in identical geographic area.
After finding the corresponding long-and-short distant light switching law of the first vehicle and the second vehicular seat reason region, control
Device 330 can manage both the first information of vehicles and the second information of vehicles with corresponding to the first vehicle and the second vehicular seat
The long-and-short distant light that the long-and-short distant light switching law in region is matched to determine the second vehicle switches meaning.
In general, the second information of vehicles of the first information of vehicles and the second vehicle of long-and-short distant light switching law and the first vehicle
It is related.For example, long-and-short distant light switching law can specify that but be not limited to regulation following scenario described: when the first information of vehicles indicates the
When one vehicle does not still start in green light, the long-and-short distant light switching positioned at the second vehicle of the first vehicle back indicates twice
The driver of the first vehicle is reminded to avoid or pay attention to；When the first information of vehicles indicate the first vehicle in night running when high beam always
When in the open state, the long-and-short distant light switching of second vehicle in opposite lane indicates that the first vehicle is reminded to be switched to dipped beam twice
Lamp；When the first information of vehicles indicates the travel speed of the first vehicle more than predetermined speed threshold value, second vehicle in opposite lane
Long-and-short distant light switching repeatedly indicate remind the first vehicle driver pay attention to the camera, etc. that tests the speed.
Therefore, according to the present embodiment, maximum likelihood estimate is can be used to determine the remote of the second vehicle in control device 330
Dipped headlight switches meaning.Assuming that long-and-short distant light switching law is the joint probability distribution of the first information of vehicles and the second information of vehicles
Density function, i.e. f (xFirst information of vehicles；BSecond information of vehicles), then in xFirst information of vehiclesIn the case where fixation, B can be regarded asSecond information of vehiclesLetter
Number.On the contrary, in BSecond information of vehiclesIn the case where fixation, x can be regarded asFirst information of vehiclesFunction.Therefore, in xFirst information of vehiclesWith
BSecond information of vehiclesIn any one fixation in the case where, control device 330 can be from joint probability distribution density function f (xFirst information of vehicles；
BSecond information of vehicles) there is the long-and-short distant light switching meaning that the second vehicle is determined in the long-and-short distant light switching law of maximum value.
After the long-and-short distant light that the second vehicle has been determined switches meaning, control device 330 can export the to the first vehicle
The long-and-short distant light of two vehicles switches meaning.According to the present embodiment, control device 330 can be far and near with vision or audible means output
Light lamp switches meaning.In one example, control device 330 can be via the instrument board, navigation device and/or view of the first vehicle
The components such as frequency device show that the long-and-short distant light of the forms such as text, pattern, image, video switches meaning.For example, control device 330
Can be shown by vehicle-carrying display screen (for example, head up display (HUD), navigation indicator etc.) for example " asks driver to close distance light
The text etc. of lamp ".In another example, control device 330 can be via the navigation device, audio devices, bee of the first vehicle
The components such as device and/or alarm that ring issue voice or the long-and-short distant light of other audio forms switches meaning.For example, control device
330 can issue the sound etc. of " driver is asked to close high beam " by navigation device.
The driving assistance method of fourth embodiment according to the present invention is described below with reference to Fig. 4.Fig. 4 is shown according to this
The flow chart of the driving assistance method 400 of the 3rd embodiment of invention.Driving assistance method 400 is by above-mentioned driving assistance system
300 execute.
As shown in figure 4, obtaining long-and-short distant light switching law in step S410.The step S410 of driving assistance method 400
Identical as the step S210 of driving assistance method 200 of second embodiment according to the present invention, details are not described herein.Then, side
Method 400 advances to step S420.
In the step s 420, the main information of vehicles of the first vehicle is obtained.First vehicle can be main vehicle 10.First vehicle
Information includes the real-time position information of the first vehicle, the first car status information and ambient condition information.First vehicle it is real-time
Location information can be obtained from positioning system.First car status information of the first vehicle can be via controller zone network
CAN bus obtains.First car status information indicates information relevant to the driving status of the first vehicle, including but not limited to fast
Degree, acceleration, steering angle and LED status.The ambient condition information of first vehicle can be via the inspection for being installed to the first vehicle
Device is surveyed to obtain.Ambient condition information indicates information related with the current driving environment of the first vehicle, including but not limited to: road
Road type, congestion in road degree, traffic control and surface gathered water.The detection device for being installed to the first vehicle is carried out above
Detailed description, details are not described herein.Then, method 400 advances to step S430.
In step S430, the second information of vehicles of the second vehicle is obtained.Second vehicle is in identical with the first vehicle
In geographic area.Second vehicle can be other vehicles of the first vehicle periphery, such as rear car and the opposite lane of the first vehicle
Carry out vehicle etc..Second car status information includes long-and-short distant light handover information and the second car status information.Long-and-short distant light switching
Information indicates to switch related information with the long-and-short distant light of the second vehicle, including but not limited to: the unlatching of high beam, high beam
Switching times etc. between duration, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.Second vehicle
Status information indicates information relevant to the driving status of the second vehicle, including but not limited to speed, acceleration, steering angle and
LED status.Second information of vehicles of the second vehicle can be obtained via the detection device for being installed to the first vehicle.Above
Through being described in detail to how obtaining the second information of vehicles, details are not described herein.Then, method 400 advances to step
S440。
In step S440, long-and-short distant light switching law is searched.According to the present embodiment, the real time position based on the first vehicle
It is searched in information long-and-short distant light switching law acquired in step S410 corresponding with the first vehicular seat reason region
Long-and-short distant light switching law, i.e., long-and-short distant light switching law corresponding with the second vehicular seat reason region, this is because the
One vehicle and the second vehicle are in identical geographic area.Then, method advances to step S450.
In step S450, the long-and-short distant light switching meaning of the second vehicle is determined.According to this embodiment, it can by the first vehicle
Both information and the second information of vehicles switch with the long-and-short distant light for corresponding to the first vehicle and the second vehicular seat reason region
The long-and-short distant light that rule is matched to determine the second vehicle switches meaning.It is, for example, possible to use maximum likelihood estimates to come really
The long-and-short distant light of fixed second vehicle switches meaning.Assuming that long-and-short distant light switching law is the first information of vehicles and the second information of vehicles
Joint probability distribution density function, i.e. f (xFirst information of vehicles；BSecond information of vehicles), then in xFirst information of vehiclesIt, can be by it in the case where fixation
It is considered as BSecond information of vehiclesFunction.On the contrary, in BSecond information of vehiclesIn the case where fixation, x can be regarded asFirst information of vehiclesFunction.Therefore,
In xFirst information of vehiclesAnd BSecond information of vehiclesIn any one fixation in the case where, can be from f (xFirst information of vehicles；BSecond information of vehicles) obtain maximum value when
Determine that the long-and-short distant light of the second vehicle switches meaning in long-and-short distant light switching law.Then, method advances to step S460.
In step S460, the long-and-short distant light of the second vehicle of output switches meaning.According to this embodiment, it can with vision or
Audible means switch meaning to the first vehicle output long-and-short distant light.In one example, can via the first vehicle instrument board,
The components such as navigation device, video-unit and/or emergency warning lamp show the long-and-short distant light switching of the forms such as text, pattern, image, video
Meaning.It in another example, can be via portions such as the navigation device of the first vehicle, audio devices, buzzer and/or alarms
Part issues voice or the long-and-short distant light of other audio forms switches meaning.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention is not limited to above-mentioned realities
Apply the construction and method of example.On the contrary, it is intended to cover various modifications example and equivalent arrangements.In addition, although in various examples
Property combination and construction in show the various elements and method and step of disclosed invention, but including more, less element
Or other combinations of method are also fallen within the scope of the present invention.
Claims (24)
1. a kind of driving assistance system for vehicle, comprising:
Storage device, for storing long-and-short distant light switching law；
Acquisition device, for obtaining the main information of vehicles of main vehicle, the main information of vehicles includes real-time position information, distance-light
Lamp handover information, car status information and ambient condition information；And
Control device, for by the main information of vehicles and corresponding to the long-and-short distant light in the main vehicular seat reason region
The long-and-short distant light that switching law is matched to determine the main vehicle switches meaning, and exports the long-and-short distant light switching and contain
Justice.
2. driving assistance system according to claim 1, wherein
The long-and-short distant light handover information includes one or more in following parameter: the unlatching of high beam, high beam continue
Switching times between time, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.
3. driving assistance system according to claim 1, wherein
The car status information includes one or more in following parameter: speed, acceleration, steering angle and indicator light shape
State.
4. driving assistance system according to claim 1, wherein
The ambient condition information includes one or more in following parameter: road type, congestion in road degree, traffic control
And surface gathered water.
5. driving assistance system according to claim 1, wherein
The acquisition device is configured to obtain the long-and-short distant light handover information and the car status information via CAN bus,
And the ambient condition information is obtained via the detection device for being installed to the main vehicle.
6. a kind of driving assistance method for vehicle, comprising the following steps:
Obtain long-and-short distant light switching law；
The main information of vehicles of main vehicle is obtained, the main information of vehicles includes real-time position information, long-and-short distant light handover information, vehicle
Status information and ambient condition information；
The main information of vehicles is carried out with the long-and-short distant light switching law for corresponding to the main vehicular seat reason region
The long-and-short distant light for matching to determine the main vehicle switches meaning；And
Export the long-and-short distant light switching meaning.
7. driving assistance method according to claim 6, wherein
The long-and-short distant light handover information includes one or more in following parameter: the unlatching of high beam, high beam continue
Switching times between time, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.
8. driving assistance method according to claim 6, wherein
The car status information includes one or more in following parameter: speed, acceleration, steering angle and indicator light shape
State.
9. driving assistance method according to claim 6, wherein
The ambient condition information includes one or more in following parameter: road type, congestion in road degree, traffic control
And surface gathered water.
10. driving assistance method according to claim 6, wherein
The long-and-short distant light handover information and the car status information are obtained via CAN bus, and described via being installed to
The detection device of main vehicle obtains the ambient condition information.
11. a kind of driving assistance system for vehicle, comprising:
Storage device, for storing long-and-short distant light switching law；
First acquisition device, for obtaining the first information of vehicles of the first vehicle, first information of vehicles includes real time position
Information, the first car status information and ambient condition information；
Second acquisition device, for obtaining the second information of vehicles of the second vehicle, second information of vehicles includes long-and-short distant light
Handover information and the second car status information, second vehicle and first vehicle are in identical geographic area；With
And
Control device, for by the combination of first information of vehicles and second information of vehicles and corresponding to first vehicle
And second vehicle locating for the long-and-short distant light switching law of geographic area matched to determine second vehicle
Long-and-short distant light switch meaning, and export long-and-short distant light switching meaning.
12. driving assistance system according to claim 11, wherein
The long-and-short distant light handover information includes one or more in following parameter: the unlatching of high beam, high beam continue
Switching times between time, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.
13. driving assistance system according to claim 11, wherein
Each of first car status information and second car status information include one in following parameter
It is or multinomial: speed, acceleration, steering angle and LED status.
14. driving assistance system according to claim 11, wherein
The ambient condition information includes one or more in following parameter: road type, congestion in road degree, traffic control
And surface gathered water.
15. driving assistance system according to claim 11, wherein
First acquisition device is configured to obtain first vehicle-state in first information of vehicles via CAN bus
Information and the ambient enviroment in first information of vehicles is obtained via the detection device for being installed to first vehicle
Information.
16. driving assistance system according to claim 11, wherein
Second acquisition device is configured to obtain the second vehicle letter via the detection device for being installed to first vehicle
Breath.
17. driving assistance system according to claim 11, wherein
The control device is configured with maximum likelihood estimate to determine the long-and-short distant light switching of second vehicle
Meaning.
18. a kind of driving assistance method for vehicle, comprising the following steps:
Obtain long-and-short distant light switching law；
The first information of vehicles of the first vehicle is obtained, first information of vehicles includes real-time position information, the first vehicle-state
Information and ambient condition information；
The second information of vehicles of the second vehicle is obtained, second information of vehicles includes long-and-short distant light handover information and the second vehicle
Status information, second vehicle and first vehicle are in identical geographic area；And
By the combination of first information of vehicles and second information of vehicles and correspond to first vehicle and described second
The long-and-short distant light switching law of geographic area locating for vehicle is matched to determine that the long-and-short distant light of second vehicle is cut
Meaning is changed, and exports the long-and-short distant light switching meaning.
19. driving assistance method according to claim 18, wherein
The long-and-short distant light handover information includes one or more in following parameter: the unlatching of high beam, high beam continue
Switching times between time, the unlatching of dipped headlight, the duration of dipped headlight, high beam and dipped headlight.
20. driving assistance method according to claim 18, wherein
Each of first car status information and second car status information include one in following parameter
It is or multinomial: speed, acceleration, steering angle and LED status.
21. driving assistance method according to claim 18, wherein
The ambient condition information includes one or more in following parameter: road type, congestion in road degree, traffic control
And surface gathered water.
22. driving assistance method according to claim 18, wherein
Via CAN bus obtain first car status information in first information of vehicles and via being installed to it is described
The detection device of first vehicle obtains the ambient condition information in first information of vehicles.
23. driving assistance method according to claim 18, wherein
Second information of vehicles is obtained via the detection device for being installed to first vehicle.
24. driving assistance method according to claim 18, wherein
The long-and-short distant light switching meaning of second vehicle is determined using maximum likelihood estimate.
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