CN110349403B - Driving assistance system and method for vehicle - Google Patents
Driving assistance system and method for vehicle Download PDFInfo
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- CN110349403B CN110349403B CN201810306465.8A CN201810306465A CN110349403B CN 110349403 B CN110349403 B CN 110349403B CN 201810306465 A CN201810306465 A CN 201810306465A CN 110349403 B CN110349403 B CN 110349403B
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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
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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
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—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
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- 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 invention relates to a driving assistance system and method for a vehicle. The driving assistance system includes: the storage device is used for storing the switching rules of the high beam and the low beam; the device comprises an acquisition device, a display device and a control device, wherein the acquisition device is used for acquiring host vehicle information of a host vehicle, and the host vehicle information comprises real-time position information, far and near light switching information, vehicle state information and surrounding environment information; and the control device is used for matching the host vehicle information with the far and near light switching rule corresponding to the geographical area of the host vehicle to determine the far and near light switching meaning of the host vehicle and outputting the far and near light switching meaning.
Description
Technical Field
The present invention relates generally to the field of driving assistance for vehicles, and more particularly to driving assistance systems and methods for vehicles.
Background
Drivers typically communicate with other drivers using high beam and low beam switches and horns, especially when driving at night. Therefore, the high-beam and low-beam switching rules are known, the high-beam and low-beam switching is correctly used, the traffic accidents can be avoided, and the functions of reminding and warning can be achieved.
However, different countries, regions, provinces and cities often have different high-low beam switching rules. Therefore, when the driver comes to an unfamiliar area, the high-beam and low-beam switching rule of the area may be misused or the high-beam and low-beam switching meaning of other vehicles may be misunderstood.
For this reason, a driving assistance system and method capable of automatically informing the host vehicle or other vehicles of the meaning of the high beam and low beam switching is required.
Disclosure of Invention
The invention aims to provide a driving assistance system and a driving assistance method capable of automatically informing the meaning of switching of high beam and low beam of a host vehicle so as to avoid the misuse of high beam and low beam switching rules by a driver of the host vehicle. Another object of the present invention is to provide a driving assistance system and a driving assistance method capable of automatically notifying the meaning of high beam and low beam switching of another vehicle.
An aspect of the present invention provides a driving assistance system for a vehicle, including: the storage device is used for storing the switching rules of the high beam and the low beam; the device comprises an acquisition device, a display device and a control device, wherein the acquisition device is used for acquiring host vehicle information of a host vehicle, and the host vehicle information comprises real-time position information, far and near light switching information, vehicle state information and surrounding environment information; and the control device is used for matching the information of the host vehicle with the far and near light switching rules corresponding to the geographical area where the host vehicle is located to determine the far and near light switching meaning of the host vehicle and outputting the far and near light switching meaning.
According to an embodiment of the invention, the high beam and low beam switching information comprises one or more of the following parameters: the method comprises the following steps of turning on a high beam, the duration of the high beam, turning on a dipped headlight, the duration of the dipped headlight and the switching times between the high beam and the dipped headlight.
According to an embodiment of the invention, the vehicle status information comprises one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
According to an embodiment of the invention, the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
According to an embodiment of the present invention, the acquisition means is configured to acquire the high-beam and low-beam switching information and the vehicle state information via a CAN bus, and acquire the surrounding environment information via a detection means mounted to the host vehicle.
Another aspect of the present invention provides a driving assistance method for a vehicle, including the steps of: acquiring a high beam and low beam switching rule; obtaining main vehicle information of a main vehicle, wherein the main vehicle information comprises real-time position information, high beam and low beam switching information, vehicle state information and surrounding environment information; and matching the host vehicle information with the far and near light switching rule corresponding to the geographical area of the host vehicle to determine the far and near light switching meaning of the host vehicle, and outputting the far and near light switching meaning.
According to an embodiment of the invention, the high beam and low beam switching information comprises one or more of the following parameters: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight.
According to an embodiment of the invention, the vehicle status information comprises one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
According to an embodiment of the invention, the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
According to an embodiment of the present invention, the high and low beam switching information and the vehicle state information are acquired via a CAN bus, and the surrounding environment information is acquired via a detection device mounted to the host vehicle.
Yet another aspect of the present invention provides a driving assistance system for a vehicle, including: the storage device is used for storing the switching rules of the high beam and the low beam; the first obtaining device is used for obtaining first vehicle information of a first vehicle, and the first vehicle information comprises real-time position information, first vehicle state information and surrounding environment information; a second obtaining device, configured to obtain second vehicle information of a second vehicle, where the second vehicle information includes high-beam and low-beam switching information and second vehicle state information, and the second vehicle is in the same geographical area as the first vehicle; and a control device for matching a combination of the first vehicle information and the second vehicle information with the high-beam and low-beam switching rule corresponding to the geographical area where the first vehicle and the second vehicle are located to determine the high-beam and low-beam switching meaning of the second vehicle, and outputting the high-beam and low-beam switching meaning.
According to an embodiment of the invention, the high beam and low beam switching information comprises one or more of the following parameters: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight.
According to an embodiment of the invention, each of the first and second vehicle status information comprises one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
According to an embodiment of the invention, the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
According to an embodiment of the present invention, the first acquisition device is configured to acquire the first vehicle state information in the first vehicle information via a CAN bus and the surrounding environment information in the first vehicle information via a detection device mounted to the first vehicle.
According to an embodiment of the present invention, the second acquisition means is configured to acquire the second vehicle information via a detection means mounted to the first vehicle.
According to an embodiment of the present invention, the control device is configured to determine the high-beam and low-beam switch meaning of the second vehicle using a maximum likelihood estimation method.
Still another aspect of the present invention provides a driving assistance method for a vehicle, including the steps of: acquiring a high beam and low beam switching rule; acquiring first vehicle information of a first vehicle, wherein the first vehicle information comprises real-time position information, first vehicle state information and surrounding environment information; acquiring second vehicle information of a second vehicle, wherein the second vehicle information comprises far and near light switching information and second vehicle state information, and the second vehicle and the first vehicle are in the same geographical area; and matching the combination of the first vehicle information and the second vehicle information with the high-beam and low-beam switching rule corresponding to the geographical area where the first vehicle and the second vehicle are located to determine the high-beam and low-beam switching meaning of the second vehicle, and outputting the high-beam and low-beam switching meaning.
According to an embodiment of the invention, the high beam and low beam switching information comprises one or more of the following parameters: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight.
According to an embodiment of the invention, each of the first and second vehicle status information comprises one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
According to an embodiment of the invention, the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
According to an embodiment of the present invention, the first vehicle state information in the first vehicle information is acquired via a CAN bus and the surrounding environment information in the first vehicle information is acquired via a detection device mounted to the first vehicle.
According to an embodiment of the present invention, the second vehicle information is acquired via a detection device attached to the first vehicle.
According to an embodiment of the present invention, the far-and-near light switching meaning of the second vehicle is determined using a maximum likelihood estimation method.
Drawings
The present invention may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like reference numerals identify identical or functionally similar elements.
Fig. 1 is a schematic view showing a vehicle mounted with a driving assistance system according to a first embodiment of the invention.
Fig. 2 is a schematic view showing a driving assistance method according to a second embodiment of the invention.
Fig. 3 is a schematic view showing a vehicle mounted with a driving assist system according to a third embodiment of the invention.
Fig. 4 is a schematic view showing a driving assistance method according to a fourth embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention are described with reference to the drawings. The following detailed description and drawings are illustrative of the principles of the invention, which is not limited to the preferred embodiments described, but is defined by the claims. The invention will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present invention. Rather, these aspects are merely exemplary of the systems and methods according to the various aspects of the present invention as recited in the appended claims.
The driving assist system according to the embodiment of the invention may be mounted on or applied to a vehicle. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source.
Fig. 1 is a schematic view showing a vehicle mounted with a driving assistance system according to a first embodiment of the invention. As shown in fig. 1, the host vehicle 10 includes a driving assistance system 100. Well-known power and steering devices, transmission systems, and like components of the host vehicle 10 are not shown in FIG. 1 for the sake of brevity. The drive assist system 100 according to the first embodiment of the invention is capable of determining the high-beam and low-beam switching meaning corresponding to the high-beam and low-beam switching rule from the host vehicle information of the host vehicle 10 to avoid the driver of the host vehicle 10 misusing the high-beam and low-beam switching rule.
As shown in fig. 1, the driving assistance system 100 may include a storage device 110, an acquisition device 120, and a control device 130.
The storage device 110 may store the high beam and low beam switching rules. The high beam and low beam switching rules may correspond to a geographical area. The geographical area refers to a map area having a separate high beam and low beam switching rule, for example, country, province, region, and the like. The high beam and low beam switching rule means that a certain geographical area defines or defines a meaning when the headlights are switched between the high beam and the low beam under a certain scene or a certain state. It is generally stated that: different high-low beam switches represent different meanings or transmit different signals. However, the same high beam and low beam switching may indicate different meaning or convey different signals in different geographical areas. In addition, the same high beam and low beam switching may also represent different meanings or convey different signals in different scenarios.
The storage 110 may be an internal memory of the host vehicle 10 (e.g., a vehicle-mounted navigation device) or an external memory connectable to the host vehicle 10 (e.g., a removable memory electrically connectable to the host vehicle 10 as a peripheral device of the host vehicle 10, or a remote database accessible wirelessly, etc.).
The acquisition means 120 may acquire the host vehicle information of the host vehicle 10. The host vehicle information may include real-time location information, high and low beam switching information, vehicle status information, and ambient environment information.
According to the present embodiment, the acquisition device 120 may acquire real-time position information of the host vehicle 10 from the positioning system. The positioning system may be a satellite based positioning system (GNSS), a base station based positioning system (GSM), a Wi-Fi bluetooth based positioning system, etc. However, the present invention is not limited. It will be understood by those skilled in the art that the obtaining device 120 may also obtain real-time location information of the host vehicle 10 from a navigation system (e.g., an in-vehicle navigation device).
According to the present embodiment, the acquisition means 120 may acquire the high and low beam switching information and the vehicle state information of the host vehicle 10 via the controller area network CAN bus. The high-low beam switching information indicates information related to high-low beam switching of the host vehicle 10, including but not limited to: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight, etc. The vehicle state information represents information related to the running state of the host vehicle 10, including, but not limited to, speed, acceleration, steering angle, and indicator light state.
According to the present embodiment, the acquisition device 120 may acquire the surrounding environment information of the host vehicle 10 via the detection device mounted to the host vehicle 10. The surrounding environment information represents information related to the current running environment of the host vehicle 10, including but not limited to: road type, road congestion level, traffic control, and surface water accumulation. According to the present embodiment, the detection device may include an image pickup unit and an image processing unit. The camera unit may be installed in front of, behind, or otherwise in the host vehicle 10, and may include a general camera, an infrared camera, and the like. The camera unit is capable of capturing (e.g., operating at an angle of about 60 °) images of the environment surrounding the host vehicle 10 in real time. The environment image includes a still image, a stereoscopic image, and/or a moving image. The image processing unit may analyze the surrounding environment information of the host vehicle based on the received environment image. For example, the image processing unit may determine whether the host vehicle 10 is traveling on an expressway or a city road by analyzing the received environment image.
The control device 130 may be in wired or wireless communication with the storage device 110 and the acquisition device 120. According to the present embodiment, the control device 130 may search the storage device 110 for the high-beam and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located, based on the real-time position information of the host vehicle 10.
After finding the high-beam and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located, the control device 130 may match the host vehicle information with the high-beam and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located to determine the high-beam and low-beam switching meaning.
In general, the high-low beam switching rules are related to one or more of the high-low beam switching information, the vehicle state information, and the surrounding environment information of the host vehicle 10. For example, the high and low beam switching rules may specify, but are not limited to specifying the following situations: when the surrounding environment information indicates that the host vehicle 10 is traveling in a lane or a place where a blind area of vision is likely to occur, switching the high beam and the low beam of the host vehicle 10 three times indicates to remind the coming vehicle or the pedestrian of paying attention; when the surrounding environment information indicates that there are pedestrians and non-motor vehicles around the host vehicle 10 that cross the road regardless of the traffic regulations, the strobing or changing of the high beam from the low beam to the high beam of the host vehicle 10 indicates dissuading pedestrians and non-motor vehicles that cross the road at will from colliding with the host vehicle 10, and so on.
Therefore, the control device 130 may match the high-beam and low-beam switching information, the vehicle state information, and the surrounding environment information in the host vehicle information with the high-beam and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located. In the case where the degree of matching is higher than one or more predetermined thresholds, the control device 130 may determine, in the high-low beam switching rule, the high-low beam switching meaning that matches the high-low beam switching information, the vehicle state information, and the surrounding environment information in the host vehicle information.
After determining the high-low beam switching meaning of the host vehicle 10, the control device 130 may output the high-low beam switching meaning. According to the present embodiment, the control device 130 may output the high beam and low beam switching meaning in a visual or audible manner. In one example, the control device 130 may display the high-beam and low-beam switching meaning in the form of text, patterns, images, video, and the like via a component such as an instrument panel, a navigation device, and/or a video device of the host vehicle 10. For example, the control device 130 may display, for example, a text or the like indicating that the vehicle or the pedestrian is reminded of the coming vehicle or the pedestrian through an in-vehicle display screen (e.g., a Head Up Display (HUD), a navigation display, or the like). In another example, the control device 130 may issue a voice or other audible form of high beam and low beam switching meaning via components of the host vehicle 10 such as a navigation device, audio device, buzzer, and/or alarm. For example, the control device 130 may emit a sound or the like indicating that the driver is alerted to the coming vehicle or pedestrian by the navigation device by switching the high beam and the low beam three times.
A driving assist method according to a second embodiment of the invention will be described below with reference to fig. 2. Fig. 2 is a flowchart illustrating a driving assistance method 200 according to a second embodiment of the invention. The driving assistance method 200 is executed by the driving assistance system 100 described above.
As shown in fig. 2, in step S210, a high beam and low beam switching rule is acquired. The high beam and low beam switching rules may correspond to a geographical area. According to the present embodiment, the high beam and low beam switching rules may be acquired from an internal memory of the host vehicle 10 (e.g., a car navigation device) or an external memory that is connectable to the host vehicle 10 (e.g., a removable memory that is electrically connectable to the host vehicle 10 as a peripheral device of the host vehicle 10, or a remote database that is wirelessly accessible, or the like). The high beam and low beam switching rule means that a certain geographical area is defined or contracted to be switched to high beam and low beam in a certain scene or in a certain state. The method 200 then proceeds to step S220.
In step S220, host vehicle information of the host vehicle is acquired. According to the present embodiment, the host vehicle information includes real-time position information, high-low beam switching information, vehicle state information, and surrounding environment information. The real-time location information of the host vehicle 10 may be obtained from a positioning system. The high and low beam switching information and the vehicle state information of the host vehicle 10 may be acquired via a controller area network CAN bus. The high-low beam switching information indicates information related to high-low beam switching of the host vehicle 10, including but not limited to: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight, etc. The vehicle state information represents information related to the running state of the host vehicle 10, including but not limited to speed, acceleration, steering angle, and indicator light state. The surrounding environment information may be acquired of the host vehicle 10 via a detection device mounted to the host vehicle 10. The surrounding environment information represents information related to the current running environment of the host vehicle 10, including but not limited to: road type, road congestion level, traffic control, and surface water accumulation. The detection device mounted to the first vehicle has been described in detail above and will not be described in detail here. The method 200 then proceeds to step S230.
In step S230, the high beam and low beam switching rule is searched. According to the present embodiment, the high-and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located may be found from the high-and low-beam switching rules acquired at step S210 based on the real-time position information of the host vehicle 10. Next, the method proceeds to step S240.
In step S240, the high beam and low beam switching meaning is determined.
In general, the high beam and low beam switching rule is closely related to a geographical area, a vehicle driving environment, and a vehicle driving state. The high beam and low beam switching rules may specify, but are not limited to specifying the following: when the surrounding environment information indicates that the host vehicle 10 is traveling in a lane, a alley, or a place where a blind area is likely to occur, the high beam and the low beam of the host vehicle 10 are switched three times to indicate that the coming vehicle or the pedestrian is reminded of paying attention; when the surrounding environment information indicates that there are pedestrians and non-motor vehicles crossing the road at will around the host vehicle 10, the strobing or changing of the high beam from the low beam to the high beam of the host vehicle 10 indicates discouraging pedestrians and non-motor vehicles crossing the road at will from colliding with the automobile, and so on.
Therefore, according to the present embodiment, it is possible to match the high-beam and low-beam switching information, the vehicle state information, and the surrounding environment information in the host vehicle information with the high-beam and low-beam switching rule corresponding to the geographical area where the host vehicle 10 is located. Specifically, one or more of the high-beam and low-beam switching information, the vehicle state information, and the surrounding environment information may be matched with a corresponding one or more of the high-beam and low-beam switching rules. In the case where the degree of matching is higher than one or more predetermined thresholds, it may be determined that the far-and-near light switching rule at this time is the far-and-near light switching meaning that matches the far-and-near light switching information, the vehicle state information, and the surrounding environment information in the host vehicle information. Next, the method proceeds to step S250.
In step S250, the high beam and low beam switching meaning is output. According to the present embodiment, the high beam and low beam switching meaning can be output visually or audibly. In one example, the high beam and low beam switching meaning may be displayed in the form of text, patterns, images, video, etc. via components of the dashboard, navigation device, and/or video device of the host vehicle 10. In another example, the high beam and low beam switching meaning may be emitted as a voice or other audio form via components of the host vehicle 10 such as a navigation device, audio device, buzzer, and/or alarm.
A driving assist system according to a third embodiment of the invention will be described below with reference to fig. 3. Fig. 3 is a schematic view showing a vehicle mounted with a driving assist system according to a third embodiment of the invention. As shown in fig. 3, the host vehicle 30 includes a driving assistance system 300. Well-known power and steering devices, transmission systems, etc. in the host vehicle 30 are not shown in FIG. 1 for the sake of brevity. The driving assistance system 300 according to the third embodiment of the invention will determine the meaning of the high beam and low beam switching of the other vehicle from both the host vehicle information of the host vehicle 10 and the other vehicle information of the other vehicle.
As shown in fig. 3, the driving assistance system 300 may include a storage device 310, an acquisition device, and a control device 330. The acquiring means comprises a first acquiring means 321 and a second acquiring means 322. The storage device 310 of the driving assistance system 300 is the same as the storage device 110 of the driving assistance system 100 according to the first embodiment of the invention, and is not described here again. The first acquisition means 321, the second acquisition means 322, and the control means 330 of the driving assistance system 300 will be described in detail below.
The first obtaining device 321 may obtain first vehicle information of the first vehicle. The first vehicle may be a host vehicle 10. The first vehicle information includes real-time location information, first vehicle status information, and ambient environment information of the first vehicle.
According to the present embodiment, the first obtaining device 321 may obtain real-time position information of the first vehicle from the positioning system. The positioning system comprises a satellite-based positioning system (GNSS), a base station-based positioning system (GSM), a Wi-Fi Bluetooth-based positioning system and the like. However, the present invention is not limited. It will be understood by those skilled in the art that the first obtaining device 321 may also obtain real-time location information of the first vehicle from a navigation system (e.g., an in-vehicle navigation device).
According to the present embodiment, the first obtaining device 321 may obtain the first vehicle state information of the first vehicle via the controller area network CAN bus. The first vehicle state information represents information related to a traveling state of the first vehicle, including, but not limited to, a speed, an acceleration, a steering angle, and an indicator light state.
According to the present embodiment, the first acquisition means 321 may acquire the surrounding environment information of the first vehicle via the detection means mounted to the first vehicle. The surrounding environment information represents information related to the current running environment of the first vehicle, including but not limited to: road type, road congestion level, traffic control, and surface water accumulation. According to the present embodiment, the detection device may include an image pickup unit and an image processing unit. The camera unit may be installed in front of, behind, or otherwise to the first vehicle, and may include a general camera, an infrared camera, and the like. The camera unit is capable of capturing (e.g., operating at an angle of around 60 °) an image of the environment around the first vehicle in real time. The environment image includes a still image, a stereoscopic image, and/or a moving image. The image processing unit may analyze the surrounding environment information of the host vehicle based on the received environment image. For example, the image processing unit may determine whether the first vehicle is traveling on an expressway or on a city road by analyzing the received environment image.
The second obtaining device 322 may obtain second vehicle information of the second vehicle. The second vehicle is in the same geographic area as the first vehicle. The second vehicle may be other vehicles around the first vehicle, such as a rear vehicle of the first vehicle and an incoming vehicle of an opposite lane, and the like. The second vehicle state information includes high beam and low beam switching information and second vehicle state information. The high-low beam switching information indicates information related to high-low beam switching of the second vehicle, including but not limited to: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight, etc. The second vehicle state information represents information related to a running state of the second vehicle, including, but not limited to, speed, acceleration, steering angle, and indicator light state.
According to the present embodiment, the second acquisition means 322 may acquire the second vehicle information of the second vehicle via the detection means mounted to the first vehicle. The detection device has been described in detail above, and will not be described in detail here.
The control device 330 may be in wired or wireless communication with the storage device 310, the first acquisition device 321, and the second acquisition device 322. According to the present embodiment, the control device 330 may search the storage device 310 for the high-beam and low-beam switching rule corresponding to the geographic area where the first vehicle is located, that is, the high-beam and low-beam switching rule corresponding to the geographic area where the second vehicle is located, based on the real-time location information of the first vehicle, because the first vehicle and the second vehicle are in the same geographic area.
After finding the high-beam and low-beam switching rules corresponding to the geographic areas where the first vehicle and the second vehicle are located, the control device 330 may match both the first vehicle information and the second vehicle information with the high-beam and low-beam switching rules corresponding to the geographic areas where the first vehicle and the second vehicle are located to determine the high-beam and low-beam switching meaning of the second vehicle.
In general, the high-beam/low-beam switching rule is associated with both first vehicle information of the first vehicle and second vehicle information of the second vehicle. For example, the high beam and low beam switching rules may specify, but are not limited to specifying, the following situations: when the first vehicle information shows that the first vehicle is still not started when the first vehicle is at the green light, the high beam and the low beam of the second vehicle behind the first vehicle are switched twice to remind a driver of the first vehicle of avoiding or paying attention; when the first vehicle information shows that the high beam is always in an on state when the first vehicle runs at night, the high beam and the low beam of the second vehicle in the opposite lane are switched twice to remind the first vehicle of being switched to the low beam; and when the first vehicle information indicates that the running speed of the first vehicle exceeds a preset speed threshold value, switching the high beam and the low beam of the second vehicle in the opposite lane for multiple times indicates to remind a driver of the first vehicle to pay attention to the speed measurement camera, and the like.
Therefore, according to the present embodiment, the control device 330 can determine the high beam and low beam switching meaning of the second vehicle using the maximum likelihood estimation method. Suppose that the high beam and low beam switching rule is a joint probability distribution density function of the first vehicle information and the second vehicle information, i.e., f (x)First vehicle information；BSecond vehicle information) Then at xFirst vehicle informationIn the case of fixation, it can be regarded as BSecond vehicle informationAs a function of (c). In contrast, in BSecond vehicle informationIn the case of fixation, it can be regarded as xFirst vehicle informationIs measured as a function of (c). Thus, at xFirst vehicle informationAnd BSecond vehicle informationEither of the fixed values, the control device 330 may select the combined probability distribution density function f (x)First vehicle information；BSecond vehicle information) And determining the far-near light switching meaning of the second vehicle in the far-near light switching rule with the maximum value.
After determining the high-low beam switching meaning of the second vehicle, the control device 330 may output the high-low beam switching meaning of the second vehicle to the first vehicle. According to the present embodiment, the control device 330 may output the high beam and low beam switching meaning in a visual or audible manner. In one example, the control device 330 may display the high beam and low beam switching meaning in the form of text, a pattern, an image, a video, etc., via a component such as an instrument panel, a navigation device, and/or a video device of the first vehicle. For example, the control device 330 may display a text such as "please turn off the high beam for the driver" through an in-vehicle display screen (e.g., a Head Up Display (HUD), a navigation display, etc.). In another example, the control device 330 may issue the high beam and low beam switching meaning via a navigation device, an audio device, a buzzer, and/or an alarm, etc. of the first vehicle. For example, the control device 330 may emit a sound of "please turn off the high beam by the driver" through the navigation device, or the like.
A driving assistance method according to a fourth embodiment of the invention will be described below with reference to fig. 4. Fig. 4 is a flowchart illustrating a driving assistance method 400 according to a third embodiment of the invention. The driving assistance method 400 is executed by the driving assistance system 300 described above.
As shown in fig. 4, in step S410, a high beam and low beam switching rule is acquired. Step S410 of the driving assistance method 400 is the same as step S210 of the driving assistance method 200 according to the second embodiment of the invention, and will not be described again. The method 400 then proceeds to step S420.
In step S420, host vehicle information of the first vehicle is acquired. The first vehicle may be a host vehicle 10. The first vehicle information includes real-time location information, first vehicle status information, and ambient environment information of the first vehicle. The real-time location information of the first vehicle may be obtained from a positioning system. The first vehicle status information of the first vehicle may be acquired via a controller area network, CAN, bus. The first vehicle state information represents information related to a driving state of the first vehicle, including, but not limited to, speed, acceleration, steering angle, and indicator light state. The surrounding environment information of the first vehicle may be acquired via a detection device mounted to the first vehicle. The surrounding environment information represents information related to the current running environment of the first vehicle, including but not limited to: road type, road congestion level, traffic control, and surface water accumulation. The detection device mounted to the first vehicle has been described in detail above and will not be described in detail here. The method 400 then proceeds to step S430.
In step S430, second vehicle information of the second vehicle is acquired. The second vehicle is in the same geographic area as the first vehicle. The second vehicle may be other vehicles around the first vehicle, such as a rear vehicle of the first vehicle and an incoming vehicle of an opposite lane, and the like. The second vehicle state information includes high beam and low beam switching information and second vehicle state information. The high-low beam switching information indicates information related to high-low beam switching of the second vehicle, including but not limited to: the turn-on of the high beam, the duration of the high beam, the turn-on of the dipped headlight, the duration of the dipped headlight, the number of switching times between the high beam and the dipped headlight, etc. The second vehicle state information represents information related to a running state of the second vehicle, including, but not limited to, speed, acceleration, steering angle, and indicator light state. The second vehicle information of the second vehicle may be acquired via a detection device attached to the first vehicle. The detailed description of how to obtain the second vehicle information has already been given above, and will not be repeated here. The method 400 then proceeds to step S440.
In step S440, the high beam and low beam switching rule is searched. According to the present embodiment, the high-beam and low-beam switching rule corresponding to the geographical area where the first vehicle is located, that is, the high-beam and low-beam switching rule corresponding to the geographical area where the second vehicle is located, is searched in the high-beam and low-beam switching rules acquired in step S410 based on the real-time location information of the first vehicle, because the first vehicle and the second vehicle are located in the same geographical area. Next, the method proceeds to step S450.
In step S450, the high beam and low beam switching meaning of the second vehicle is determined. According to the embodiment, both the first vehicle information and the second vehicle information can be matched with the high-beam and low-beam switching rule corresponding to the geographical areas where the first vehicle and the second vehicle are located to determine the high-beam and low-beam switching meaning of the second vehicle. For example, the maximum likelihood estimation method may be used to determine the far-near light switching meaning of the second vehicle. Supposing high beam and low beamThe switching rule is a joint probability distribution density function of the first vehicle information and the second vehicle information, i.e., f (x)First vehicle information；BSecond vehicle information) Then at xFirst vehicle informationIn the case of fixation, it can be regarded as BSecond vehicle informationIs measured as a function of (c). In contrast, in BSecond vehicle informationIn the case of fixation, it can be regarded as xFirst vehicle informationAs a function of (c). Thus, at xFirst vehicle informationAnd BSecond vehicle informationEither of these may be fixed from f (x)First vehicle information；BSecond vehicle information) And determining the far-near light switching meaning of the second vehicle in the far-near light switching rule when the maximum value is obtained. Next, the method proceeds to step S460.
In step S460, the high beam and low beam switching meaning of the second vehicle is output. According to the present embodiment, the high beam and low beam switching meaning may be output to the first vehicle visually or audibly. In one example, the high beam and low beam switch meaning may be displayed via a component of the instrument panel of the first vehicle, a navigation device, a video device, and/or a warning light in the form of text, a pattern, an image, a video, and/or the like. In another example, the high beam and low beam switch meaning may be emitted via a navigation device, audio device, buzzer, and/or alarm, etc. of the first vehicle.
While the invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the construction and methods of the embodiments described above. On the contrary, the invention is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps of the disclosed invention are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the invention.
Claims (20)
1. A driving assistance system for a vehicle, comprising:
the storage device is used for storing high-beam and low-beam switching rules corresponding to a geographical area, wherein the geographical area is a map area with the single high-beam and low-beam switching rules;
the device comprises an acquisition device, a display device and a control device, wherein the acquisition device is used for acquiring host vehicle information of a host vehicle, and the host vehicle information comprises real-time position information, high-beam and low-beam switching information, vehicle state information and surrounding environment information, wherein the high-beam and low-beam switching information comprises one or more of the following parameters: the method comprises the following steps of starting a high beam, the duration of the high beam, starting a dipped headlight, the duration of the dipped headlight and the switching times between the high beam and the dipped headlight; and
control means for matching the host vehicle information with corresponding information in the high-beam and low-beam switching rules corresponding to the geographical area where the host vehicle is located, determining the high-beam and low-beam switching rule when the matching value is higher than a predetermined threshold value as a high-beam and low-beam switching meaning of the host vehicle, and outputting the high-beam and low-beam switching meaning to a driver of the host vehicle.
2. The driving assistance system according to claim 1,
the vehicle state information includes one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
3. The driving assistance system according to claim 1,
the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
4. The drive assist system according to claim 1, wherein,
the acquisition means is configured to acquire the high-beam and low-beam switching information and the vehicle state information via a CAN bus, and acquire the surrounding environment information via a detection means mounted to the host vehicle.
5. A driving assistance method for a vehicle, comprising the steps of:
acquiring a far-near light switching rule corresponding to a geographical area, wherein the geographical area is a map area with an individual far-near light switching rule;
obtaining host vehicle information of a host vehicle, wherein the host vehicle information comprises real-time position information, high-beam and low-beam switching information, vehicle state information and surrounding environment information, and the high-beam and low-beam switching information comprises one or more of the following parameters: the method comprises the following steps of starting a high beam, the duration of the high beam, starting a dipped headlight, the duration of the dipped headlight and the switching times between the high beam and the dipped headlight;
matching the information of the host vehicle with corresponding information in the high-beam and low-beam switching rules corresponding to the geographical area where the host vehicle is located, and determining the high-beam and low-beam switching rules when the matching value is higher than a preset threshold value as the high-beam and low-beam switching meaning of the host vehicle; and
outputting the high beam and low beam switching meaning to a driver of the host vehicle.
6. The driving assistance method according to claim 5, wherein,
the vehicle state information includes one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
7. The driving assistance method according to claim 5, wherein,
the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
8. The drive assist method according to claim 5, wherein,
the high and low beam switching information and the vehicle state information are acquired via a CAN bus, and the surrounding environment information is acquired via a detection device mounted to the host vehicle.
9. A driving assistance system for a vehicle, comprising:
the storage device is used for storing high-beam and low-beam switching rules corresponding to a geographical area, wherein the geographical area is a map area with the single high-beam and low-beam switching rules;
the device comprises a first obtaining device and a second obtaining device, wherein the first obtaining device is used for obtaining first vehicle information of a first vehicle, the first vehicle information comprises real-time position information, first vehicle state information and surrounding environment information, and the high-beam and low-beam switching information comprises one or more of the following parameters: the method comprises the following steps of starting a high beam, the duration of the high beam, starting a dipped headlight, the duration of the dipped headlight and the switching times between the high beam and the dipped headlight;
a second obtaining device, configured to obtain second vehicle information of a second vehicle, where the second vehicle information includes high-beam and low-beam switching information and second vehicle state information, and the second vehicle is in the same geographical area as the first vehicle; and
and the control device is used for matching the combination of the first vehicle information and the second vehicle information with corresponding information in the high-beam and low-beam switching rules corresponding to the geographic areas where the first vehicle and the second vehicle are located, determining the high-beam and low-beam switching meaning of the second vehicle according to the high-beam and low-beam switching rules when the matching value is higher than a preset threshold value, and outputting the high-beam and low-beam switching meaning to the driver of the first vehicle.
10. The driving assistance system according to claim 9, wherein,
each of the first and second vehicle state information includes one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
11. The driving assistance system according to claim 9, wherein,
the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
12. The driving assistance system according to claim 9, wherein,
the first acquisition device is configured to acquire the first vehicle state information in the first vehicle information via a CAN bus and the surrounding environment information in the first vehicle information via a detection device mounted to the first vehicle.
13. The driving assistance system according to claim 9, wherein,
the second acquisition device is configured to acquire the second vehicle information via a detection device mounted to the first vehicle.
14. The drive assist system according to claim 9, wherein,
the control device is configured to determine the high beam and low beam switching meaning of the second vehicle using a maximum likelihood estimation method.
15. A driving assistance method for a vehicle, comprising the steps of:
acquiring a far-near light switching rule corresponding to a geographical area, wherein the geographical area is a map area with an individual far-near light switching rule;
acquiring first vehicle information of a first vehicle, wherein the first vehicle information comprises real-time position information, first vehicle state information and surrounding environment information, and the high-beam and low-beam switching information comprises one or more of the following parameters: the method comprises the following steps of starting a high beam, the duration of the high beam, starting a dipped headlight, the duration of the dipped headlight and the switching times between the high beam and the dipped headlight;
acquiring second vehicle information of a second vehicle, wherein the second vehicle information comprises far and near light switching information and second vehicle state information, and the second vehicle and the first vehicle are in the same geographical area; and
matching the combination of the first vehicle information and the second vehicle information with respective information in the high-beam and low-beam switching rules corresponding to the geographical areas where the first vehicle and the second vehicle are located, determining the high-beam and low-beam switching rule when the matching value is higher than a predetermined threshold value as the high-beam and low-beam switching meaning of the second vehicle, and outputting the high-beam and low-beam switching meaning to the driver of the first vehicle.
16. The driving assistance method according to claim 15, wherein,
each of the first and second vehicle state information includes one or more of the following parameters: speed, acceleration, steering angle, and indicator light status.
17. The drive assist method according to claim 15, wherein,
the ambient information comprises one or more of the following parameters: road type, road congestion level, traffic control, and surface water accumulation.
18. The driving assistance method according to claim 15, wherein,
the first vehicle state information in the first vehicle information is acquired via a CAN bus and the surrounding environment information in the first vehicle information is acquired via a detection device mounted to the first vehicle.
19. The driving assistance method according to claim 15, wherein,
the second vehicle information is acquired via a detection device mounted to the first vehicle.
20. The driving assistance method according to claim 15, wherein,
determining the far-near light switch meaning of the second vehicle using a maximum likelihood estimation method.
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| CN114655111B (en) * | 2022-04-20 | 2023-10-24 | 中国第一汽车股份有限公司 | Switching method of high-low beam light of vehicle and central processing unit |
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| CN105620347A (en) * | 2014-11-06 | 2016-06-01 | 申久祝 | Automobile light intelligent control system |
| CN204354906U (en) * | 2015-01-01 | 2015-05-27 | 谈勤怡 | A kind of modifying device of Der Scheinwerfer mit FernlichtAbblendlichtStandlicht |
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