CN110682911A - Driving assistance system and driving assistance method - Google Patents
Driving assistance system and driving assistance method Download PDFInfo
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- CN110682911A CN110682911A CN201810723521.8A CN201810723521A CN110682911A CN 110682911 A CN110682911 A CN 110682911A CN 201810723521 A CN201810723521 A CN 201810723521A CN 110682911 A CN110682911 A CN 110682911A
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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
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
Abstract
The invention relates to a driving assistance system and a driving assistance method. The driving assistance system includes a cloud service device and an in-vehicle control device that can communicate with each other. The cloud service device is configured to calculate a road adhesion coefficient mean value of each road unit in the plurality of road units in a predetermined time period according to the road adhesion coefficient samples from the vehicle. The in-vehicle control device is configured to provide the vehicle with a control signal for automatically performing a steering operation according to the road adhesion coefficient mean value from the cloud service device.
Description
Technical Field
The present invention relates generally to the field of driving assistance for vehicles, and more particularly to a driving assistance system and a driving assistance method capable of making an early warning on a slippery section.
Background
It is known that the road adhesion coefficient (also known as the coefficient of static friction between the tire and the road surface) determines whether the vehicle is susceptible to slip during driving. In other words, the greater the road adhesion coefficient, the greater the adhesion of the tire to the road, and the less likely the vehicle will slip; conversely, the smaller the road adhesion coefficient, the smaller the adhesion of the tire to the road surface, and the more likely the vehicle will slip. The road surface adhesion coefficient depends mainly on the kind of road surface and the dryness condition. Generally, dry, good asphalt or concrete roads have a relatively high coefficient of adhesion and ice and snow roads have a relatively low coefficient of adhesion.
However, when a driver of a vehicle travels in winter in particular, if the driver selects to go to a slippery road (e.g., a road covered with ice and snow) without knowing whether the road ahead is slippery, the vehicle may enter the slippery road, and the vehicle may not move due to the slippery road surface or even may have a traffic accident.
Therefore, there is a need for a driving assistance system and a driving assistance method that are capable of providing driving assistance to a vehicle in a case where a slip section in a vehicle traveling direction is predicted.
Disclosure of Invention
An object of the present invention is to provide a driving assistance system and a driving assistance method capable of calculating a road surface adhesion coefficient average value of each road unit of a vehicle in its traveling direction. It is still another object of the present invention to provide a driving assistance system and a driving assistance method capable of predicting whether a slip section exists on a specified navigation path of a vehicle from a road adhesion coefficient mean value. Another object of the present invention is to provide a driving assistance system and a driving assistance method capable of providing driving assistance to a vehicle in a case where it is determined that a specified navigation path of the vehicle has a slippery section.
An aspect of the present invention provides a driving assistance system for a vehicle, the driving assistance system including a cloud service device and an in-vehicle control device that are capable of communicating with each other, wherein the cloud service device is configured to calculate a road adhesion coefficient mean value of each of a plurality of road units over a predetermined period of time from a road adhesion coefficient sample from the vehicle, and the in-vehicle control device is configured to provide a control signal for automatically performing a steering operation for the vehicle from the road adhesion coefficient mean value from the cloud service device.
According to the embodiment of the invention, the cloud service device is configured to receive the road surface adhesion coefficient samples of each road unit in the preset time period; and calculating the road adhesion coefficient mean value of each road unit in the preset time period according to the road adhesion coefficient sample of each road unit.
According to an embodiment of the present invention, the in-vehicle control apparatus is configured to receive the road adhesion coefficient mean value of a current road unit in which a vehicle is located, according to position information of the vehicle; and providing a control signal for adjusting a safety control parameter for a vehicle in dependence on the road surface adhesion coefficient mean value of the current road unit.
According to an embodiment of the present invention, the in-vehicle control apparatus is configured to receive the road surface adhesion coefficient mean value of road units included in a specified navigation path of a vehicle according to the specified navigation path; and providing a control signal for assisting driving to a vehicle according to the road surface adhesion coefficient mean value of the road unit included in the specified navigation path.
According to an embodiment of the present invention, the cloud service device is further configured to mark different slip levels for the plurality of road units according to the road surface adhesion coefficient mean value, and the vehicle-mounted control device is further configured to provide different control signals for driving assistance to the vehicle according to the slip levels of the respective road units.
According to an embodiment of the invention, the control signal for driving assistance comprises one or more of: providing an information perceptible signal to an occupant of the vehicle; a signal advising an occupant of the vehicle to prepare a snow chain; and a signal for causing a navigation device of the vehicle to re-plan the navigation path.
Another aspect of the invention provides a vehicle including the above-described driving assistance system.
Yet another aspect of the present invention provides a driving assistance method for a vehicle, including the steps of: a road adhesion coefficient mean value of each of a plurality of road units over a predetermined period of time is calculated from road adhesion coefficient samples from the vehicle, and a control signal for automatically performing a steering operation is provided to the vehicle in accordance with the road adhesion coefficient mean value.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: receiving the road surface adhesion coefficient samples of each road unit in the predetermined time period; and calculating the road adhesion coefficient mean value of each road unit in the preset time period according to the road adhesion coefficient sample of each road unit.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: receiving the road surface adhesion coefficient mean value of the current road unit where the vehicle is located according to the position information of the vehicle; and providing a control signal for adjusting a safety control parameter for a vehicle in dependence on the road surface adhesion coefficient mean value of the current road unit.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: receiving the road surface adhesion coefficient mean value of road units included in a specified navigation path of a vehicle according to the specified navigation path; and providing a control signal for assisting driving to a vehicle according to the road surface adhesion coefficient mean value of the road unit included in the specified navigation path.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: marking different slip levels for the road units according to the mean value of the road adhesion coefficient; and providing the vehicle with different control signals for driving assistance according to the slip level of the respective road unit.
The control signal for driving assistance according to an embodiment of the present invention includes one or more of: providing an information perceptible signal to an occupant of the vehicle; a signal advising an occupant of the vehicle to prepare a snow chain; and a signal for causing a navigation device of the vehicle to re-plan the navigation path.
Therefore, compared with the prior art, the driving assistance system and the driving assistance method according to the embodiments of the present invention can obtain the road surface adhesion coefficient mean value of each road unit in the map data by performing the big data processing on the road surface adhesion coefficient samples from a plurality of related vehicles by means of the cloud service device and provide the vehicle with the assisted driving according to the road surface adhesion coefficient mean value of the corresponding road unit.
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 shows a schematic view of a driving assistance system according to an embodiment of the invention.
Fig. 2 shows a view of a corresponding list of road types and road surface adhesion coefficients.
Fig. 3 shows a block flow diagram of a driving assistance method according to an 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.
Fig. 1 shows a schematic view of a driving assistance system 1 according to an embodiment of the invention. The driving assistance system 1 can be mounted to or applied to one or more vehicles 2. In the present specification, the vehicle 2 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.
As shown in fig. 1, the driving assistance system 1 includes a cloud service device 10 on the one hand and an in-vehicle control device 20 of the vehicle 2 on the other hand. The cloud service apparatus 10 and the in-vehicle control apparatus 20 each include a transceiver via which the cloud service apparatus 10 and the in-vehicle control apparatus 20 can communicate with each other.
As shown in fig. 1, except for the vehicle-mounted control deviceThe vehicle 1 includes, in addition to the navigation device 30, a storage device 40, and an in-vehicle sensor 50. These devices may be connected to each other, for example to a Controller Area Network (CAN) bus or to a vehicle 10, respectively
A network. Well-known power and steering devices, drive trains, braking systems, and steering devices in the vehicle 10 are not shown in FIG. 1 for simplicity.
The navigation device 30 may be integrated on the vehicle 2 or may be an external device independent of the vehicle 2. The navigation device 30 may provide the vehicle 2 with a periodically updated real-time location and a specified navigation path.
The storage device 40 may store various types of information, such as road surface adhesion coefficients of various roads, in advance. Fig. 2 shows a corresponding list of road types and road surface adhesion coefficients. As shown in FIG. 2, the road adhesion coefficient for ice or snow surfaces is generally less than 0.2, for wet road surfaces in which standing water is present is generally between 0.2 and 0.4, for gravel road surfaces is generally between 0.4 and 0.8, for wet concrete road surfaces is generally between 0.6 and 0.8, and for dry asphalt road surfaces is generally greater than 0.8.
The storage 40 may be implemented by any type of volatile or non-volatile storage device or combination thereof. The storage device 40 may include a semiconductor memory such as a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, and the like. Storage device 40 may also include, for example, any memory using paper, magnetic, and/or optical media, such as paper tape, hard disk, magnetic tape, floppy disk, magneto-optical (MO), CD, DVD, Blue-ray, and the like.
The vehicle-mounted sensor 50 can detect the road adhesion coefficient of the current position where the vehicle 2 is located. The in-vehicle sensor 50 may include an image detection unit or the like. The number of the in-vehicle sensors 50 may be one or more. The in-vehicle sensor 50 may be mounted at a front bumper, a rear bumper, or other suitable position of the vehicle 2. The in-vehicle sensor 50 may also include a displacement sensor, a speed sensor, an acceleration sensor, or the like.
According to the embodiment of the present invention, the in-vehicle sensor 50 may acquire a road surface image of the current position of the vehicle 2 in real time, then perform image recognition processing on the road surface image to determine the road type of the current position of the vehicle 2, and then compare it with the corresponding list of road types and road adhesion coefficients stored in the storage device 40 to estimate the road adhesion coefficient of the current position of the vehicle 2. The road adhesion coefficient of the current position of the vehicle 2 may then be sent to the cloud service device 10 to form part of a road adhesion coefficient sample, which will be described later. In addition to this, the in-vehicle sensor 50 can detect travel information such as displacement, speed, and acceleration of the vehicle 2.
According to the embodiment of the present invention, the cloud service device 10 may calculate the road surface adhesion coefficient average value of each road unit in the plurality of road units in the predetermined time period according to the road surface adhesion coefficient samples from the vehicle 2. "road unit" means the smallest geographical unit used for estimating the road adhesion coefficient. Several road units may be included in the map. In an exemplary embodiment, a road unit includes a road section (i.e., a portion of a road) and a road area (i.e., a combination of roads within an area). The road unit may for example have a length of 50 meters. The "road surface adhesion coefficient sample" is a group consisting of a plurality of road surface adhesion coefficients from a plurality of vehicles 2. The "predetermined period" represents a sampling period of the cloud service apparatus 10. The predetermined period of time may be fixed or variable. For example, the predetermined period of time may be 60 minutes.
The cloud service device 10 may be connected to each vehicle 2. For example, the cloud service 10 may be connected to the vehicle 2 via Wi-Fi, bluetooth, a mobile network (3G, 4G, LTE, etc.), or other communication technology. In an exemplary embodiment, the cloud service device 10 may be communicatively connected to the Vehicle 2 based on Vehicle to electrical (V2X). The cloud service device 10 may receive the road surface adhesion coefficient detected by the in-vehicle sensor 50 of the vehicle 2 and the vehicle travel information.
According to the embodiment of the present invention, the cloud service device 10 may receive the road surface adhesion coefficient samples of each road unit in a predetermined period from the plurality of vehicles 2 located in each road unit, and may calculate the road surface adhesion coefficient average value of each road unit in the predetermined period from the road surface adhesion coefficient samples. The plurality of road units are previously divided by the cloud service device 10 according to the map data (which includes urban roads, mountain roads, and the like).
The following description will be given taking one road unit a among a plurality of road units as an example. For example, after the cloud service device 10 receives the road adhesion coefficient samples (Φ 1, Φ 2, …, Φ N) detected by the N vehicles located in the road unit a in the predetermined time period, the average value of the road adhesion coefficient samples (Φ 1, Φ 2, …, Φ N) may be calculated, so as to obtain the road adhesion coefficient average value of the road unit a in the predetermined time period. The road adhesion coefficient mean may be an arithmetic mean, a geometric mean, a squared mean, a harmonic mean, a weighted mean, or the like, of the road adhesion coefficient samples (φ 1, φ 2, …, φ n). The calculation of these averages is well known in the art and will not be described further herein. In this way, the cloud service device 10 may calculate the road surface adhesion coefficient average value of all of the plurality of road units.
According to the embodiment of the present invention, the in-vehicle control apparatus 20 may receive the road surface adhesion coefficient mean value of each of the plurality of road units from the cloud service apparatus 10, or may selectively receive the road surface adhesion coefficient mean values of a part of the plurality of road units. Then, the in-vehicle control apparatus 20 may provide the vehicle with a control signal for automatically performing a steering operation according to the road surface adhesion coefficient mean value of the corresponding road unit received from the cloud service apparatus 10.
In one embodiment, the in-vehicle control apparatus 20 may receive the road surface adhesion coefficient average value of the current road unit in which the vehicle 2 is located, from the position information of the vehicle 2. Subsequently, the in-vehicle control device 20 may provide a control signal for adjusting the safety control parameter according to the road surface adhesion coefficient average value of the current road unit. For example, the in-vehicle control apparatus 20 may transmit a control signal for adjusting an inter-vehicle safety distance threshold, a collision time threshold, a brake deceleration threshold, and the like to a brake system (not shown) of the vehicle 2 according to the road surface adhesion coefficient average value of the current road unit of the vehicle 2. As another example, the in-vehicle control device 20 may send a control signal for adjusting a turning speed threshold value or the like to a steering system (not shown) of the vehicle 2 according to the road surface adhesion coefficient average value of the current road unit of the vehicle 2.
In still another embodiment, the in-vehicle control apparatus 20 may receive the road surface adhesion coefficient average value of the road unit included in the specified navigation path from the cloud service apparatus 10 according to the specified navigation path of the vehicle 2. The specified navigation path of the vehicle 2 may include a part of the plurality of road units, and the in-vehicle control device 20 may receive the road surface adhesion coefficient average value of the part of the road units covered by the specified navigation path from the cloud service device 10. Subsequently, the in-vehicle control apparatus 20 may provide the vehicle with a control signal for driving assist based on the average of the road surface adhesion coefficients of the road units of this portion. The control signals for driving assistance include one or more of: providing an occupant of the vehicle 2 with an information-perceptible signal; a signal advising an occupant of the vehicle 2 to prepare for a snow chain; and a signal for causing the navigation device 30 of the vehicle 2 to re-plan the navigation path.
In one example, the in-vehicle control device 20 may issue a signal for providing perceptible information to an occupant of the vehicle 2. Such perceptible information may include one or more of visual information and auditory information. For example, the in-vehicle control device 20 may cause a part of the instrument panel, the navigation device, and/or the video device of the vehicle 2 to display a character that specifies the average value of the road surface adhesion coefficients of each road unit covered by the navigation path. For example, the in-vehicle control device 20 may cause a navigation device, an audio device, a buzzer, an alarm, or the like of the vehicle 2 to emit a sound for notifying the road surface adhesion coefficient average value of each road unit covered by the specified navigation route. The occupant of the vehicle 2 can know the mean road adhesion coefficient of the road cells covered by the specified navigation path of the vehicle 2 from these perceptible information.
In still another example, in the case where the in-vehicle control apparatus 20 determines that the road surface adhesion coefficient mean values of the road units covered by the specified navigation path of the vehicle 2 are each less than or equal to 0.3, the in-vehicle control apparatus 20 may signal to the occupant of the vehicle 2 to prepare the snow chain for recommendation to the vehicle 2. For example, the in-vehicle control device 20 may display instruction information in the form of text, a pattern, an image, a video, and the like, such as "suggest preparation of a snow chain", via a component such as an instrument panel, a navigation device, and/or a video device of the vehicle 2. For another example, the in-vehicle control device 20 may issue a voice such as "suggest preparation of a snow chain" via a navigation device, an audio device, a buzzer, an alarm, and/or the like of the vehicle 2.
In another example, in a case where the in-vehicle control apparatus 20 determines that the road surface adhesion coefficient mean values of the road units covered by the specified navigation path of the vehicle 2 are all less than or equal to 0.3, the in-vehicle control apparatus 20 may issue a signal that causes the navigation apparatus 30 of the vehicle 2 to re-plan the navigation path. Specifically, the in-vehicle control apparatus 20 may cause the navigation apparatus 30 of the vehicle 2 to re-plan the navigation path so that the new navigation path avoids the road unit having the road surface adhesion coefficient average value of 0.3 or less.
According to some embodiments of the present invention, the cloud service device 10 may mark each road unit with a different slip level according to the mean road surface adhesion coefficient of each road unit. For example, the cloud service device 10 marks the slip level of a road unit having a road surface adhesion coefficient mean greater than 0.8 as one level, the slip level of a road unit having a road surface adhesion coefficient mean in the range of 0.6 and 0.8 as two levels, the slip level of a road unit having a road surface adhesion coefficient mean in the range of 0.4 and 0.6 as three levels, the slip level of a road unit having a road surface adhesion coefficient mean in the range of 0.2 and 0.4 as four levels, and the slip level of a road unit having a road surface adhesion coefficient mean less than 0.2 as five levels. It follows that the smaller the mean road surface adhesion coefficient of a road element is, the higher its slip level is, that is to say the more likely it is that the vehicle will slip when travelling on that road element.
Then, the in-vehicle control device 20 may provide different control signals for driving assistance according to the slip level of the road unit covered by the specified navigation path. For example, in the case where the in-vehicle control apparatus 20 determines that the slip level of the road unit covered by the specified navigation path of the vehicle 2 is three levels or less (e.g., one or a combination of the first level, the second level, and the third level), the in-vehicle control apparatus 20 may issue only a signal for providing the occupant of the vehicle 2 with the sensible information. For another example, in the case where the in-vehicle control apparatus 20 determines that the slip level of the road unit covered by the specified navigation path of the vehicle 2 is four-stage and/or five-stage, the in-vehicle control apparatus 20 may signal the occupant of the vehicle 2 to prepare the snow chain for recommendation of the vehicle 2.
In addition, the cloud service device 10 may define a road unit satisfying a predetermined condition as a dangerous segment according to the road surface adhesion coefficient average value of each road unit and vehicle travel information of a plurality of vehicles located in each road unit. The predetermined conditions include the following: the road surface adhesion coefficient mean of the road unit is less than a threshold (e.g., 0.3); and the displacement or speed of a plurality of vehicles located within the road unit is 0 per unit time. Next, when the in-vehicle control device 20 determines that the road unit covered by the specified navigation path of the vehicle 2 covers the dangerous segment, the in-vehicle control device 20 may cause the navigation device 30 of the vehicle 2 to re-plan the navigation path.
Therefore, the driving assistance system 1 according to the embodiment of the invention can perform large data processing on road adhesion coefficient samples from a plurality of relevant vehicles by means of the cloud service device to obtain the road adhesion coefficient mean value of each road unit in the map data and provide the vehicle with the assistance driving according to the road adhesion coefficient mean value of the corresponding road unit.
A driving assist method according to an embodiment of the invention will be described below with reference to the drawings. Fig. 3 is a flowchart illustrating a driving assistance method 300 according to an embodiment of the present invention. The driving assistance method 300 is executed by the driving assistance system 1 described above.
As shown in fig. 3, in step S310, the cloud service device 10 receives road adhesion coefficient samples and vehicle travel information from a plurality of vehicles 2. The vehicle travel information includes, but is not limited to, displacement, velocity, acceleration, and the like. The method 300 then proceeds to step S320.
In step S320, the cloud service device 10 performs analysis processing on the road adhesion coefficient sample.
In one embodiment, the cloud service device 10 may calculate a road surface adhesion coefficient average value of each road unit in a predetermined period of time from road surface adhesion coefficient samples of each road unit received from a plurality of vehicles 2 located in each road unit of a plurality of road units, wherein the plurality of road units are pre-divided by the cloud service device 10 according to map data (including urban roads, mountain roads, and the like).
In yet another embodiment, the cloud service device 10 may mark each road unit with a different slip level according to the mean road surface adhesion coefficient of each road unit. The relevant aspects of the slip level flag of the road unit are described in detail above and will not be described in detail here.
In another embodiment, the cloud service device 10 may define a road unit satisfying a predetermined condition as a dangerous segment according to the average value of the road adhesion coefficient of each road unit and the vehicle driving information of the plurality of vehicles 2 located in each road unit. The predetermined conditions include the following: the road surface adhesion coefficient mean of the road unit is less than a threshold (e.g., 0.3); and the displacement or speed of the vehicle located in the road unit is 0 per unit time. After performing analysis processing on the road adhesion coefficient sample, the method 300 proceeds to step S330.
In step S330, the in-vehicle control device 20 receives the processing result of the road adhesion coefficient sample from the cloud service device 10. The method 300 then proceeds to step S340.
In step S340, the in-vehicle control apparatus 20 provides the vehicle 2 with a control signal for automatically performing a manipulation operation according to the processing result of the cloud service apparatus 10 on the road adhesion coefficient sample.
In one embodiment, the in-vehicle control apparatus 20 may receive the road surface adhesion coefficient average value of the current road unit in which the vehicle 2 is located according to the position information of the vehicle 2, and then may provide the control signal for adjusting the safety control parameter according to the road surface adhesion coefficient average value of the current road unit. For example, the in-vehicle control device 20 may transmit a control signal for adjusting a safety control parameter such as an inter-vehicle safety distance threshold, a collision time threshold, a braking deceleration threshold, or a turning speed threshold, according to the road surface adhesion coefficient average value of the current road unit of the vehicle 2.
In still another embodiment, the in-vehicle control apparatus 20 may receive the road surface adhesion coefficient average value of the road element included in the specified navigation path according to the specified navigation path of the vehicle 2, and then may provide the vehicle with the control signal for driving assistance according to the road surface adhesion coefficient average value of the portion of the road element included in the specified navigation path. The control signals for driving assistance include one or more of: providing an occupant of the vehicle 2 with an information-perceptible signal; a signal advising an occupant of the vehicle 2 to prepare for a snow chain; and a signal for causing the navigation device 30 of the vehicle 2 to re-plan the navigation path.
In another embodiment, the in-vehicle control device 20 may provide different control signals for driving assistance according to the slip level of the road unit covered by the specified navigation path and/or whether the road unit covered by the specified navigation path includes a dangerous segment or the like. The relevant aspects of performing different driving assistance are described in detail above and therefore will not be described in detail here.
Therefore, the driving assistance method according to the embodiment of the invention can acquire the road adhesion coefficient mean value of each road unit in the map data by means of the cloud service device performing large data processing on the road adhesion coefficient samples from a plurality of related vehicles and provide the vehicles with the assistance driving according to the road adhesion coefficient mean value of the corresponding road unit.
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 (13)
1. A driving assistance system for a vehicle includes a cloud service device and an in-vehicle control device that are capable of communicating with each other, wherein,
the cloud service device is configured to calculate a road adhesion coefficient mean value of each of a plurality of road units in a predetermined period of time from road adhesion coefficient samples from the vehicle, and
the vehicle-mounted control device is configured to provide a vehicle with a control signal for automatically executing a steering operation according to the road adhesion coefficient mean value from the cloud service device.
2. The driving assistance system according to claim 1,
the cloud service device is configured to receive the road surface adhesion coefficient samples of each road unit in the preset time period; and calculating the road adhesion coefficient mean value of each road unit in the preset time period according to the road adhesion coefficient sample of each road unit.
3. The driving assist system according to claim 2, wherein the in-vehicle control device is configured to receive the road surface adhesion coefficient average value of a current road unit in which a vehicle is located, in accordance with position information of the vehicle; and providing a control signal for adjusting a safety control parameter for a vehicle in dependence on the road surface adhesion coefficient mean value of the current road unit.
4. The driving assist system according to claim 2, wherein the in-vehicle control apparatus is configured to receive the road surface adhesion coefficient mean value of road units included in a specified navigation path of a vehicle, in accordance with the specified navigation path; and providing a control signal for assisting driving to a vehicle according to the road surface adhesion coefficient mean value of the road unit included in the specified navigation path.
5. The driving assistance system according to claim 4, wherein the cloud service device is further configured to mark the plurality of road units with different slip levels according to the road surface adhesion coefficient mean value, and the in-vehicle control device is further configured to provide the vehicle with different control signals for driving assistance according to the slip levels of the respective road units.
6. The driving assistance system according to claim 4 or 5, wherein the control signal for assisting driving includes one or more of:
providing an information perceptible signal to an occupant of the vehicle;
a signal advising an occupant of the vehicle to prepare a snow chain; and
a signal for causing a navigation device of the vehicle to re-plan a navigation path.
7. A vehicle comprising the driving assistance system according to any one of claims 1 to 6.
8. A driving assistance method for a vehicle, comprising the steps of:
calculating a road adhesion coefficient mean value of each of the plurality of road units for a predetermined period of time from the road adhesion coefficient samples from the vehicle, and
and providing a control signal for automatically executing a steering operation for the vehicle according to the road adhesion coefficient average value.
9. The driving assistance method according to claim 8, further comprising the step of:
receiving the road surface adhesion coefficient samples of each road unit in the predetermined time period; and
calculating the road surface adhesion coefficient mean value of each road unit in the preset time period according to the road surface adhesion coefficient sample of each road unit.
10. The driving assistance method according to claim 9, further comprising the step of:
receiving the road surface adhesion coefficient mean value of the current road unit where the vehicle is located according to the position information of the vehicle; and
providing a control signal for adjusting a safety control parameter for a vehicle in dependence on the road surface adhesion coefficient mean value of the current road unit.
11. The driving assistance method according to claim 9, further comprising the step of:
receiving the road surface adhesion coefficient mean value of road units included in a specified navigation path of a vehicle according to the specified navigation path; and
providing a vehicle with a control signal for driving assistance according to the road surface adhesion coefficient mean value of road elements included in the specified navigation path.
12. The driving assistance method according to claim 11, further comprising the step of:
marking different slip levels for the road units according to the mean value of the road adhesion coefficient; and
different control signals for driving assistance are provided to the vehicle depending on the slip level of the respective road unit.
13. The driving assistance method according to claim 11 or 12, wherein the control signal for assisting driving includes one or more of:
providing an information perceptible signal to an occupant of the vehicle;
a signal advising an occupant of the vehicle to prepare a snow chain; and
a signal for causing a navigation device of the vehicle to re-plan a navigation path.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810723521.8A CN110682911A (en) | 2018-07-04 | 2018-07-04 | Driving assistance system and driving assistance method |
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| CN201810723521.8A CN110682911A (en) | 2018-07-04 | 2018-07-04 | Driving assistance system and driving assistance method |
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