CN110550036B - Driving assistance apparatus, vehicle, and driving assistance system - Google Patents
Driving assistance apparatus, vehicle, and driving assistance system Download PDFInfo
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- CN110550036B CN110550036B CN201810538869.XA CN201810538869A CN110550036B CN 110550036 B CN110550036 B CN 110550036B CN 201810538869 A CN201810538869 A CN 201810538869A CN 110550036 B CN110550036 B CN 110550036B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
Abstract
The present invention relates to a driving assistance apparatus, a vehicle, and a driving assistance system, the driving assistance apparatus being mounted or applied to a vehicle and including a visibility detection module configured to identify a low visibility environment; an information collection module configured to generate and transmit an information request beacon in a case where the vehicle is in the low visibility environment, wherein the information collection module is further configured to receive road traffic information of an environment ahead of the vehicle after transmitting the information request beacon.
Description
Technical Field
The invention relates to the field of automobiles. In particular, the invention relates to a driving assistance apparatus, a vehicle including the driving assistance apparatus, and a driving assistance system including the driving assistance apparatus.
Background
In order to facilitate users of vehicles, vehicles are currently generally equipped with various sensors and electronic devices for acquiring environmental and traffic condition information around the vehicle, which is processed and used to guide drivers to perform reasonable operations or help drivers avoid dangers.
In the case of bad weather such as snow, sand storm, and heavy fog, the driver's field of vision is restricted due to reduced visibility (even if the fog light, windshield wipers, headlights, and the like are turned on). The driver needs to provide additional information through sensors to assist his driving. However, in these severe weather conditions, the information acquisition capabilities of some sensors mounted on the vehicle may also be limited. For example, cameras, even infrared cameras, can experience problems in these inclement weather conditions, such as high density occlusion, limited range, dirty surfaces, and the like.
Therefore, there is a need to solve the problem of acquiring road traffic condition information around a vehicle in a low visibility environment.
Disclosure of Invention
An object of the present invention is to provide a driving assistance apparatus, system and method capable of supplementing road traffic information that a vehicle driver cannot effectively observe and a vehicle-mounted image sensor cannot detect, by receiving the road traffic information from an external apparatus under the condition of low environmental visibility, ensuring safe driving of a vehicle.
According to a first aspect of the present invention, there is provided a driving assistance apparatus that is mounted or applied to a vehicle, the apparatus including: a visibility detection module configured to identify a low visibility environment; an information collection module configured to generate and transmit an information request beacon in a case where the vehicle is in the low visibility environment, wherein the information collection module is further configured to receive road traffic information of an environment ahead of the vehicle after transmitting the information request beacon.
According to one embodiment, wherein the information acquisition module is further configured to acquire road traffic information of an environment in front of the vehicle using an image sensor of the vehicle.
According to one embodiment, the driving assistance apparatus further includes: an augmented reality display module configured to determine road traffic information contained in the road traffic information received by the information acquisition module but not acquired using the image sensor, and perform augmented reality display of the determined road traffic information.
According to one embodiment, the road traffic information comprises information of other traffic participants, traffic sign and traffic light information, and road shape information, among others.
According to one embodiment, wherein the augmented reality display module is configured to display the determined road traffic information by image or video.
According to one embodiment, wherein the augmented reality display module is configured to cause the displayed image or video to change in real-time.
According to one embodiment, wherein the information collection module is further configured to acquire road traffic information of an environment ahead of the vehicle and travel state information of the vehicle using a sensor of the vehicle, acquire pre-stored inherent information of the vehicle, and transmit these information.
According to one embodiment, wherein the information collection module is further configured to receive an information request beacon, and to transmit road traffic information and travel state information of the vehicle acquired with a sensor of the vehicle and intrinsic information of the vehicle in response to reception of the information request beacon.
According to a second aspect of the present invention, there is provided a driving assistance apparatus including: an information acquisition module configured to acquire surrounding road traffic information using one or more sensors and further configured to store road traffic information provided by the driving assistance apparatus itself; and an information processing module configured to receive an information request beacon, and transmit road traffic information of an environment ahead of a current position of the vehicle by a transmission beacon in response to reception of the information request beacon.
According to one embodiment, wherein the information processing module is further configured to transmit the acquired and provided road traffic information to a remote server.
According to a third aspect of the present invention, there is provided a driving assistance apparatus including: an information management module configured to receive road traffic information; and an information processing module configured to receive an information request beacon and, in response to receipt of the information request beacon, transmit road traffic information of an environment ahead of a current location of a beacon-transmitting vehicle.
According to an embodiment, wherein the received road traffic information comprises location information, time information and/or identity information, and the information management module is configured to associate the received road traffic information to a specific location range, time range and/or entity.
According to one embodiment, wherein the information request beacon comprises identification information of the beacon transmitting vehicle, and the information processing module is configured to identify the beacon transmitting vehicle based on the identification information and to query road traffic information of an environment in front of a current position of the beacon transmitting vehicle.
According to a fourth aspect of the present invention, there is provided a driving assistance system including the driving assistance apparatuses of the first to third aspects wirelessly communicatively connected to each other.
According to a fifth aspect of the present invention, there is provided a driving assistance method including the steps of: identifying a low visibility environment; generating and transmitting an information request beacon in a case where the low visibility environment is identified, wherein road traffic information of an environment ahead of the vehicle is received after the information request beacon is transmitted.
According to one embodiment of the invention, wherein the road traffic information of the environment in front of the vehicle is acquired with an image sensor of the vehicle.
According to another embodiment of the present invention, wherein the road traffic information included in the received road traffic information but which cannot be acquired by the image sensor is determined, and the determined road traffic information is augmented reality displayed.
According to one embodiment of the invention, the road traffic information comprises information of other traffic participants, traffic sign and traffic light information and road shape information.
According to one embodiment of the invention, the determined road traffic information is displayed in an image or video.
According to an embodiment of the invention, wherein the displayed image or video is changed in real time.
According to an embodiment of the present invention, wherein the road traffic information of the environment ahead of the vehicle and the running state information of the vehicle are acquired using a sensor of the vehicle, the inherent information of the vehicle stored in advance is acquired, and these information are transmitted.
According to one embodiment of the present invention, wherein an information request beacon is received, and the road traffic information and the traveling state information of the vehicle acquired with the sensor of the vehicle and the unique information of the vehicle are transmitted in response to the reception of the information request beacon.
According to a sixth aspect of the present invention, there is provided a driving assistance method implemented with the driving assistance apparatus according to any one of the embodiments of the foregoing second aspect, including the steps of: acquiring surrounding road traffic information using one or more sensors and storing the road traffic information provided by the driving assistance apparatus itself; and receiving an information request beacon, and transmitting road traffic information of an environment ahead of the current position of the vehicle in response to reception of the information request beacon.
According to one embodiment, the driving assistance method further includes the steps of: and transmitting the acquired and provided road traffic information to a remote server.
According to a seventh aspect of the present invention, there is provided a driving assistance method including the steps of: receiving road traffic information; and receiving an information request beacon, and in response to reception of the information request beacon, transmitting a beacon transmitting road traffic information of an environment ahead of a current position of the vehicle.
According to one embodiment, wherein the received road traffic information comprises location information, time information and/or identity information, and the method comprises associating the received road traffic information to a specific location range, time range and/or entity.
According to one embodiment, wherein the information request beacon comprises identification information of the beacon transmitting vehicle, and the method comprises identifying the beacon transmitting vehicle based on the identification information and querying road traffic information of an environment in front of a current location of the beacon transmitting vehicle.
According to an eighth aspect of the present invention, there is also provided a vehicle including the driving assistance apparatus according to any of the embodiments of the first aspect.
Therefore, according to the driving assistance device, the driving assistance system and the driving assistance method, the road traffic information which cannot be effectively observed by a vehicle driver and cannot be detected by the vehicle-mounted image sensor can be supplemented by receiving the road traffic information from the external device under the condition of low environmental visibility, and the safe driving of the vehicle is ensured.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings in which like reference numerals represent like elements, and in which:
fig. 1 shows a schematic view of a road system according to an embodiment of the invention.
Fig. 2 shows a schematic diagram of a driving assistance system according to an embodiment of the invention.
Fig. 3 shows a flowchart of a driving assistance method according to an embodiment of the invention.
Fig. 4 shows a flowchart of a driving assistance method according to another embodiment of the invention.
Fig. 5 shows a flowchart of a driving assistance method according to still another 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.
Embodiments of the present invention provide an apparatus, system, and method for acquiring road traffic information of an environment ahead of a vehicle in a low visibility environment. Here, the road traffic information of the environment in front of the vehicle includes information of other traffic participants in front of the vehicle, traffic sign and traffic signal information, and road shape information. The information of other traffic participants mainly comprises information such as categories, outlines, positions, driving directions, speeds, accelerations and preset navigation routes of other traffic participants, the information of traffic signs and traffic lights comprises information such as positions and contents of the traffic signs and positions, states and time of the traffic lights, and the information of road shapes comprises information such as shapes, outlines and positions of lane lines, isolation belts, fences, kerbs, roadblocks and the like on roads.
According to an embodiment of the present invention, a driving assistance apparatus mounted on or applied to a vehicle may acquire road traffic information of an environment in front of the vehicle using one or more sensors mounted on the vehicle. The sensor described herein includes an image sensor. In low visibility environments, the detection capability of the image sensor is limited. For this purpose, the driving assistance device is further configured to receive road traffic information of the environment ahead of the vehicle from the external device to acquire the road traffic information that cannot be recognized with the image sensor. In a particular embodiment, the driving assistance device is configured to transmit an information request beacon to one or more external devices by means of wireless communication to receive road traffic information of the environment in front of the vehicle from these devices. The information requesting beacon may carry a variety of identifying information, such as a vehicle identifier, a vehicle location, one or more descriptions of the vehicle, etc., to identify the vehicle associated with the driving assistance device, i.e., the beaconing vehicle. The driving assistance apparatus may transmit the information request beacon and receive the road traffic information using any suitable standard communication medium, such as any wireless communication mode. The information request beacon may be received by a transportation facility configured to provide information about road traffic, one or more other vehicles on nearby roads, or a remote server. One or more beacon receiving devices may transmit information about road traffic directly to a beacon transmitting vehicle and the information is received directly by the beacon transmitting vehicle. In other embodiments, one or more beacon receiving devices upload information about road traffic to a server that the beacon transmitting vehicle can access to obtain information about road traffic. Here, the road traffic information on, that is, the road traffic information that the driving assistance apparatus receives by transmitting the information request beacon is generally road traffic information of the environment ahead of the current position of the vehicle, for example, road traffic information within a predetermined range (e.g., 100m, 200m, 500m, etc.) ahead of the current position of the vehicle.
Further, the driving assistance apparatus is also configured to receive an information request beacon from other apparatus such as a rear vehicle, and transmit the relevant road traffic information to the beacon-transmitting vehicle. Further, the driving assist device is configured to upload road traffic information and traveling state information of the vehicle itself acquired with the vehicle's own sensor, and inherent information of the vehicle stored in advance to the remote server.
Referring to fig. 1, a road system 100 is adapted to a driving assistance system according to an embodiment of the invention. The roadway system 100 may include a roadway 110 and a plurality of vehicles 120, 130, 140 traveling on the roadway 110. The roadway system 100 may also include one or more transportation facilities 150.
The vehicles 120, 130, 140 may include one or more sensors disposed thereon. One or more sensors are used to acquire road traffic information for the environment in front of each vehicle 120, 130, 140. For example, one or more sensors on the vehicles 120, 130, 140 are used to obtain information such as the category, profile, location, direction of travel, speed, acceleration, predetermined navigation route, etc. of surrounding traffic participants (e.g., other vehicles 120, 130, 140), information such as the location, status, and time of traffic lights at front intersections, and information such as the shape, profile, location, etc. of lane lines, center barriers, etc. on the road 110. The one or more sensors may include, but are not limited to, an image sensor such as a camera, a light detection and ranging (LIDAR) sensor, a radio detection and ranging (RADAR) sensor, a sound navigation and ranging (SONAR) sensor, and/or a velocity detector, among others. It should be understood that LIDAR, RADAR, and/or SONAR sensors as used herein may include appropriate transmitters and receivers.
One or more sensors on the vehicles 120, 130, 140 are also used to obtain driving status information for each vehicle 120, 130, 140. The travel state information of the vehicles 120, 130, 140 includes information of the position, travel direction, speed, acceleration, predetermined navigation route, and the like of each vehicle. To this end, the one or more sensors may include a position sensor (e.g., a GNSS sensor), a vehicle speed sensor, a steering angle sensor, an acceleration sensor, a navigation module, etc. mounted on each vehicle 120, 130, 140. Further, the vehicles 120, 130, 140 may be provided with a storage device to store inherent information of the vehicles 120, 130, 140 in advance. The unique information of the vehicles 120, 130, 140 includes information such as the category and contour of each vehicle 120, 130, 140.
In particular, one or more sensors on the vehicles 120, 130, 140 also include visibility detectors. The visibility detector is configured to detect a visibility level of a front field of view of the vehicle 120, 130, 140. When the visibility detector detects a visibility level below a predetermined threshold, the driver's field of view of the vehicle 120, 130, 140 may be affected and the detection capability of the image sensor of the vehicle 120, 130, 140 may be limited. Thus, based on the detection result of the visibility level of the visibility detector, the vehicle 120, 130, 140 may be configured to transmit an information request beacon to one or more external devices to receive road traffic information of the environment ahead of the vehicle 120, 130, 140 from these external devices. Vehicles 120, 130, 140 may have one or more antennas 121, 131, 141 to transmit information request beacons and receive road traffic information. The information request beacon may be transmitted using any suitable format, such as Dedicated Short Range Communication (DSRC). Other formats and/or protocols include Wi-Fi, bluetooth, 3G mobile communication, 4G mobile communication, long Term Evolution (LTE), wiMAX, etc. The information request beacon may carry various identification information for identifying the sending vehicle, including location information (such as GNSS coordinates, etc.) of the vehicles 120, 130, 140, an identifier, and one or more descriptions, etc. The vehicles 120, 130, 140 may also be configured to receive information request beacons from other vehicles 120, 130, 140 via their respective antennas 121, 131, 141 and to transmit road traffic information to the other vehicles 120, 130, 140 in response to the received information request beacons. According to some embodiments, the vehicle 120, 130, 140 may also transmit the road traffic information and its own driving state information acquired using the sensors and its own inherent information to a remote server, which may be accessed by other vehicles 120, 130, 140 or devices associated with other vehicles 120, 130, 140 to acquire the information.
Any number of transportation facilities 150 may be located along or near roadway 110. The transportation facility 150 may be provided with various sensors, such as cameras, video cameras, radar, and/or laser speed detectors, etc., to detect nearby road traffic information. The exemplary transportation facility 150 according to the present invention may further include an antenna to wirelessly transmit road traffic information acquired using the sensor. For example, the transportation facility 150 may directly transmit the road traffic information acquired by the sensor to the vehicle 120, 130, 140 to which the information request beacon is transmitted. According to some embodiments, the transportation facility 150 may also transmit its acquired road traffic information to a remote server, where the vehicle 120, 130, 140 or a device associated with the vehicle 120, 130, 140 may access the remote server to acquire the road traffic information. According to other embodiments, the transportation facility 150 may also be a traffic light 150 as shown in FIG. 1, which provides traffic light information. Accordingly, the traffic light 150 may receive the information transmission beacon and transmit the traffic light information to the vehicle 120, 130, 140 to which the information request beacon is transmitted. Also, the traffic light 150 may transmit the traffic light information to a remote server, where the vehicle 120, 130, 140 or a device associated with the vehicle 120, 130, 140 may access the remote server to obtain the traffic light information.
Referring now to fig. 2, fig. 2 illustrates the architecture of a driving assistance system 200 suitable for low ambient visibility in accordance with the present invention. The driving assistance system 200 comprises a driving assistance device 201 associated with the vehicle 120, 130, 140 and/or arranged on the vehicle 120, 130, 140, the transportation facility 150 of the above described embodiment, one or more networks 160 and one or more servers 240.
The driving assistance device 201 may include one or more processors 202, one or more input/output (I/O) device interfaces 204, one or more network interfaces 206, one or more sensor interfaces 208, and/or one or more memories 210.
In some examples, processor 202 may be suitably implemented by hardware, software, firmware, or a combination thereof. A software or firmware implementation of processor 202 may include computer-executable instructions or machine-executable instructions written in any suitable programming language to perform the various functions described. A hardware implementation of processor 202 may be configured to execute computer-executable instructions or machine-executable instructions to perform the various functions described. The one or more processors 202 may include, but are not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a Reduced Instruction Set Computer (RISC), a Complex Instruction Set Computer (CISC), a microprocessor, a microcontroller, a Field Programmable Gate Array (FPGA), or any combination thereof. The driving assistance apparatus 201 may also include a chipset (not shown) for controlling communication between the one or more processors 202 and one or more other components of the driving assistance apparatus 201. The one or more processors 202 may also include one or more Application Specific Integrated Circuits (ASICs) or Application Specific Standard Products (ASSPs) for handling specific data processing functions or tasks.
Input/output (I/O) devices or one or more user interfaces, such as touch-sensitive display screens, may be controlled via one or more I/O device interfaces 204. The one or more network interfaces 206 may allow the user device to communicate via one or more networks 160 and/or via other suitable communication channels. For example, the driving assistance device 201 may be configured to communicate with a stored database, other computing devices or servers, user terminals, other devices on the network 160, and/or a repository of road traffic information. The one or more sensor interfaces 208 may enable the driving assistance device 201 to receive and interpret signals from the one or more sensors.
Memory 210 may include one or more volatile and/or nonvolatile memory devices including, but not limited to, magnetic storage devices, read Only Memory (ROM), random Access Memory (RAM), dynamic RAM (DRAM), static RAM (SRAM), synchronous Dynamic RAM (SDRAM), double Data Rate (DDR) SDRAM (DDR-SDRAM), RAM-BUS DRAM (RDRAM), flash memory devices, electrically erasable programmable read-only memory (EEPROM), non-volatile RAM (NVRAM), universal Serial BUS (USB) removable memory, or a combination thereof.
Memory 210 may store program instructions that are loadable and executable on processor 202, as well as data generated during the execution of these programs. More specifically, memory 210 may include one or more operating system (O/S) modules 212, application modules 214, visibility detection module 216, information collection module 218, and augmented reality display module 220. When executed by the processor 202, each module and/or software may provide functionality for the driving assistance apparatus 201. The modules and/or software may or may not correspond to physical locations or/and addresses in memory 210. In other words, the contents of each of the modules 212, 214, 216, 218, and 220 may not be separated from each other and may actually be stored in at least partially interleaved locations on the memory 210.
Visibility detection module 216 may store instructions and/or programs that, when executed by processor 202, may cause driving assistance device 201 to provide functionality associated with identifying low visibility environments. Processor 202 may be configured to obtain one or more signals indicative of a level of ambient visibility from a visibility detector of a vehicle, and identify a low visibility environment based on the one or more signals. In particular, processor 202 may be configured to identify the current environment as a low visibility environment when the visibility level is below a predetermined threshold. According to other embodiments, the processor 202 may be configured to acquire images of the environment in front of the vehicle from the onboard image sensor and identify a low visibility environment based on the acquired images. In particular, processor 202 may identify low visibility environments by identifying weather conditions through image processing. For example, the processor 202 may identify a pixel in the image and determine that it is currently fog weather and identify the current environment as a low visibility environment when the pixel is near white.
The information collection module 218 may store instructions and/or programs that, when executed by the processor 202, may enable the driving assistance device 201 to provide functionality associated with collecting road traffic information for an environment in front of the vehicle. The information collection module 218 may store instructions that enable the processor 202 to acquire road traffic information for an environment in front of the vehicle using one or more on-board sensors. For example, the processor 202 may acquire images of the environment in front of the vehicle from an onboard image sensor and acquire road traffic information using, for example, computer image processing and recognition techniques.
In low visibility environments, the detection capability of the sensor, particularly the image sensor, is degraded. To this end, the information collection module 218 is configured to also store instructions such that the processor 202 may receive road traffic information from an external device. In particular, processor 202 may generate and transmit an information request beacon. The information request beacon may be transmitted via the antennas 121, 131, 141 to external devices such as the transportation facility 150, other vehicles 120, 130, 140, and the server 240 using various channels, communication links, and/or communication protocols, such as DSRC. Also, the processor 202 may also receive road traffic information from the external device after transmitting the information request beacon. The road traffic information may be carried by one or more data packets and may be received wirelessly via the antennas 121, 131, 141. In some embodiments, the processor 202 may be configured to provide identification information about the beacon sending vehicle, such as the location of the vehicle (such as GNSS coordinates, etc.), an identifier, and one or more descriptions, etc., in the information request beacon. Based on the identification information, external devices such as the transportation facility 150, the other vehicles 120, 130, 140, the server 240, and the like can identify the beacon-transmitting vehicle and transmit relevant road traffic information (i.e., road traffic information within a predetermined range in front of the current position of the beacon-transmitting vehicle) to the identified beacon-transmitting vehicle.
In the same or other embodiments, the information acquisition module 218 may also store instructions that enable the processor 202 to be configured to obtain intrinsic information of the vehicle itself and obtain driving state information of the vehicle using one or more sensors of the vehicle. Also, the processor 202 may be further configured to transmit the inherent information of the vehicle itself, and the road traffic information and the traveling state information of the vehicle acquired by the vehicle-mounted sensor to the external device. Specifically, the processor 202 may receive an information request beacon and, in response to receipt of the information request beacon, transmit relevant road traffic information (i.e., road traffic information within a predetermined range ahead of the current position of the beacon-transmitting vehicle) to the beacon-transmitting vehicle. Further, the processor 202 may also be configured to directly transmit the inherent information of the vehicle itself, and the road traffic information and the traveling state information of the vehicle acquired with the in-vehicle sensor, to the remote server 240 or the like. The other vehicles 120, 130, 140 or devices associated with the other vehicles 120, 130, 140 may obtain this information from the remote server 240.
The augmented reality display module 220 may store instructions and/or programs that, when executed by the processor 202, may enable the driving assistance device 201 to provide functionality associated with displaying road traffic information. The processor 202 may be configured to determine information contained in the road traffic information received from the external device that is not acquired using the in-vehicle image sensor, and perform augmented reality display of the determined information. In particular, the processor 202 may be configured to compare road traffic information acquired with the onboard image sensor with road traffic information received from an external device to determine such information. The comparison is made between the same categories of information. For example, other traffic participant information, traffic sign and traffic signal information, and road shape information are compared, respectively. Further, the processor 202 may be configured to display the above determined information on a front windshield of the vehicle in an image or video manner. The displayed image or video can express real information. For example, for other traffic participants, the displayed image can express the category, outline, position and driving direction of the traffic participant, and can also display the information of the speed, acceleration and the like of the traffic participant; for the traffic signal lamp, displaying corresponding position, time and state; for the road shape information, a lane line of a corresponding shape is drawn, and for a curved road, the curvature thereof may be displayed. According to some embodiments, the displayed image or video is changed in real time. For example, the processor 202 may be configured to display a pattern of the front or back of the car to represent a leading vehicle, and the displayed car figure may become larger or smaller over time to represent the relative movement of the leading vehicle with respect to the current vehicle.
Processor 202 may control a projector installed in the vehicle to project an image or video on a front windshield of the vehicle. The projection position of the image or video may be determined according to the direction of the driver's sight line. The processor 202 may acquire an image of the driver captured by an in-vehicle image sensor (i.e., an image sensor disposed inside the vehicle compartment) and detect the line of sight of the driver. Also, the processor 202 adjusts the display position of the image or video on the windshield in consideration of the detected line of sight of the driver. Thus, the driving assistance apparatus 201 can supplement road traffic information that cannot be effectively observed by the vehicle driver and cannot be detected by the image sensor by receiving the road traffic information from the external apparatus in the case where the environmental visibility is low, ensuring safe driving of the driver.
Similar to the driving assistance device 201, the transportation facility 150 may include one or more processors 222, one or more I/O device interfaces 224, one or more network interfaces 226, one or more sensor interfaces 228, and/or one or more memories 230. Each of these components is similar to the corresponding elements 202, 204, 206, 208, 210 of the respective driving assistance apparatus 201 and will not be repeated here for the sake of brevity.
Memory 230 may store program instructions that are loadable and executable on processor 222, as well as data generated or received during execution of these programs. In more detail, the memory 230 may include one or more operating system (O/S) modules 232, application modules 234, information collection modules 236, and information processing modules 238. Each module and/or software may provide functionality to the transportation facility 150 when executed by the processor 222. The modules and/or software may or may not correspond to physical locations and/or addresses in memory 230. In other words, the contents of each of the modules 232, 234, 236, 238 may not be isolated from each other and may be stored in at least partially interleaved locations on the memory 230. The O/S module 232 and the application module 234 of the transportation facility 150 may be substantially similar to the O/S module 212 and the application module 214, respectively, of the driving assistance apparatus 201. Therefore, the description of these modules is not repeated here for the sake of brevity.
The information collection module 236 may have instructions and/or software stored thereon that, when executed by the processor 222, may cause the transportation facility 150 to provide various functions related to collecting road traffic information. According to some embodiments, the processor 222 may be configured to acquire one or more sensor signals from the sensors and, based on these signals, acquire road traffic information in the vicinity of the transportation facility 150. According to other embodiments, the processor 222 may store road traffic information provided by the transportation facility 150 itself, such as the location, time, status, etc. of traffic lights.
The information processing module 238 may have stored thereon instructions and/or software that, when executed by the processor 222, may cause the transportation facility 150 to provide various functions related to the processing of road traffic information. According to some embodiments, the processor 222 may be configured to upload road traffic information detected by the sensors and road traffic information provided by the transportation facility 150 itself to a remote server 240 or the like, wherein the vehicle (e.g., vehicles 120, 130, 140) or a device associated with the vehicle may access the remote server 240 to obtain relevant road traffic information. According to other embodiments, the processor 222 may also receive an information request beacon and transmit the related road traffic information in response to receipt of the information request beacon. In particular, the processor 222 may query for information about road traffic by sending identification information of the vehicle based on the beacon in the information request beacon. Processor 222 may transmit the queried road traffic information to the beacon-sending vehicle via the antenna. In the event that no information about road traffic is queried, the processor 222 may then be configured to signal the beacon transmitting vehicle that no information is available. Here, it is understood that the road traffic-related information refers to road traffic information of the environment ahead of the current position of the beacon-transmitting vehicle.
Similar to the driving assistance device 201 and/or the transportation facility 150, the remote server 240 can include one or more processors 242, one or more I/O device interfaces 244, one or more network interfaces 246, one or more storage interfaces 248, and/or one or more memories 250. The components 242, 244, 246 are similar to the corresponding components 202, 204, 206 and, for the sake of brevity, are not repeated here. The storage interface 248 may be any kind of hardware and/or software associated with providing functionality associated with a storage device interface. In certain embodiments, storage interface 248 may be a drive and/or controller for controlling, writing to, and/or reading from one or more external storage devices.
Memory 250 may store program instructions that are loadable and executable on processor 242, as well as data generated or received during execution of these programs. In more detail, memory 250 may include one or more operating systems (O/S) 252, application modules 254, information management modules 256, and information processing modules 258. Each of the modules 252, 254, 256, 258 and/or software, when executed by the processor 242, may provide functionality for the remote server 240. The modules and/or software may or may not correspond to physical locations and/or addresses in memory 250. In other words, the contents of each of the modules 252, 254, 256, 258 may not be separated from each other and may in fact be stored in at least partially interleaved locations on the memory 250. The O/S module 252 and the application module 254 of the remote server 240 may be substantially similar to the O/S module 212 and the application module 214, respectively, of the driving assistance apparatus 201, and thus these modules will not be repeated here for the sake of brevity.
The information management module 256 may have instructions and/or software stored thereon that, when executed by the processor 242, may cause the remote server 240 to provide various functions related to receiving and organizing road traffic information. In some embodiments, the processor 242 may receive road traffic information, for example, from the transportation facility 150 and/or the vehicles 120, 130, 140. The road traffic information may be received in the form of one or more data packets over the network 160. The road traffic information may have location information, time information, and/or identity information (identifiers and other descriptions, etc.), etc., and the processor 242 may be configured to associate the road traffic information to a particular location range, time range, and particular entity based on such information. Further, the processor 242 may be configured to store the road traffic information on the memory 250 and/or related databases.
By executing instructions stored in the information processing module 258, the processor 242 may be configured to receive the information request beacon and query and transmit relevant road traffic information to the beacon-transmitting vehicle based on identifying information contained in the beacon, such as location information (such as GNSS coordinates, etc.) of the beacon-transmitting vehicle, an identifier, and one or more descriptions. Information regarding road traffic may be provided to the beaconing vehicle via network 160 or other suitable communication channel. Here, it is understood that the related road traffic information refers to road traffic information of the environment ahead of the current position of the beacon transmission vehicle.
Referring to fig. 3, fig. 3 illustrates a method for driving assistance in low visibility environments, which may be implemented by the driving assistance apparatus 201 in conjunction with other parts of the system 200.
At step S10, it is determined whether the vehicle is in a low visibility environment. The low visibility environment may be identified based on a detection signal of the visibility detector. The low visibility environment can also be identified by identifying weather based on an image of the environment in front of the vehicle acquired by the vehicle-mounted image sensor. For example, a pixel in an image may be identified using computer image processing and recognition techniques, and when the pixel is near white, the current weather is determined to be fog weather and the current environment is identified as a low visibility environment.
At step S12, an information request beacon is generated and transmitted. The information request beacon may be transmitted via the antennas 121, 131, 141 to external devices such as the transportation facility 150, other vehicles 120, 130, 140, and the server 240 using various channels, communication links, and/or communication protocols, such as DSRC. The information request beacon may carry identification information of the beacon transmitting vehicle, such as location information (such as GNSS coordinates, etc.) of the beacon transmitting vehicle, an identifier, and one or more descriptions, etc.
At step S14, road traffic information is received from the external device after the information request beacon is transmitted. The road traffic information may be carried by one or more data packets and may be received wirelessly via the antennas 121, 131, 141.
At step S16, road traffic information of the environment ahead of the vehicle is acquired based on the image acquired by the in-vehicle image sensor. The method comprises the steps of obtaining an image of an environment in front of a vehicle from a vehicle-mounted image sensor, and obtaining road traffic information through computer image processing and recognition technology.
At step S18, it is determined that the road traffic information that is not acquired with the in-vehicle image sensor is included in the road traffic information received from the external device. The road traffic information acquired using the in-vehicle image sensor may be compared with the road traffic information received from the external device by category, and the target information may be found in the road traffic information received from the external device.
At step S20, the information determined at step S18 is augmented reality displayed. Such information is displayed on the front windshield of the vehicle in the form of an image or video. The displayed image or video can express real information. The displayed image or video is changing in real time. Also, the projection position of the image or video on the front windshield of the vehicle may be determined according to the line-of-sight direction of the driver.
According to the method, the road traffic information which cannot be effectively observed by a vehicle driver and cannot be detected by the image sensor under the low visibility environment can be displayed in a supplementing manner, so that the safe driving of the driver is assisted.
According to other embodiments, in the case where it is determined that the vehicle is in a low visibility environment, the method proceeds to step S22, and in step S22, road traffic information of the environment ahead of the vehicle and travel state information of the vehicle are acquired using one or more vehicle-mounted sensors, and pre-stored inherent information of the vehicle itself is acquired. Here, the one or more onboard sensors for acquiring road traffic information are not limited to image sensors, but also include, but are not limited to, LIDAR sensors, RADAR sensors, SONAR sensors, and the like.
In step S24, the information acquired in step S22 is transmitted to a remote server. The other vehicles 120, 130, 140 or devices associated with the other vehicles 120, 130, 140 may obtain this information from a remote server.
According to various other embodiments, after step S22, the method further proceeds to step S26, where an information request beacon from another vehicle is received in step S26. An information request beacon may be received through an antenna. In step S28, the beacon is requested to transmit the road traffic information and the traveling state information acquired with the sensor of the vehicle and the inherent information of the vehicle itself in response to the received information. Specifically, the beacon-sending vehicle is identified and information is sent to the identified vehicle by identifying information carried by the information requesting beacon, such as an identifier, location, and one or more descriptions of the vehicle.
Referring to fig. 4, fig. 4 shows a flow diagram of a driving assistance method according to another embodiment of the invention, which may be implemented by the transportation facility 150 in conjunction with other parts of the system 200.
In step S40, nearby road traffic information is acquired. One or more sensor signals are acquired from the sensors of the transportation facility 150, and road traffic information in the vicinity of the transportation facility 150 is derived based on these signals.
In step S42, the road traffic information provided by the transportation facility 150 itself is stored. For example, in the case where the transportation facility 150 is a traffic light, information such as the position, state, and time of the traffic light provided by it is stored.
In step S44, an information request beacon is received. The transportation facility 150 can receive the beacon wirelessly through an antenna.
In step S46, in response to the reception of the information request beacon, road traffic information about the environment ahead of the current position of the beacon-transmitting vehicle is transmitted. Specifically, the beacon-transmitting vehicle may be identified based on the identification information of the beacon-transmitting vehicle carried by the information request beacon, the relevant road traffic information is inquired about in the road traffic information acquired in step S40 and stored in step S42, and the inquired information is transmitted to the beacon-transmitting vehicle. The related traffic information is road traffic information of an environment ahead of the current position of the beacon transmission vehicle.
In other embodiments, the method includes step S48. In step S48, the road traffic information acquired in step S40 and stored in step S42 is transmitted to a remote server.
Referring to fig. 5, fig. 5 illustrates a flow of a driving assistance method according to another embodiment of the present invention, which may be implemented by the remote server 240 in conjunction with other portions of the system 200.
In step S50, road traffic information is received. For example, road traffic information is received from transportation facilities 150, vehicles 120, 130, 140, and the like. The road traffic information received from the transportation facility 150 includes road traffic information acquired using the sensor signal and also includes road traffic information provided by the transportation facility 150 itself. The road traffic information received from the vehicle includes the external environment road traffic information acquired by the vehicle-mounted sensor and the running state information of the vehicle itself, and also includes the inherent information of the vehicle itself.
In step S52, the received road traffic information is associated to a specific location range, time range and/or specific entity based on the location information, time information and/or identity information in the received road traffic information. Further, the received road traffic information may be stored in a memory and/or database based on location range, time range, and/or a particular entity.
In step S54, an information request beacon is received. The information request beacon transmits identification information of the vehicle, such as an identifier, a location, one or more descriptions, etc., of the vehicle with the beacon.
In step S56, in response to the reception of the information request beacon, traffic information on the road traffic, that is, traffic road information of the environment ahead of the current position of the vehicle transmitted by the beacon is transmitted. The beacon-transmitting vehicle may be identified based on the identification information in the information request beacon, and queried for relevant road traffic information in memory and/or databases.
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 (21)
1. A driving assistance apparatus that is mounted or applied to a vehicle, the apparatus comprising:
a visibility detection module configured to identify a low visibility environment;
an information acquisition module configured to generate and transmit an information request beacon in a wireless communication manner to an external device of the vehicle to acquire road information of an environment ahead of the vehicle from the external device in a case where the vehicle is in the low visibility environment, wherein
The information collection module is further configured to receive road traffic information of an environment ahead of the vehicle from the external device in a wireless communication manner after transmitting the information request beacon.
2. The driving assistance apparatus according to claim 1,
the information acquisition module is further configured to acquire road traffic information of an environment ahead of the vehicle using an image sensor of the vehicle.
3. The driving assistance apparatus according to claim 2, further comprising:
an augmented reality display module configured to determine road traffic information contained in the road traffic information received by the information acquisition module but not acquired using the image sensor, and perform augmented reality display of the determined road traffic information.
4. The driving assistance apparatus according to any one of claims 1 to 3, wherein,
the road traffic information includes information of other traffic participants, traffic sign and traffic light information, and road shape information.
5. The driving assistance apparatus according to claim 3, wherein,
the augmented reality display module is configured to display the determined road traffic information via an image or video.
6. The driving assistance apparatus according to claim 5, wherein,
the augmented reality display module is configured to cause the displayed image or video to change in real-time.
7. The driving assistance apparatus according to claim 1, wherein
The information collection module is further configured to acquire road traffic information of an environment ahead of the vehicle and travel state information of the vehicle using a sensor of the vehicle, acquire pre-stored inherent information of the vehicle, and transmit these information.
8. The driving assistance apparatus according to claim 7, wherein,
the information collection module is further configured to receive an information request beacon, and transmit road traffic information and travel state information of the vehicle acquired using a sensor of the vehicle and intrinsic information of the vehicle in response to reception of the information request beacon.
9. A driving assistance apparatus comprising:
an information acquisition module configured to acquire surrounding road traffic information using one or more sensors and further configured to store road traffic information provided by the driving assistance apparatus itself; and
an information processing module configured to receive an information request beacon in a wireless communication manner from a beacon-transmitting vehicle, and to transmit road traffic information of an environment ahead of a current position of the beacon-transmitting vehicle in a wireless communication manner to the beacon-transmitting vehicle in response to reception of the information request beacon.
10. The driving assistance apparatus according to claim 9, wherein,
the information processing module is further configured to transmit the acquired and provided road traffic information to a remote server.
11. A driving assistance apparatus, comprising:
an information management module configured to receive road traffic information; and
an information processing module configured to receive an information request beacon from the beacon transmitting vehicle in a wireless communication manner, and to transmit road traffic information of an environment ahead of a current position of the beacon transmitting vehicle to the beacon transmitting vehicle in a wireless communication manner in response to reception of the information request beacon.
12. The driving assistance apparatus according to claim 11, wherein,
the received road traffic information includes location information, time information, and/or identity information, and the information management module is configured to associate the received road traffic information to a particular location range, time range, and/or entity.
13. The driving assistance apparatus according to claim 12, wherein,
the information request beacon includes identification information of the beacon-transmitting vehicle, and the information processing module is configured to identify the beacon-transmitting vehicle based on the identification information and to query road traffic information of an environment ahead of a current location of the beacon-transmitting vehicle.
14. A driving assistance system comprising the driving assistance apparatus of any one of claims 1 to 8, the driving assistance apparatus of any one of claims 9 to 10, and the driving assistance apparatus of any one of claims 11 to 13 wirelessly communicatively connected to each other.
15. A driving assistance method, the method comprising the steps of:
identifying a low visibility environment;
generating and transmitting an information request beacon in a wireless communication manner to an external device of a vehicle in a case of being recognized as the low visibility environment to acquire road traffic information of an environment ahead of the vehicle from the external device,
wherein the method further comprises receiving road traffic information of an environment ahead of the vehicle from the external device in a wireless communication manner after transmitting the information request beacon.
16. A driving assistance method implemented with the driving assistance apparatus according to any one of claims 9 to 10, comprising the steps of:
acquiring surrounding road traffic information using one or more sensors and storing the road traffic information provided by the driving assistance apparatus itself; and
an information request beacon is received from a beacon transmission vehicle in a wireless communication manner, and road traffic information of an environment ahead of a current position of the beacon transmission vehicle is transmitted to the beacon transmission vehicle in a wireless communication manner in response to the reception of the information request beacon.
17. The driving assistance method according to claim 16, further comprising the step of:
and transmitting the acquired and provided road traffic information to a remote server.
18. A driving assistance method, comprising the steps of:
receiving road traffic information; and
an information request beacon is received from a beacon transmission vehicle in a wireless communication manner, and road traffic information of an environment ahead of a current position of the beacon transmission vehicle is transmitted to the beacon transmission vehicle in a wireless communication manner in response to reception of the information request beacon.
19. The driving assistance method according to claim 18,
the received road traffic information includes location information, time information, and/or identity information, and,
the method includes associating the received road traffic information to a particular location range, time range, and/or entity.
20. The driving assistance method according to claim 19,
the information request beacon includes identification information of the beacon transmission vehicle, and,
the method includes identifying the beaconing vehicle based on the identification information and querying road traffic information for an environment ahead of a current location of the beaconing vehicle.
21. A vehicle comprising the driving assistance apparatus according to any one of claims 1 to 8.
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| CN201810538869.XA CN110550036B (en) | 2018-05-30 | 2018-05-30 | Driving assistance apparatus, vehicle, and driving assistance system |
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| CN201810538869.XA CN110550036B (en) | 2018-05-30 | 2018-05-30 | Driving assistance apparatus, vehicle, and driving assistance system |
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| CN110550036B true CN110550036B (en) | 2022-11-04 |
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| CN111212382B (en) * | 2020-04-22 | 2020-08-11 | 南京齐芯半导体有限公司 | Data recording terminal and method, data collecting system and data server |
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| CN110550036A (en) | 2019-12-10 |
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